Vehicle control system and control method

Abstract

To provide a vehicle control system, a control method, and a program that can reduce energy consumption under appropriate decisions according to the status of a vehicle.SOLUTION: A vehicle control system includes a plurality of external field sensors for detecting objects in the vicinity of a vehicle, and a control device connected to the plurality of external field sensors. The control device is provided with a state detection unit for detecting a state of the vehicle and a plurality of processors. Each of the plurality of processors performs information processing using the output of some or all of the plurality of external field sensors, and based on the detection result of the state detection unit, the combination of the plurality of external field sensors and the plurality of processors that are in an on state and the combination of the plurality of external field sensors and the plurality of processors that are in an off state are switched.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle control system and a control method

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transport system that takes into account people in vulnerable positions among traffic participants. Toward this realization, research and development focusing on further improving traffic safety and convenience through research and development related to autonomous driving technology have been carried out. Autonomous driving technology and advanced driving assistance are supported by many sensors and processors, and accordingly, an increase in energy consumption has become an issue. For example, Patent Document 1 describes switching from a first state in which autonomous driving is executed without limitation to a second state in which part or all of the autonomous driving is restricted based on the degradation information of a battery that stores power for driving.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Situations in which the functions of autonomous driving or driving assistance should be turned on or off change moment by moment depending not only on the degradation status of the battery but also on the environment in which the vehicle is placed. In the conventional technology, since the function of autonomous driving is only restricted based solely on the state of the battery, it may not be possible to reduce energy consumption under appropriate judgment according to the state of the vehicle.

[0005] The present invention has been made in consideration of such circumstances, and one of its objectives is to provide a vehicle control system and a control method capable of reducing energy consumption under appropriate judgment according to the state of the vehicle. And by extension, it contributes to the development of a sustainable transportation system.

Means for Solving the Problems

[0006] The vehicle control system and the control method according to this invention adopt the following configuration. (1): A vehicle control system according to one aspect of this invention includes a plurality of external sensors for detecting objects existing around the vehicle, and a control device connected to the plurality of external sensors. The control device includes a state detection unit for detecting the state of the vehicle, and a plurality of processing units. Each of the plurality of processing units performs information processing using the output of some or all of the plurality of external sensors. Based on the detection result of the state detection unit, the combination of the plurality of external sensors and the plurality of processing units in the on state and the combination of the plurality of external sensors and the plurality of processing units in the off state are switched.

[0007] (2): In the aspect of (1) above, the plurality of processing units include a first processing unit for giving an alarm regarding a moving object approaching the vehicle when there is a possibility that a passenger gets off the vehicle. When the state of the vehicle detected by the state detection unit is in a first state including the conditions that the vehicle is in a stopped state and the door lock is released, the first processing unit and the external sensors used by the first processing unit for the information processing are in the on state, and other processing units and external sensors are in the off state.

[0008] (3): In the aspect of (1) above, the plurality of processing units include a second processing unit that monitors the surroundings of the vehicle while the vehicle is stopped. When the state of the vehicle detected by the state detection unit is in a second state that satisfies a condition including that the vehicle is in a stopped state and the battery mounted on the vehicle is being charged from the outside, the second processing unit and the external sensors used by the second processing unit for the information processing are turned on, and the other processing units and external sensors are turned off.

[0009] (4): In the aspect of (1) above, the plurality of processing units include a third processing unit that can selectively operate in a first mode in which the vehicle autonomously moves in a state where surrounding monitoring by the occupant is required and a second mode in which the vehicle autonomously moves in a state where surrounding monitoring by the occupant is not required. When the state of the vehicle detected by the state detection unit is in a third state where the second mode cannot be executed and the first mode can be executed, the number of the external sensors that are turned on is less than that in a fourth state where the second mode can be executed.

[0010] (5): In the aspect of (1) above, the plurality of processing units include a fourth processing unit that operates in a first mode in which the vehicle autonomously moves in a state where surrounding monitoring by the occupant is required and a fifth processing unit that operates in a second mode in which the vehicle autonomously moves in a state where surrounding monitoring by the occupant is not required. When the state of the vehicle detected by the state detection unit is in a third state where the second mode cannot be executed and the first mode can be executed, the number of the external sensors that are turned on is less than that in a fourth state where the second mode can be executed, and in the third state, the fifth processing unit is turned off.

