Vehicle travelling control device and vehicle travelling control method

Abstract

To provide a vehicle travelling control device and a vehicle travelling control method for continuing to travel autonomously as long as possible when an abnormality occurs during travelling.SOLUTION: The present invention is a vehicle control system for controlling autonomous travelling of a vehicle. The vehicle control system includes: an autonomous travelling control unit that controls the autonomous travelling of the vehicle according to a predetermined driving route; an abnormality determination unit that determines whether or not an abnormality occurs in a braking system of the vehicle; a travelling mode selection unit that selects a predetermined travelling mode when it is determined that an abnormality occurs in the braking system; and a travelling route control unit that determines the predetermined travelling route according to the predetermined travelling mode. The travelling mode selection unit selects the predetermined travelling mode based on road attribute information of a road on the predetermined travelling route on which the vehicle is travelling.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle driving control device and a vehicle driving control method. [Background technology]

[0002] In recent years, autonomous driving systems for vehicles are becoming more and more common. However, it is necessary to consider the safety of the vehicle and the surrounding environment when an abnormality or breakdown occurs in the vehicle while it is being driven autonomously.

[0003] For example, Patent Document 1 listed below discloses a technique for providing an electronic control device that, when an abnormality occurs in a vehicle, changes a vehicle driving plan based on the cause of the abnormality and the situation around the vehicle at the time the abnormality occurs. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-008540 A Summary of the Invention [Problem to be solved by the invention]

[0005] Depending on the cause of the abnormality occurring in the vehicle and the conditions around the vehicle (e.g., road conditions, etc.), it may be possible to safely run the vehicle even if some driving conditions are restricted. However, the technology disclosed in the above Patent Document 1 cannot realize efficient operation of the vehicle because it stops the vehicle in a uniform manner.

[0006] Therefore, an object of the present invention is to provide a vehicle driving control device and a vehicle driving control method that allow the vehicle to continue autonomous driving as long as possible, depending on the cause of an abnormality that occurs in a vehicle while it is driving using an autonomous driving system and the conditions around the vehicle. [Means for solving the problem]

[0007] The present invention, which aims to solve the above problems, includes the following invention-specific matters and technical features.

[0008] The present invention according to one aspect is a vehicle control system for controlling a vehicle to travel along a predetermined travel route. The vehicle control system includes a performance evaluation unit that determines whether or not there has been a performance degradation in any of a plurality of parts in the travel control system of the vehicle, an avoidance scene identification unit that identifies an avoidance scene on the travel route due to the performance degradation of any of the parts in the travel control system when it is determined that there has been a performance degradation in any of the parts, and a travel route determination unit that determines the travel route based on road map information. The travel route determination unit then changes the current travel route to another travel route based on the identified avoidance scene. Effect of the Invention

[0009] According to the present invention, the autonomous driving of a vehicle is continued as long as possible depending on the cause of an abnormality that occurs in the vehicle while it is being driven by an autonomous driving system and the situation around the vehicle. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of a vehicle dispatch management system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing an example of a functional configuration model of a vehicle dispatch control device according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a block diagram showing a functional model of a control device mounted on a vehicle in a vehicle dispatch management system according to an embodiment of the present invention. [Figure 4] FIG. 4 is a conceptual diagram for explaining a driving mode when a vehicle has an abnormality in the vehicle dispatch management system according to one embodiment of the present invention. [Diagram 5] FIG. 5 is a flowchart showing an example of a process flow when an abnormality occurs in a vehicle in the vehicle dispatch management system according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the embodiment described below is merely an example, and there is no intention to exclude various modifications and application of techniques not specified below. The present invention can be implemented by various modifications (for example, combining the respective embodiments) within the scope of the gist of the present invention. In addition, in the following description of the drawings, the same or similar parts are represented by the same or similar reference numerals. The drawings are schematic and do not necessarily correspond to actual dimensions, ratios, etc. The drawings may also include parts with different dimensional relationships and ratios.

[0012] 1 is a diagram illustrating an example of a vehicle dispatch management system according to an embodiment of the present invention. As shown in the figure, the vehicle dispatch management system 1 includes a vehicle dispatch management device 10, a terminal device 20, and a vehicle V, which are connected to each other so as to be able to communicate with each other via a communication network N. In addition, the vehicle dispatch management system 1 can be connected via the communication network N to a road traffic information management system 30 that provides various types of traffic information in real time.

