Vehicle control system, vehicle control method and program

Abstract

To prevent vehicle behavior from becoming unstable when switching from a main system to a redundant system in the case that travel control of a vehicle with use of calculation units of a main system and a redundant system is performed.SOLUTION: When abnormality of first target trajectory generation function of a calculation unit, which generates a first target trajectory, is detected, failover processing for switching a basic target trajectory used for generation of a final target trajectory from the first target trajectory to a second target trajectory is performed. In the failover processing, the first target trajectory, which has been generated before detection of abnormality of generation function, is renewed on the basis of an estimated vehicle movement amount during the failover processing. A position where at least target positions are coincident with each other in the second target trajectory generated after detection of abnormality and the first target trajectory after renewal is set to a basic target trajectory switching position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a system, a method, and a program for controlling an autonomously driving vehicle. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2019-171970 discloses a system for controlling the cruise of an autonomously driven vehicle. The system includes a primary and a redundant arithmetic unit. The primary arithmetic unit calculates a target trajectory for cruise control. If an abnormality occurs in the primary arithmetic unit, the redundant arithmetic unit calculates the target trajectory in place of the primary arithmetic unit.

[0003] JP 2021-127039 A discloses a system for performing automatic driving of a vehicle. This system includes a main driving control unit and a redundant driving control unit. The main driving control unit performs automatic driving of the vehicle. When a deterioration in the function of the main driving control unit is detected, the main driving control unit sends an instruction to take over automatic driving to the redundant driving control unit. The redundant driving control unit controls driving of the vehicle based on information included in the instruction to take over.

[0004] Japanese Patent Application Laid-Open Publication No. 2021-075186 discloses a system for controlling the driving of an autonomously driven vehicle. The system includes multiple arithmetic units. The multiple arithmetic units separately generate target trajectories for the vehicle during driving control. If a defect occurs in one of the multiple arithmetic units, the system performs driving control based on a target trajectory generated by a arithmetic unit other than the defective arithmetic unit. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-171970 [Patent Document 2] Japanese Patent Publication No. 2021-127039 [Patent Document 3] Patent Publication No. 2021-075186 Summary of the Invention [Problem to be solved by the invention]

[0006] The system described in JP 2021-075186 A is classified as a hot standby system in which the main and redundant arithmetic units are always operating. In contrast, the systems described in JP 2019-171970 A and JP 2021-127039 A are classified as warm standby systems in which the main arithmetic unit is operating while the redundant arithmetic unit is on standby.

[0007] In the hot standby system, defects due to resource shortages such as CPU or memory may occur simultaneously in both the primary and redundant systems. The hot standby system also has the problem that the target trajectories are generated separately for the primary and redundant systems, which means that they may not be exactly the same. Therefore, if the primary system is switched to the redundant system instantaneously, the vehicle may suddenly accelerate or decelerate, or the vehicle may suddenly steer.

[0008] In this regard, the warm standby system minimizes the resources allocated to the redundant system, allowing it to be on standby. By providing handover information from the primary system to the redundant system when switching from the primary system to the redundant system, it is also possible to stabilize the vehicle's behavior during the switchover. However, the warm standby system has the problem that it takes longer to switch from the primary system to the redundant system than the hot standby system. As a result, there is a possibility that the vehicle's state at the time of handover may differ from its current state, resulting in unstable vehicle behavior.

[0009] One object of the present disclosure is to provide a technology for preventing the vehicle's behavior from becoming unstable when switching from the main system to the redundant system when controlling the vehicle's driving using a main system and a redundant system arithmetic device. [Means for solving the problem]

[0010] A first aspect of the present disclosure is a system for controlling an autonomously driving vehicle, which has the following features. The system includes first and second computing devices, a management device, and a control device. The first arithmetic unit is configured to generate a first target trajectory for the autonomous driving. The second arithmetic unit is configured to generate a second target trajectory for the autonomous driving. The management unit manages the first and second arithmetic units. The management unit is configured to generate a final target trajectory for the autonomous driving. The control unit is configured to perform autonomous driving control of the vehicle based on the final target trajectory. The first, second and final target trajectories each consist of a set of target positions and target velocities for the vehicle. The management device is configured to generate the final target trajectory using the first target trajectory when the generation function of the first target trajectory in the first computing device is normal, and to perform a failover process to switch the basic target trajectory used to generate the final target trajectory from the first target trajectory to the second target trajectory when an abnormality in the generation function is detected. The management device is configured to, in the failover processing, estimate the amount of movement of the vehicle during the failover processing when the vehicle moves according to the first target trajectory constituting the last information based on status information of the vehicle before the detection of the abnormality and the last information of the first target trajectory generated before the detection of the abnormality, calculate an updated target position and an updated target speed of the vehicle by updating the first target trajectory constituting the last information based on the estimated amount of movement of the vehicle, compare a first set indicating the set of the updated target positions and updated target speeds with a second set indicating the set of the target positions and target speeds constituting the second target trajectory generated after the detection of the abnormality, and set a position where at least the target position information in the first and second sets matches as the switching position of the basic target trajectory.