[0011] (6): In the aspect of (1) above, a notification unit that notifies information to the occupant, and from a state in which some of the plurality of external sensors and some of the plurality of processing units are in an off state, when some of the plurality of external sensors and some of the plurality of processing units that are in the off state become in an on state, until it is completed that some of the plurality of external sensors and some of the plurality of processing units become in an on state, the driving state control unit further includes a driving state control unit that notifies the notification unit that information processing by the processing unit that becomes in an on state is not started.

[0012] (7): In the aspect of (1) above, when the state of the vehicle detected by the state detection unit changes due to the vehicle leaving the stopped state, until it is completed that some of the plurality of external sensors and some of the plurality of processing units that are in an off state become in an on state, the driving state control unit further includes a driving state control unit that suppresses the start of the vehicle.

[0013] (8): A control method according to another aspect of the present invention is a control method of a vehicle control system including a plurality of external sensors for detecting an object existing around the vehicle and a control device connected to the plurality of external sensors, wherein the control device detects the state of the vehicle and operates independently as a plurality of processing units, and each of the plurality of processing units performs information processing using outputs of some or all of the plurality of external sensors, and based on the state of the vehicle, switches a combination of the plurality of external sensors and the plurality of processing units that are in an on state and a combination of the plurality of external sensors and the plurality of processing units that are in an off state.

Effect of the Invention

[0014] (1) According to the aspects of (8), reduction of energy consumption can be achieved under an appropriate determination according to the state of the vehicle.

Brief Description of the Drawings

[0015]

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Mode for Carrying Out the Invention

[0016] Hereinafter, embodiments of the vehicle control system and the control method of the present invention will be described with reference to the drawings.

[0017] <First Embodiment> FIG. 1 is a configuration diagram of the vehicle control system 1. The vehicle control system 1 includes a plurality of external sensors illustrated in the figure and a control device 100. The external sensors include, for example, some or all of radar devices 10-1 to 10-5, cameras 20-1 to 20-7, wide-angle cameras 30-1 to 30-4, a LIDAR (Light Detection and Ranging) 40, and a plurality of ultrasonic sensors 50. These devices (sensors, cameras, radar devices, etc.) use the periphery (outside) of the vehicle M as the detection range and output information (signals, images, coordinates, etc.) indicating an object existing in the periphery of the vehicle M to the control device 100.

[0018] The radar device 10-1 uses the front of the vehicle M as the detection range, and the radar devices 10-2 to 10-5 use the diagonally front or diagonally rear of the vehicle as the detection range, respectively. Each of the radar devices 10-1 to 10-5 emits electromagnetic waves and outputs to the control device 100 the distance and azimuth to the object detected based on the reflected wave generated when the electromagnetic wave is reflected by the object.

[0019] The cameras 20-1 and 20-2 use the front of the vehicle M as the detection range, the cameras 20-3 to 20-6 use the sides of the vehicle M as the detection range, and the camera 20-7 uses the rear of the vehicle M as the detection range, respectively. Each of the cameras 20-1 to 20-7 performs repeated imaging and outputs the captured image to the control device 100. Note that an image processing device for analyzing the image to recognize the position of the object may be provided attached to some or all of the cameras 20-1 to 20-7.

[0020] The wide-angle camera 30-1 uses the front of the vehicle M as the detection range, the wide-angle cameras 30-2 and 30-3 use the sides of the vehicle M as the detection range, and the wide-angle camera 30-4 uses the rear of the vehicle M as the detection range, respectively. Each of the wide-angle cameras 30-1 to 30-4 is, for example, a digital camera equipped with a fish-eye lens and images the space around the vehicle M at a higher angle than the cameras 20-1 to 20-7.

[0021] The LIDAR 40 has a detection range that is a certain range centered on the front of the vehicle M. The LIDAR 40 emits infrared light around the vehicle M and outputs to the control device 100 the distance and azimuth to an object detected based on a reflected wave generated when the infrared light is reflected by the object, etc.

[0022] The ultrasonic sensor 50 is provided centered on the corner portion of the vehicle M, emits ultrasonic waves, and outputs to the control device 100 the distance to an object detected based on a reflected wave generated when the ultrasonic waves are reflected by the object.