[0013] The vehicle dispatch management system 1 of the present disclosure provides, for example, a vehicle dispatch service for a certain area using a plurality of vehicles V. The vehicle dispatch service may be either an "on-demand" system or a "reservation" system.

[0014] The vehicle dispatch management device 10 is a computing device that comprehensively manages a vehicle dispatch service by a plurality of vehicles V in a target area. The vehicle dispatch management device 10 implements, for example, a vehicle dispatch management server program and executes the vehicle dispatch management server program under the control of a processor, thereby realizing the vehicle dispatch service of the present disclosure.

[0015] The vehicle dispatch management device 10 includes various databases 12 that accumulate and manage data necessary to realize such a vehicle dispatch service. The databases 12 may include, for example, a user information database 12a, a road map information database 12b, a vehicle information database 12c, a vehicle dispatch plan database 12d, and an avoidance scene database 12e (see FIG. 2). The databases 12 may be configured as a part of the vehicle dispatch management device 10, or all or a part of the databases 12 may be configured separately from the vehicle dispatch management device 10.

[0016] In general, the vehicle allocation management device 10 receives a vehicle allocation request from a user who wishes to allocate a vehicle V for travel, and creates a vehicle allocation plan for candidate vehicles V (candidate vehicles v) extracted from a plurality of vehicles V based on the vehicle allocation request. The vehicle allocation management device 10 also determines a vehicle allocation plan for an optimal vehicle V from the created vehicle allocation plans, and issues a vehicle allocation instruction to the vehicle V according to the determined vehicle allocation plan. The vehicle allocation plan is determined, for example, in response to the user's consent.

[0017] The vehicle dispatch plan includes a driving route that defines a location where the vehicle V is waiting (a starting point of the waiting location) via several points (boarding and disembarking points) on the way where the user gets on and off to a waiting location that is an end point (not necessarily the same as the initial waiting location). If the vehicle V is waiting, the vehicle dispatch plan may be newly created based on a new vehicle dispatch request, and if the vehicle V is in operation, the vehicle dispatch plan may be updated based on a new vehicle dispatch request. In the present disclosure, when there is a performance degradation in a predetermined part (e.g., various spatial recognition sensors, various suspensions, etc.) in the driving control system of the vehicle V traveling on the driving route, in response to a reroute request from the vehicle V, the vehicle dispatch management device 10 identifies an avoidance scene on the current driving route, determines to change the driving route to the destination to another driving route that does not include the avoidance scene, and notifies the vehicle V of this as reroute information. As described later, the avoidance scene is a scene in which a predetermined part of the vehicle V traveling on the driving route where the performance degradation has occurred functions primarily, and a scene in which parts other than the predetermined part that functions primarily cannot adequately respond. This enables the vehicle V to avoid driving routes that include scenes in which a specific part with reduced performance is primarily functioning.

[0018] The vehicle V is a vehicle registered in a vehicle information database that is made available for use by a user. The vehicle V may be of any type (e.g., a sedan, a minivan, an SUV, etc.). The vehicle V may be an electric vehicle (EV) that uses an on-board battery as a power source. The vehicle V may also be a conventional manned vehicle. Alternatively, the vehicle V may be an unmanned vehicle that can run autonomously using an autonomous driving system, and the so-called level of autonomous driving may not be important.

[0019] The vehicle V includes a control device 300 that controls the vehicle V itself or its on-board equipment according to instructions from the vehicle dispatch management device 10. Although not shown, the control device 300 includes a processor, a memory, and the like. The control device 300 acquires geographical position information (hereinafter referred to as "position information") of the vehicle V via, for example, a GPS system, transmits the information to the vehicle dispatch management device 10, and receives dispatch instructions from the vehicle dispatch management device 10 to control the operation of various devices or equipment of the vehicle V. If the control device 300 is a manned vehicle, it includes a navigation function that presents a driving route according to a vehicle dispatch plan, for example. If the control device 300 is an unmanned vehicle, it includes an autonomous driving control function that controls the autonomous driving of the vehicle V in consideration of actual road conditions based on the driving route of the vehicle V. The control device 300 also monitors the operating state of each part in the driving control system of the vehicle V, and judges and evaluates whether the performance has deteriorated based on a predetermined performance threshold value.

[0020] In the present disclosure, when the control device 300 determines that there has been a performance degradation in a predetermined part (e.g., a spatial recognition sensor or a suspension) in the driving control system of the vehicle V traveling along a driving route, the control device 300 transmits a reroute request based on the part with the performance degradation to the vehicle allocation management device 10, and controls the vehicle V to travel along another driving route indicated by the reroute information received from the vehicle allocation management device 10. The reroute request includes information indicating the part with the performance degradation and its state, as well as the position information of the vehicle V.