[0011] A second aspect of the present disclosure is a method for controlling an autonomously driving vehicle, which has the following features. The method includes generating a first target trajectory for the autonomous driving, generating a second target trajectory for the autonomous driving, generating a final target trajectory for the autonomous driving, and performing autonomous driving control of the vehicle based on the final target trajectory. The first, second and final target trajectories each consist of a set of target positions and target velocities for the vehicle. When the function of generating the first target trajectory that the calculation device that generates the first target trajectory has is normal, the final target trajectory is generated using the first target trajectory. When an abnormality in the generation function is detected, a failover process is performed to switch the basic target trajectory used to generate the final target trajectory from the first target trajectory to the second target trajectory. The failover processing includes estimating the amount of movement of the vehicle during the failover processing when the vehicle moves according to the first target trajectory constituting the last information based on status information of the vehicle before the detection of the abnormality and the last information of the first target trajectory generated before the detection of the abnormality; calculating an updated target position and an updated target speed of the vehicle by updating the first target trajectory constituting the last information based on the estimated amount of movement of the vehicle; comparing a first set indicating the set of the updated target positions and updated target speeds with a second set indicating the set of the target positions and target speeds constituting the second target trajectory generated after the detection of the abnormality; and setting a position where at least target position information in the first and second sets matches as a switching position of the basic target trajectory.

[0012] A third aspect of the present disclosure is a program for controlling an autonomously driving vehicle, which has the following features. The program is configured to cause a computer to execute the following operations: generating a first target trajectory for the autonomous driving; generating a second target trajectory for the autonomous driving; generating a final target trajectory for the autonomous driving; and performing autonomous driving control of the vehicle based on the final target trajectory. The first, second and final target trajectories each consist of a set of target positions and target velocities for the vehicle. When the function of generating the first target trajectory that the calculation device that generates the first target trajectory has is normal, the final target trajectory is generated using the first target trajectory. When an abnormality in the generation function is detected, a failover process is performed to switch the basic target trajectory used to generate the final target trajectory from the first target trajectory to the second target trajectory. The failover processing includes estimating the amount of movement of the vehicle during the failover processing when the vehicle moves according to the first target trajectory constituting the last information based on status information of the vehicle before the detection of the abnormality and the last information of the first target trajectory generated before the detection of the abnormality; calculating an updated target position and an updated target speed of the vehicle by updating the first target trajectory constituting the last information based on the estimated amount of movement of the vehicle; comparing a first set indicating the set of the updated target positions and updated target speeds with a second set indicating the set of the target positions and target speeds constituting the second target trajectory generated after the detection of the abnormality; and setting a position where at least target position information in the first and second sets matches as a switching position of the basic target trajectory. [Effects of the Invention]

[0013] According to the present disclosure, when an abnormality is detected in a first target trajectory generation function of a computing device that generates a first target trajectory, a failover process is performed to switch the basic target trajectory used to generate a final target trajectory from the first target trajectory to a second target trajectory. In the failover process, the first target trajectory generated before the detection of the abnormality in the generation function is updated based on an estimated movement amount of the vehicle during the failover process. Then, a position where at least the target positions of the second target trajectory generated after the detection of the abnormality and the updated first target trajectory match is set as the switching position of the basic target trajectory. Therefore, according to the present disclosure, it is possible to prevent sudden acceleration or deceleration of the vehicle or sudden steering of the vehicle after completion of the failover process. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a conceptual diagram illustrating an overview of an embodiment of the present disclosure. [Figure 2]FIG. 1 is a diagram illustrating a focus of an embodiment. [Figure 3] FIG. 10 is a diagram illustrating a process performed in a failover process according to an embodiment. [Figure 4] 1 is a block diagram illustrating an example of the configuration of a system according to an embodiment. [Figure 5] 10 is a flowchart showing the flow of information processing particularly related to the embodiment. [Figure 6] 10 is a flowchart showing the flow of information processing particularly related to the embodiment. [Figure 7] 10 is a flowchart showing the flow of information processing particularly related to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0016] 1. Overview FIG. 1 is a conceptual diagram for explaining an overview of a system according to an embodiment. The system 100 shown in FIG. 1 is a system for controlling a vehicle VH. Typically, the system 100 is mounted on the vehicle VH. Some of the functions of the system 100 may be possessed by an external device, or the vehicle VH may be controlled by a remote device. In other words, the functions of the system 100 may be distributed between the vehicle VH and the external device.