[0023] FIG. 2 is a configuration diagram of the control device 100. The control device 100 includes, for example, a state detection unit 110, a rear lateral support unit 120 during vehicle exit, a vehicle momentum estimation unit 130, a driving support control unit 140, an automatic driving control unit 150, and a driving state control unit 160. The automatic driving control unit 150 includes an MPU (Map Positioning Unit) 152 and a wide-angle camera image processing unit 154. Some or all of these components are an example of the "plurality of processing units" in the claims, and are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). The plurality of processing units operate independently of each other, for example. Some or all of these components may be realized by hardware (including a circuit unit; circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), or a SOC (System On Chip), or may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or a CD-ROM, and may be installed by mounting the storage medium on a drive device. Each of the "plurality of processing units" performs information processing using the output of some or all of the plurality of external sensors.

[0024] The control device 100 may not be realized by a single processor, but may be one in which distributed processing is performed by a plurality of processors. For example, the processors that function as the main parts other than the MPU 152 and the wide-angle camera image processing unit 154 among the rear lateral support unit 120 during vehicle exit, the driving support control unit 140, the MPU 152, the wide-angle camera image processing unit 154, and the automatic driving control unit 150 may exist separately.

[0025] The control device 100 is connected to devices such as an HMI (Human Machine Interface) 200 to be controlled, a traveling driving force output device 210, a braking device 220, and a steering device 230. These devices will be described first.

[0026] The HMI 200 presents various information to the passengers of the vehicle M and accepts input operations by the passengers. The HMI 30 includes various display devices, indicators, speakers, buzzers, touch panels, switches, keys, etc. The HMI 30 is an example of a "notification unit".

[0027] The traveling driving force output device 210 outputs the traveling driving force (torque) for the vehicle M to the drive wheels. The traveling driving force output device 210 includes, for example, a combination of an internal combustion engine, a traveling motor 212, and a transmission, and an ECU (Electronic Control Unit) that controls these. Further, the traveling driving force output device 210 includes a battery 214 that stores the electric power used by the traveling motor 212, and an external charging port 216 for receiving charging from an external charger. The ECU controls the above configuration according to the information input from the control device 100 or the information input from an operation operator (not shown).

[0028] The braking device 220 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the control device 100 or information input from the driver-operated control, so that braking torque corresponding to the braking operation is output to each wheel. The braking device 220 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by the operation of the brake pedal included in the driver-operated control to the cylinder via the master cylinder. Note that the braking device 220 is not limited to the configuration described above, and may be an electronically controlled hydraulic braking device that controls an actuator according to information input from the control device 100 and transmits the hydraulic pressure of the master cylinder to the cylinder.

[0029] The steering device 230 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor according to information input from the control device 100 or information input from the driver-operated control, and changes the direction of the steered wheels.

[0030] Returning to the description of the control device 100. The state detection unit 110 detects the state of the vehicle M based on the outputs of various vehicle sensors (shift position sensor, speed sensor, door lock sensor, driving assistance switch, etc.; not shown) mounted on the vehicle M and information obtained from the MPU 152 described later. The state of the vehicle M includes, for example, a first state, a second state, a third state, a fourth state (all described later), etc. Although there may be other states of the vehicle M, descriptions of all of them are omitted.

[0031] FIG. 3 is a flowchart showing an example of the flow of processing executed by the state detection unit 110. First, the state detection unit 110 determines whether the shift position of the vehicle M is P (parking), the speed V of the vehicle M is less than the threshold value Vth, and at least one of the doors of the vehicle M is unlocked (step S1). The threshold value Vth is a small value of about 1 [km / h] and is a value for determining whether the vehicle M is stopped. When a positive determination result is obtained in step S1, the state detection unit 110 determines that the state of the vehicle M is the first state (step S2). The first state is a state in which the vehicle M is stopped and there is a possibility that the occupant gets out of the vehicle.

[0032] When a negative determination result is obtained in step S1, the state detection unit 110 determines whether the shift position of the vehicle M is P (parking), the speed V of the vehicle M is less than the threshold value Vth, the battery 214 is being charged from the outside via the external charging port 216, and all of the doors of the vehicle M are locked (step S3). When a positive determination result is obtained in step S3, the state detection unit 110 determines that the state of the vehicle M is the second state (step S4). The second state is a state in which the vehicle M is stopped and the battery 214 is being charged from the outside.

[0033] When a negative determination result is obtained in step S3, the state detection unit 110 determines whether the driving support switch is in the on state (step S5). The driving support switch is a switch provided at a desired position in the passenger compartment of the vehicle M. When the driving support switch is in the off state, the state detection unit 110 does not perform the state determination of the vehicle M and ends the processing of this flowchart. In this case, for example, all the external sensors and the processing unit may be controlled to be in the off state or the standby state with low power consumption.