[0021] The terminal device 20 is, for example, a computing device for a user who wishes to ride to make a vehicle dispatch request by operating a user interface. The terminal device 20 is, for example, a smartphone, a pad computer, a notebook personal computer, a desktop computer, etc., but is not limited to these. The terminal device 20 implements, for example, a vehicle dispatch management client program (so-called a vehicle dispatch application). The terminal device 20 executes the vehicle dispatch application under the control of the processor, thereby enabling the user to use the vehicle dispatch service of the vehicle dispatch management device 10. For example, the user can make a vehicle dispatch request from a vehicle dispatch request screen (not shown) on the user interface of the terminal device 20, and accept the vehicle dispatch plan created by the vehicle dispatch management device 10 in response to the request, thereby making a reservation for a ride in the vehicle V.

[0022] The road traffic information management system 30 is an information and communication system that provides road traffic information in real time. For example, the road traffic information management system 30 collects road traffic data from vehicle sensors and imaging cameras installed on roads, and also collects travel data from a control device 300 mounted on the vehicle V, and manages road traffic information that is integrated, processed, and edited from the data. The edited road traffic information may include, for example, information on road closures and detour routes, and the time required between points via a specific route. The road traffic information management system 30 provides the road traffic information to the vehicle dispatch management device 10 and the vehicle V as appropriate.

[0023] FIG. 2 is a block diagram showing an example of a functional configuration model of a vehicle dispatch management device according to an embodiment of the present invention. As shown in the figure, the vehicle dispatch management device 10 is configured as a functional configuration model including functional components such as a front-end processing unit 110, a vehicle dispatch plan formulation unit 120, and a vehicle communication unit 130. In addition, as described above, the vehicle dispatch management device 10 includes various databases 12. Such a functional model is realized by the vehicle dispatch management device 10 executing a vehicle dispatch management server program under the control of a processor and cooperating with various hardware resources. The functional configuration model shown here is an example, and all or part of the functions of a certain functional component may be realized by other functional components. The vehicle dispatch management device 10 can configure a vehicle control system in cooperation with a control device 300 of a vehicle V described later.

[0024] The user information database 12a stores information about users who use the vehicle dispatch service (hereinafter referred to as "user information"). The user information includes, for example, a user ID and password, personal attributes, and information about the service usage status.

[0025] The road map information database 12b stores information on road maps in the target area of ​​the vehicle dispatch service (hereinafter referred to as "road map information"). The road map information may include information necessary for route search, such as road network information including links and nodes, road attribute information, feature information, and environmental information. The road attribute information includes, for example, traffic regulations such as speed limits, one-way streets, no right or left turns, no parking or stopping, and road closures, road types such as community roads and main roads (including lanes), and information on control of traffic lights at intersections. The feature information includes, for example, the situation between buildings and roads (for example, sidewalk width, the presence or absence of obstructions such as guardrails and shrubbery, the degree of visibility, etc.). The environmental information includes, for example, the situation of parked and stopped vehicles and pedestrians at each point by time period, the frequency of right and left turns at intersections, the frequency of parking and stopping, and the frequency of traffic accidents. In the present disclosure, a specific link or point in the road map information is associated with an avoidance scene stored in an avoidance scene database 12e described later.

[0026] The vehicle information database 12c stores information (vehicle information) about the vehicle V that is provided for use by the user. The vehicle information includes, for example, information about the vehicle ID, vehicle attributes (vehicle registration number, vehicle model, maximum number of passengers / maximum load capacity, manned or unmanned driving type, etc.), vehicle performance, other specifications, a current dispatch plan, a current location, and a current status (service status, remaining battery capacity (travel distance), number of passengers, etc.). The current location and / or status of the vehicle V can be updated at any time based on the location information transmitted from the vehicle V.

[0027] The vehicle dispatch plan database 12d stores a vehicle dispatch plan for each vehicle V created by the vehicle dispatch management device 10 based on a vehicle dispatch request. The vehicle dispatch plan includes a driving route from a waiting location serving as a starting point to a waiting location serving as an end point via several boarding and disembarking points, an expected arrival time at each intermediate point, and the like.

[0028] The avoidance scene database 12e stores avoidance scenes for performance degradation for each part in the driving control system of the vehicle V. The avoidance scene is a scene in which a predetermined part in which the performance degradation of the vehicle V while traveling on the travel route functions primarily. In other words, the avoidance scene is a scene that cannot be handled by parts other than the predetermined part that should function primarily when the vehicle V travels on the travel route. The avoidance scene includes, for example, an avoidance scene related to the difficulty of traveling and an avoidance scene related to the comfort of traveling. Examples of the avoidance scene related to the difficulty of traveling include a scene in which the vehicle V travels on a road with sunlight filtering through the trees in which the LiDAR of the vehicle V functions primarily, and an occlusion scene due to the obstruction of an object in which the RADAR of the vehicle V functions primarily. Examples of the avoidance scene related to the comfort of traveling include a scene in which the vehicle V travels on a road with many bumps and recesses in which the active suspension of the vehicle V functions primarily, and a scene when getting on and off at a boarding and alighting area with steps in which the air suspension of the vehicle V functions primarily. The avoidance scene database 12e stores each avoidance scene in association with, for example, a link or a specific point of the road map information stored in the road map information database 12b. This makes it possible to identify an avoidance scene on the travel route of the vehicle V.

[0029] The front-end processing unit 110 performs various processes with the user's terminal device 20. As an example, the front-end processing unit 110 refers to the user information database 12a and performs login authentication processing in accordance with a login request from a vehicle dispatch application on the user's terminal device 20. The front-end processing unit 110 also receives a vehicle dispatch request from the vehicle dispatch application on the user's terminal device 20, passes it to the vehicle dispatch plan formulation unit 120, and interacts with the terminal device 20 to receive the user's approval or disapproval of the vehicle dispatch plan created by the vehicle dispatch plan formulation unit 120 in response to the request.

[0030] The vehicle allocation plan formulation unit 120 extracts candidate vehicles from among the vehicles V in the target area based on the given vehicle allocation request, and creates a vehicle allocation plan for the vehicle allocation plan. The vehicle allocation plan formulation unit 120 also selects and confirms the vehicle V with the optimal vehicle allocation plan from the created vehicle allocation plans, and issues a vehicle allocation instruction to the vehicle V according to the confirmed vehicle allocation plan. The vehicle allocation plan formulation unit 120 proposes the created vehicle allocation plan to the user, and confirms it upon receiving the user's consent. The vehicle allocation plan formulation unit 120 stores the confirmed vehicle allocation plan in the vehicle allocation plan database 12d, and issues a vehicle allocation instruction to the corresponding vehicle V via the vehicle communication unit 130.

[0031] In the present disclosure, in response to a reroute request from the vehicle V, the vehicle allocation plan formulation unit 120 identifies an avoidance scene on the current driving route, determines another driving route that does not include the avoidance scene, and notifies the vehicle V of this as reroute information. In addition, by rerouting the vehicle V, the vehicle allocation plan formulation unit 120 updates the vehicle allocation plan of the vehicle V in the vehicle allocation plan database 12d. In order to realize such a reroute function, the vehicle allocation plan formulation unit 120 may be configured to include, for example, an avoidance scene identification unit 121 and a driving route determination unit 122.

[0032] When the avoidance scene identification unit 121 receives a reroute request from the vehicle V, it determines the part where performance has been degraded based on the reroute request, and refers to the avoidance scene database 12e to identify an avoidance scene related to the difficulty or comfort of driving on the driving route corresponding to the performance degradation of the part.

[0033] Specifically, when it is determined that the performance of the LiDAR, which is one of the spatial recognition sensors, has deteriorated, the avoidance scene identification unit 121 refers to the avoidance scene database 12e and identifies a scene in which the LiDAR mainly functions as an avoidance scene related to the difficulty of driving. Also, when it is determined that the performance of the RADAR and / or the imaging camera has deteriorated, the avoidance scene identification unit 121 refers to the avoidance scene database 12e and identifies a scene in which the RADAR and / or the imaging camera mainly functions as an avoidance scene related to the difficulty of driving.

[0034] Furthermore, when it is determined that there has been a performance degradation in the active suspension, the avoidance scene identification unit 121 refers to the avoidance scene database 12e to identify a scene in which the active suspension functions primarily as an avoidance scene related to driving comfort. Furthermore, when it is determined that there has been a performance degradation in the air suspension, the avoidance scene identification unit 121 refers to the avoidance scene database 12e to identify a scene in which the air suspension functions primarily as an avoidance scene related to driving comfort.

[0035] When the avoidance scene specification unit 121 specifies the avoidance scene corresponding to the part where the performance degradation occurred, it determines whether or not the avoidance scene is included in the current driving route according to the road map information associated with the avoidance scene.