[0034] When the driving support switch is in the ON state, the state detection unit 110 determines whether the position where the vehicle M is located is an area where highly automated driving is possible by querying the MPU 152 (step S6). The area where highly automated driving is possible is, for example, an area on the main line of a toll road such as a highway. If a negative determination result is obtained in S6, the state detection unit 110 determines that the state of the vehicle M is the third state (step S7). On the other hand, if an affirmative determination result is obtained in S6, the state detection unit 110 determines that the state of the vehicle M is the fourth state (step S8). The third state is a state in which, because the vehicle M is traveling in an urban area or the like, the vehicle M cannot be autonomously moved in a state where peripheral monitoring by the occupant is unnecessary. The fourth state is a state in which, because the vehicle M is traveling in an area where highly automated driving is possible, the vehicle M can be autonomously moved in a state where peripheral monitoring by the occupant is unnecessary (however, other conditions such as speed are imposed in order for the peripheral monitoring by the occupant to actually become unnecessary).

[0035] When the vehicle M is in the first state, when the getting-off rear-side support unit 120 detects a moving object such as another vehicle approaching from the rear side, it gives an alarm by lighting an indicator on the front pillar or side mirror. Further, when there is a possibility that the door opened by the occupant of the vehicle M for getting off collides with another vehicle passing by the side of the vehicle M, the getting-off rear-side support unit 120 blinks the indicator and outputs an alarm sound to the HMI 200 at the same time. The getting-off rear-side support unit 120 is an example of the "first processing unit".

[0036] Based on the outputs of various vehicle sensors (speed sensor, acceleration sensor, yaw rate sensor, steering angle sensor, etc.; not shown) mounted on the vehicle M, the own vehicle momentum estimation unit 130 performs processing similar to that of a so-called inertial navigation device to estimate the momentum (displacement amount) of the vehicle M.

[0037] The driving support control unit 140 performs various driving support controls such as lane keeping control, speed keeping control, inter-vehicle distance control, lane departure warning, and pedestrian detection warning control.

[0038] The automatic driving control unit 150 moves the vehicle M without relying on the operation of the vehicle occupants. The modes of the automatic driving control unit 150 may include a plurality of modes. For example, the plurality of modes include a first mode in which the vehicle M autonomously moves in a state where the occupants need to monitor the surroundings, and a second mode in which the vehicle M can autonomously move in a state where the occupants do not need to monitor the surroundings. In a state where the occupants need to monitor the surroundings, if the gripping state of the steering wheel or the gazing direction of the occupants (drivers) is detected and it is determined that the occupants are not performing peripheral monitoring, the control in the first mode is also aborted. Also, the second mode may be a mode called so-called TJP (Traffic Jam Pilot), that is, a mode executed when the vehicle is traveling on an exclusive automobile road at a speed equal to or lower than a predetermined speed. Further, when the state of the vehicle M is the second state, the automatic driving control unit 150 can perform peripheral monitoring of the vehicle M using the wide-angle cameras 30-1 to 30-4 and perform various processes such as anti-theft prevention. The automatic driving control unit 150 is an example of the "second processing unit" or the "third processing unit".

[0039] The MPU 152 is connected to a positioning device such as a GPS (Global Positioning System) receiver, holds map information in a storage device such as an HDD or a flash memory, and has a recommended lane determination function. The map information is more detailed than the map information used by the navigation device. The MPU 152 divides the map route provided from a navigation device (not shown) into a plurality of blocks (for example, divides every 100 [m] in the traveling direction of the vehicle M), and determines the recommended lane for each block with reference to the map information. When there is a branch point in the map route, the MPU 152 determines the recommended lane so that the vehicle M can travel on a reasonable route to proceed to the branch destination.

[0040] The wide-angle camera image processing unit 154 performs a process of converting a wide-angle image into a normal image for the captured images captured by each of the wide-angle cameras 30-1 to 30-4.

[0041] The driving state control unit 160 controls the driving state of the vehicle M based on the processing results of each part of the control device 100. This will be described in more detail later.

[0042] In the vehicle control system 1 of the embodiment, based on the detection results of the state detection unit 110, the combination of "a plurality of external sensors" and "a plurality of processing units" that are in the on state and the combination of "a plurality of external sensors" and "a plurality of processing units" that are in the off state are switched. As a result, it is possible to reduce energy consumption under appropriate judgment according to the state of the vehicle. This will be described individually below.