[0036] The travel route determination unit 122 refers to the road map information database 12b, and when it is determined that the current travel route includes an avoidance scene, determines another travel route that does not include the avoidance scene. The travel route determination unit 122 determines an alternative travel route by re-searching a travel route to the destination based on, for example, the current position information of the vehicle V. The travel route determination unit 122 notifies the vehicle V of reroute information indicating the determined other travel route.

[0037] The vehicle communication unit 130 exchanges various information with the vehicle V via the communication network N. For example, the vehicle communication unit 130 acquires vehicle information including the position information of the vehicle V and passes it to the vehicle allocation plan formulation unit 120, and also transmits to the vehicle V operation instructions according to the vehicle allocation plan formulated by the vehicle allocation plan formulation unit 120. In addition, the vehicle communication unit 130 accepts a reroute request from the vehicle V and transmits reroute information to the vehicle V.

[0038] 3 is a block diagram showing a functional model of a control device mounted on a vehicle in a vehicle dispatch management system according to an embodiment of the present invention. As shown in the figure, the control device 300 includes, for example, a position information acquisition unit 310, a sensor information acquisition unit 320, a communication unit 330, a navigation database 340, an autonomous driving control unit 350, a performance evaluation unit 360, a reroute request unit 370, and a user interface unit 380. The control device 300 of the vehicle V, together with the vehicle dispatch management device 10, constitutes a vehicle control system.

[0039] The position information acquisition unit 310 acquires position information of the vehicle V from the GPS system. The position information acquisition unit 310 passes the position information acquired from the GPS system to the autonomous driving control unit 350, and also passes it to the communication unit 330 to transmit to the vehicle dispatch management device 10. The position information of the vehicle V is used to change (reroute) the driving route to the destination.

[0040] The sensor information acquisition unit 320 acquires sensor information output from various sensors (not shown) mounted on the vehicle V. The sensors include, for example, spatial recognition sensors such as LiDAR, RADAR, and imaging cameras for the autonomous driving of the vehicle V. Such spatial recognition sensors acquire surrounding environmental information necessary for autonomous driving control of the vehicle V. The sensors also include, for example, motion sensors such as a vehicle speed sensor and an acceleration sensor. Furthermore, the sensors include status monitoring sensors for predetermined parts. Such status monitoring sensors monitor, for example, the operating status of various suspension actuators, etc. The sensor information acquisition unit 320 passes the sensor information acquired from the various sensors to the autonomous driving control unit 350.

[0041] The communication unit 330 is a communication interface for exchanging various information with the vehicle dispatch management device 10. As one example, the communication unit 330 receives a transmission request for vehicle information transmitted from the vehicle dispatch management device 10, and in response thereto, transmits vehicle information including position information to the vehicle dispatch management device 10. As another example, the communication unit 330 receives a dispatch instruction transmitted from the vehicle dispatch management device 10, and passes it over to the autonomous driving control unit 350.

[0042] The navigation database 340 stores navigation information for the autonomous driving of the vehicle V in the target area of ​​the vehicle dispatch service. The navigation information typically includes road traffic information and driving history information. The navigation database 340 of the vehicle V is roughly the same as the above-mentioned road map information database in that it includes road map information, but differs from it in that the stored road map information and driving history information can be updated based on the actual autonomous driving of the vehicle V. The driving route control unit 380 updates the road map information and driving history information of the navigation database 340, for example, in conjunction with the autonomous driving according to the determined driving route.

[0043] The autonomous driving control unit 350 controls the autonomous driving of the vehicle V according to the dispatch plan provided by the vehicle dispatch management device 10. That is, the autonomous driving control unit 350 controls the driving operations, including driving, braking, steering, etc., of the vehicle V based on the acquired position information and steer information, etc., so that the vehicle V travels along the travel route of the dispatch plan. The autonomous driving control unit 350 can also determine the road conditions based on the road traffic information acquired from the road traffic information management system 30. As a result, under the control of the autonomous driving control unit 350, the vehicle V can travel autonomously on the travel route indicated by the dispatch plan while complying with traffic regulations.

[0044] In addition, the autonomous driving control unit 350 updates the driving route based on the reroute information received from the vehicle dispatch management device 10 via the communication unit 330. This allows the vehicle V to autonomously drive according to the new driving route under the control of the autonomous driving control unit 350.