[0043] FIG. 4 is a diagram showing an example of the states of the external sensors and the processing unit when the state of the vehicle M is the first state. In the figure, the hatched components indicate that they are in the off state. The same applies to FIGS. 5 and later. As shown in the figure, in the first state, the radar devices 10-4 and 10-5 whose detection range is the rear side of the vehicle M and the rear side support unit 120 at the time of getting off the vehicle are in the on state, and the other external sensors, the driving support control unit 140, and the automatic driving control unit 150 are in the off state. Note that the instructions to be in the on state and the off state may be transmitted by the state detection unit 110, or each processing unit may perform them spontaneously.

[0044] FIG. 5 is a diagram showing an example of the states of the external sensors and the processing unit when the state of the vehicle M is the second state. As shown in the figure, in the second state, the wide-angle cameras 30-1 to 30-4 and the automatic driving control unit 150 are in the on state, and the other external sensors, the rear side support unit 120 at the time of getting off the vehicle, and the driving support control unit 140 are in the off state.

[0045] FIG. 6 is a diagram showing an example of the states of the external sensors and the processing unit when the state of the vehicle M is the third state, and FIG. 7 is a diagram showing an example of the states of the external sensors and the processing unit when the state of the vehicle M is the fourth state. As shown in the drawings, in the third state, the radar devices 10-1 to 10-5, the cameras 20-1 to 20-7, the wide-angle cameras 30-1 to 30-4, the driving support control unit 140, and the autonomous driving control unit 150 are in the on state, and the rear-side support unit 120 and the LIDAR 40 are in the off state when getting out of the vehicle. When the fourth state is reached, the LIDAR 40 further becomes in the on state. Thus, when in the third state where the second mode cannot be executed and the first mode can be executed, the number of external sensors in the on state is smaller compared to the fourth state where the second mode can be executed.

[0046] When a part of the plurality of external sensors and the plurality of processing units changes from an off state to an on state, the driving state control unit 160 uses the HMI 200 to notify the occupant that information processing by the processing unit in the on state will not start until the change of a part of the plurality of external sensors and the plurality of processing units to the on state is completed. At this time, when the state of the vehicle M before the change of state is a stopped state, that is, when the state of the vehicle M detected by the state detection unit 110 changes due to the vehicle M leaving the stopped state, the driving state control unit 160 suppresses the start of the vehicle until a part of the plurality of external sensors and the plurality of processing units in the off state changes to the on state is completed. FIG. 8 is a diagram for explaining the content of the processing by the driving state control unit 160. Until time T1, the vehicle M is in a stopped state and is in the above-described first state, second state, and other states. When the accelerator pedal is operated at time T1, the driving state control unit 160 notifies the HMI 200 that starting is not possible and prohibits the start of the vehicle M by fixing the shift position to P or the like. When the activation of a predetermined external sensor and processing unit is completed at time T2, the driving state control unit 160 changes the shift position from P and permits the start. Thereby, it is possible to prevent the vehicle M from starting in a state where the necessary driving support functions are not activated, and to suppress the occupant from misrecognizing that the failure is due to not starting.

[0047] According to the first embodiment described above, it is possible to reduce energy consumption under appropriate judgment according to the state of the vehicle.

[0048] <Second Embodiment> Hereinafter, the second embodiment will be described. In the first embodiment, it is assumed that one automatic driving control unit 150 operates selectively in the first mode and the second mode. In the second embodiment, the automatic driving control unit 150 includes a first mode execution unit 156 (an example of a fourth processing unit) that operates in the first mode and a second mode execution unit 158 (an example of a fifth processing unit) that operates in the second mode. The first mode execution unit 156 and the second mode execution unit 158 may be realized by separate processors, or may be realized by one processor generating two virtual machines respectively.

[0049] FIG. 9 is a diagram showing an example of the states of the external sensors and the processing units when the state of the vehicle M is in the third state in the second embodiment, and FIG. 10 is a diagram showing an example of the states of the external sensors and the processing units when the state of the vehicle M is in the fourth state in the second embodiment. With such a configuration, energy consumption can be reduced with higher accuracy than in the first embodiment.