[0045] In this case, the autonomous driving control unit 350 may update the driving route only when the user (crew or passenger) agrees to the new driving route indicated by the reroute information displayed on the user interface unit 380 described later. Alternatively, even if the user does not agree (rejects) the new driving route indicated by the reroute information, if the avoidance scene is related to the comfort of driving, the autonomous driving control unit 350 may control the vehicle V to continue driving the current driving route. This allows the vehicle V to drive to the destination while considering safety. Alternatively, if the user does not agree (rejects) the new driving route indicated by the reroute information and the avoidance scene is related to the difficulty of driving, the autonomous driving control unit 350 may control the vehicle V to stop at a point on the driving route before reaching the avoidance scene. This allows the vehicle V to prevent unreasonable driving in the avoidance scene while considering safety.

[0046] The performance evaluation unit 360 evaluates the performance of each part in the driving control system of the vehicle V based on the sensor information processed by the autonomous driving control unit 350, and monitors whether or not there has been a performance degradation. When the performance evaluation unit 360 determines that there has been a performance degradation in any part, it outputs a warning signal indicating the performance degradation. For example, when the performance evaluation unit 360 determines that a value indicated by sensor information corresponding to a certain part has fallen below a predetermined threshold, it outputs a warning signal indicating the performance degradation of that part.

[0047] Furthermore, the performance evaluation unit 360 calculates the reliability of each part in each scene while the vehicle V is traveling along the travel route, and determines the part that functions primarily according to the calculated reliability. The reliability is calculated, for example, by comparing sensor information corresponding to the part with a predetermined reference value. The performance evaluation unit 360 transmits information on the part that functions primarily for each scene to the vehicle allocation management device 10 via the communication unit 330, for example, periodically or irregularly. The vehicle allocation management device 10 registers the information on the part that functions primarily for each scene transmitted from the vehicle V in the avoidance scene database 12e. In this way, the part that functions primarily can be determined by using the reliability, and the information on the part that functions primarily can be registered in the avoidance scene database 12e.

[0048] The reroute request unit 370 transmits a reroute request to the vehicle dispatch management device 10 via the communication unit 330 in response to the warning signal output from the performance evaluation unit 360. The reroute request includes information indicating the part where performance has deteriorated and its state, as well as the position information of the vehicle V. The reroute request unit 370 acquires reroute information transmitted from the vehicle dispatch management device 10 in response to the reroute request via the communication unit 330. The reroute request unit 370 passes the acquired reroute information to the autonomous driving control unit 350. Alternatively, the reroute request unit 370 passes the acquired reroute information to the user interface unit 380 to present it to a user (a crew member or passenger).

[0049] The user interface unit 380 provides predetermined information to the crew or passengers, for example, and accepts operations interactively. For example, the user interface unit 380 displays the driving route of the vehicle V together with road map information. In addition, the user interface unit 380 displays reroute information acquired from the vehicle dispatch management device 10 in response to a reroute request by the reroute request unit 370. The crew or passengers can accept or reject (agree or reject) the new driving route (reroute) indicated by the displayed reroute information. When the user interface unit 380 accepts or rejects the reroute by the crew or passengers, it passes it over to the autonomous driving control unit 350. Depending on the acceptance or rejection of the reroute, the autonomous driving control unit 350 controls the vehicle V to autonomously drive the driving route to the destination, or stops the vehicle V at a predetermined point.

[0050] 4 is a sequence chart showing an example of a process flow of the control device 300 in the vehicle dispatch management system according to an embodiment of the present invention. For example, the control device 300 of the vehicle V executes a predetermined computer program under the control of a processor, thereby realizing the process in cooperation with predetermined hardware resources.

[0051] As shown in the figure, the control device 300 periodically or irregularly acquires sensor information from various sensors mounted on the vehicle V (S401). Next, the control device 300 determines whether or not there has been a performance degradation in any part of the cruise control system of the vehicle V based on the acquired sensor information and a predetermined performance threshold value as a reference (S402).

[0052] When the control device 300 determines that there has been a performance degradation in any part of the driving control system of the vehicle V (Yes in S402), the control device 300 then acquires the latest position information of the vehicle V (S403). The position information of the vehicle V is used for rerouting. Next, the control device 300 transmits a reroute request including information indicating the part with the performance degradation and its condition, as well as the position information, to the vehicle allocation management device 10 (S404). In response to the reroute request, the vehicle allocation management device 10 identifies an avoidance scene in which the part with the performance degradation functions primarily, determines another driving route that does not include the avoidance scene, and transmits this as reroute information to the vehicle V.