[0050] The above-described embodiments can be expressed as follows. A plurality of external sensors for detecting objects existing around the vehicle, A control device connected to the plurality of external sensors, The control device includes: A state detection unit for detecting the state of the vehicle, A plurality of processors each connected to a storage medium storing computer-readable instructions, Each of the plurality of processors performs information processing using outputs of some or all of the plurality of external sensors, Based on the detection result of the state detection unit, the combination of the plurality of external sensors and the plurality of processors in the on state and the combination of the plurality of external sensors and the plurality of processors in the off state are switched, Control system.

[0051] As described above, the embodiments for carrying out the present invention have been described using embodiments. However, the present invention is not limited to such embodiments at all, and various modifications and substitutions can be made without departing from the gist of the present invention.

Explanation of Signs

[0052] 1 Vehicle control system 10-1 to 10-5 Radar device 20-1 to 20-7 Camera 30-1 to 30-4 Wide-angle camera 40 LIDAR 50 Ultrasonic sensor 100 Control device 110 State detection unit 120 Rear-side support unit at the time of getting off the vehicle 130 Own vehicle momentum estimation unit 140 Driving support control unit 150 Automatic driving control unit 152 MPU 154 Wide-angle camera image processing unit 156 First mode execution unit 158 Second mode execution unit 160 Driving state control unit

Claims

1. A plurality of external sensors for detecting objects present around the vehicle; A control device connected to the plurality of external sensors, The control device includes: A state detection unit that detects a state of the vehicle; A plurality of processing units, Each of the plurality of processing units performs information processing using outputs of some or all of the plurality of external sensors, based on a detection result of the state detection unit, a combination of the plurality of external sensors and the plurality of processing units to be in an ON state and a combination of the plurality of external sensors and the plurality of processing units to be in an OFF state are switched; Vehicle control system.

2. the plurality of processing units includes a first processing unit that issues an alarm regarding a moving object approaching the vehicle when there is a possibility that an occupant will get off the vehicle; When the state of the vehicle detected by the state detection unit is a first state that satisfies conditions including a stopped state and an unlocked door, the first processing unit and an external sensor used by the first processing unit for the information processing are turned on, and other processing units and external sensors are turned off. The vehicle control system of claim 1 .

3. the plurality of processing units includes a second processing unit that monitors a periphery of the vehicle while the vehicle is stopped; When the state of the vehicle detected by the state detection unit is a second state that satisfies conditions including a stopped state and a battery mounted on the vehicle being charged from an external source, the second processing unit and an external sensor used by the second processing unit for the information processing are turned on, and other processing units and external sensors are turned off. The vehicle control system of claim 1 .

4. the plurality of processing units include a third processing unit selectively operable between a first mode in which the vehicle is autonomously moved in a state in which surrounding monitoring by an occupant is required, and a second mode in which the vehicle is autonomously moved in a state in which surrounding monitoring by an occupant is not required, When the state of the vehicle detected by the state detection unit is a third state in which the second mode is not executable and the first mode is executable, the number of the external sensors that are turned on is smaller than that of a fourth state in which the second mode is executable. The vehicle control system of claim 1 .

5. The plurality of processing units include a fourth processing unit that operates in a first mode in which the vehicle is moved autonomously in a state in which surrounding monitoring by an occupant is required, and a fifth processing unit that operates in a second mode in which the vehicle is moved autonomously in a state in which surrounding monitoring by an occupant is not required, When the state of the vehicle detected by the state detection unit is a third state in which the second mode is not executable and the first mode is executable, the number of the external sensors that are turned on is smaller than that in a fourth state in which the second mode is executable, and the fifth processing unit is turned off in the third state. The vehicle control system of claim 1 .

6. A notification unit that notifies a passenger of information; When some of the external sensors and the processing units are turned on from an off state, the notification unit is notified that information processing by the processing unit that is turned on will not be started until the external sensors and the processing units are turned on. The vehicle control system of claim 1 .

7. When the state of the vehicle detected by the state detection unit changes as the vehicle leaves a stopped state, a driving state control unit suppresses the start of the vehicle until some of the plurality of external sensors and the plurality of processing units, which are in an off state, are turned on. The vehicle control system of claim 1 .

8. A control method for a vehicle control system including a plurality of external sensors for detecting objects present around a vehicle, and a control device connected to the plurality of external sensors, comprising: The control device, Detecting a state of the vehicle; a plurality of processing units each of which performs information processing using outputs from a part or all of the plurality of external sensors; switching between a combination of the plurality of external sensors and the plurality of processing units that is turned on and a combination of the plurality of external sensors and the plurality of processing units that is turned off based on a state of the vehicle; Control methods.

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