[0053] When the control device 300 receives the reroute information from the vehicle dispatch management device 10 (S405), it controls the vehicle V to autonomously travel along the travel route indicated by the reroute information (S406). In this case, the control device 300 may request the user (crew or passenger) to accept or reject the new travel route indicated by the reroute information displayed on the user interface unit 380. For example, even if the user does not accept (rejects) the new travel route indicated by the reroute information, if the avoidance scene is related to the comfort of travel, the control device 300 may control the vehicle V to continue traveling along the current travel route. Alternatively, if the user does not accept the new travel route indicated by the reroute information and the avoidance scene is related to the difficulty of travel, the control device 300 may control the vehicle V to stop at a point on the travel route before the avoidance scene is reached.

[0054] 5 is a sequence chart showing an example of a process flow of the vehicle dispatch management device 10 in the vehicle dispatch management system according to one embodiment of the present invention. For example, the vehicle dispatch management device 10 executes a predetermined vehicle dispatch management server program under the control of a processor, thereby realizing such a process in cooperation with predetermined hardware resources.

[0055] As shown in the figure, the vehicle dispatch management device 10 monitors whether or not a reroute request has been received from any vehicle V in a vehicle dispatch service target area (S501). When the vehicle dispatch management device 10 receives a reroute request from any vehicle V (Yes in S501), the vehicle dispatch management device 10 determines the part where performance has deteriorated based on the received reroute request (S502).

[0056] Next, the vehicle dispatch management device 10 refers to the avoidance scene database 12e to identify an avoidance scene in which the part with the deteriorated performance functions primarily (S503). Furthermore, the vehicle dispatch management device 10 refers to the road map information database 12b to determine whether the identified avoidance scene is included in the current driving route (S504).

[0057] When the vehicle dispatch management device 10 determines that the identified avoidance scene is not included in the current driving route (No in S504), there is no need to change the current driving route, so it creates reroute information indicating that a reroute will not be performed (S505). Next, the vehicle dispatch management device 10 transmits the created reroute information to the vehicle V (S508). Therefore, in this case, there is no avoidance scene on the driving route in which the part with reduced performance would function primarily, so the vehicle V continues autonomous driving without changing the driving route.

[0058] On the other hand, when the vehicle dispatch management device 10 judges that the identified avoidance scene is included in the current travel route (Yes in S504), it searches for a route based on the road map information database 12b and extracts a travel route that does not include the avoidance scene (S506). Next, the vehicle dispatch management device 10 creates reroute information indicating the extracted travel route (S507) and transmits the created reroute information to the vehicle V (S508). Therefore, in this case, the vehicle V that has received the reroute information will autonomously travel according to a new travel route that does not include the avoidance scene.

[0059] Although not shown, the vehicle allocation management device 10 regularly or irregularly receives information on the parts that function primarily for each scene from the traveling vehicle V. The vehicle allocation management device 10 registers the information on the parts that function primarily for each scene transmitted from the vehicle V in the avoidance scene database 12e.

[0060] As described above, according to this embodiment, when a performance degradation occurs in a specific part of a cruise control system of a traveling vehicle, it becomes possible to avoid a travel route including a scene in which the specific part with the performance degradation functions primarily. In particular, according to this embodiment, even if a performance degradation occurs in any part, the travel route is changed to one that does not include a scene in which the part functions primarily, so that the autonomous travel of the vehicle V can be continued to reach the destination.

[0061] The above-described embodiments are merely examples for explaining the present invention, and are not intended to limit the present invention to these embodiments. The present invention can be embodied in various forms without departing from the spirit of the present invention.

[0062] In addition, in the methods disclosed herein, steps, operations, or functions may be performed in parallel or in a different order, unless the results are inconsistent. The steps, operations, and functions described are provided merely as examples, and some of the steps, operations, and functions may be omitted or combined into one, or other steps, operations, or functions may be added, without departing from the spirit of the invention.

[0063] In addition, although various embodiments are disclosed in this specification, specific features (technical matters) in one embodiment can be added to or replaced with specific features in other embodiments, with appropriate modifications, and such forms are also included in the spirit of the present invention. [Explanation of symbols]

[0064] 1. Vehicle dispatch management system 10...Vehicle allocation management device 110...Front-end processing unit 120… Vehicle Allocation Planning Department 130…Vehicle communication unit 12. Database 12a…User information database 12b…Road map information database 12c…Vehicle information database 12d…Vehicle allocation plan database 12e…Avoidance Scene Database 20...Terminal device 30...Road Traffic Information Management System 300...Control device 310...Position information acquisition unit 320…Environmental information acquisition department 330…Communications Department 340…Navigation database 350…Autonomous driving control unit 360…Performance Evaluation Section 370...Reroute request section 380...User interface section N: Communication network V…Vehicle

Claims

1. A vehicle control system for controlling a vehicle to travel along a predetermined travel route, a performance evaluation unit that determines whether or not a performance degradation has occurred in any of a plurality of parts in the cruise control system of the vehicle; an avoidance scene identification unit that, when it is determined that the performance degradation has occurred in any of the components in the driving control system, identifies an avoidance scene on the driving route due to the performance degradation of any of the components; a travel route determination unit that determines the travel route based on road map information, The travel route determination unit changes the current travel route to another travel route based on the identified avoidance scene. Vehicle control system.

2. When the current travel route includes the avoidance scene, the travel route determination unit changes the current travel route to the other travel route that does not include the avoidance scene. The vehicle control system of claim 1 .

3. the vehicle control system further includes an avoidance scene database that stores the avoidance scene due to the performance degradation for each of the plurality of parts; The avoidable scene identification unit identifying the avoidable scene according to the avoidable scene database; The control device according to claim 2.

4. The avoidable scene is a scene in which the one of the parts having the performance degradation functions primarily, and a part other than the one of the parts having the performance degradation cannot cope with the scene. The vehicle control system according to claim 3 .

5. The vehicle control system further includes a road map information database that stores the road map information, The avoidance scene stored in the avoidance scene database is associated with the road map information stored in the road map information database.

5. The vehicle control system according to claim 4.

6. The performance evaluation unit includes: Calculating the reliability of each of the body parts for each scene while the vehicle is traveling along the travel route; determining a part that has a primary function for the scene among the plurality of parts based on the reliability; The avoidable scene identification unit the scene corresponding to the primarily functioning part is stored as the avoidance scene in the avoidance scene database in association with the road map information; The vehicle control system according to claim 5 .

7. the avoidance scene identification unit, when it is determined that the performance degradation has occurred in the part that mainly functions with respect to the scene, identifies the avoidance scene on the traveling route according to the avoidance scene database; The vehicle control system according to claim 6.

8. The plurality of parts in the driving control system include a spatial recognition sensor, The vehicle control system according to claim 4.

9. The spatial recognition sensor includes a LiDAR, a RADAR, and an imaging camera; The vehicle control system of claim 8.

10. The avoidance scene identification unit identifies a scene in which the LiDAR functions primarily as the avoidance scene when it is determined that the LiDAR has experienced performance degradation. The vehicle control system of claim 9.

11. the avoidance scene identification unit, when it is determined that the performance degradation has occurred in the RADAR and / or the imaging camera, identifies a scene in which the RADAR and / or the imaging camera primarily functions as the avoidance scene; The vehicle control system of claim 9.

12. The plurality of parts in the driving control system include an active suspension and an air suspension. The vehicle control system according to claim 4.

13. the avoidance scene identification unit, when it is determined that the performance degradation has occurred in the active suspension, identifies a scene in which the active suspension primarily functions as the avoidance scene;

14. the avoidance scene identification unit, when it is determined that the performance of the air suspension has deteriorated, identifies a scene in which the air suspension primarily functions as the avoidance scene;

15. the travel route determination unit changes the travel route when a crew member or passenger of the vehicle agrees to change the travel route. The vehicle control system of claim 1 .

16. When the change of the travel route is not approved by the occupants or passengers of the vehicle, and the scene in which the part determined to have the performance degradation mainly functions is the avoidance scene related to the comfort of travel, the vehicle control system controls the vehicle to stop at a point on the travel route before the avoidance scene is reached. The vehicle control system of claim 1 .

17. When the change of the driving route is not approved by the occupants or passengers of the vehicle, and the scene in which the part determined to have the performance degradation mainly functions is the avoidance scene related to the difficulty of driving, the vehicle control system controls the vehicle to continue driving the current driving route. The vehicle control system of claim 1 .

18. A vehicle control method executed by a vehicle control system that controls a vehicle to travel along a predetermined travel route, comprising: determining whether or not a performance degradation has occurred in any one of a plurality of parts in the cruise control system of the vehicle; identifying an avoidance scene on the driving route due to the performance degradation of any of the parts in the driving control system when it is determined that the performance degradation has occurred in any of the parts; determining the driving route based on road map information; determining the travel route includes changing the current travel route to another travel route based on the identified avoidance scene; A vehicle control method.

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