[0017] The vehicle VH is an autonomous vehicle. The autonomous driving here is based on the premise that the operator (e.g., driver) of the vehicle VH does not necessarily have to concentrate 100% on driving. The autonomous driving is assumed to be at level 3 or higher.

[0018] The automatic driving of the vehicle VH is realized by the system 100. The system 100 controls the steering, acceleration, and deceleration of the vehicle VH as vehicle control for automatic driving (hereinafter also referred to as "automatic driving control"). In the automatic driving control, the running devices (steering device, drive device, and braking device) of the vehicle VH are controlled so that the vehicle VH follows the target trajectory TR.

[0019] The target trajectory TR includes a set of target positions [Xi, Yi] of the vehicle VH within the lane in which the vehicle VH is traveling, and a target speed [VXi, VYi] for each target position [Xi, Yi]. In the example shown in Fig. 1, the X direction is the direction forward of the vehicle VH, and the Y direction is a planar direction perpendicular to the X direction. Note that the coordinate system (X, Y) is not limited to the example shown in Fig. 1.

[0020] In order to make the vehicle VH follow the target trajectory TR, the automatic driving control calculates the deviation (for example, lateral deviation, yaw angle deviation, and speed deviation) between the vehicle VH and the target trajectory TR, and then controls the traveling device of the vehicle VH so as to reduce this deviation.

[0021] In the embodiment, a case is considered in which a target trajectory TR is generated by a warm standby system. In this case, the target trajectory TR is generated by a primary arithmetic unit. If an abnormality is detected in the primary arithmetic unit, the redundant arithmetic unit starts generating a target trajectory TR. The automatic driving control is performed based on the target trajectory TR generated by the primary or redundant arithmetic unit.

[0022] Hereinafter, the primary arithmetic device will also be referred to as the "first arithmetic device," and the redundant arithmetic device will also be referred to as the "second arithmetic device." The target trajectory TR used for autonomous driving control will also be referred to as the "final target trajectory TRF." The target trajectory TR generated by the first arithmetic device will be referred to as the "first target trajectory TR1," and the target trajectory TR generated by the second arithmetic device will be referred to as the "second target trajectory TR2."

[0023] The first target trajectory TR1, the second target trajectory TR2, and the final target trajectory TRF each include a set of target positions [Xi, Yi] and a set of target velocities [VXi, VYi] for each target position [Xi, Yi]. Hereinafter, the target positions and target velocities included in the first target trajectory TR1 will be represented by [X1i, Y1i] and [VX1i, VY1i], respectively. The target positions and target velocities included in the second target trajectory TR2 will be represented by [X2i, Y2i] and [VX2i, VY2i], respectively.

[0024] The information of the target position [Xi, Yi] and the target velocity [VXi, VYi] included in the final target trajectory TRF generated using the first target trajectory TR1 matches the information of the target position [X1i, Y1i] and the target velocity [VX1i, VY1i]. The information of the target position [Xi, Yi] and the target velocity [VXi, VYi] included in the final target trajectory TRF generated using the second target trajectory TR2 matches the information of the target position [X2i, Y2i] and the target velocity [VX2i, VY2i].

[0025] FIG. 2 is a diagram illustrating a focus of the embodiment. FIG. 2 is also a diagram illustrating the relationship between the final target trajectory TRF, the first target trajectory TR1, and the second target trajectory TR2. Time T1 shown in FIG. 2 is the time when an abnormality is detected in the first calculation device's function for generating the first target trajectory TR1. Examples of abnormalities in the generation function include exhaustion of resources such as the CPU and memory, and processing delays in the OS. Therefore, depending on the type of abnormality, the first calculation device may continue to generate the first target trajectory TR1 after time T1.

[0026] Generation of the second target trajectory TR2 starts from time T1. Also from time T1, failover processing (hereinafter also referred to as "F / O processing") starts. The F / O processing is processing for switching the target trajectory TR (hereinafter also referred to as "basic target trajectory TRB") used for generating the final target trajectory TRF from the first target trajectory TR1 to the second target trajectory TR2. In the example shown in FIG. 2, the F / O processing is completed at time T2. That is, the F / O processing is performed from time T1 to time T2. Note that the interval from time T1 to time T2 depends on the system configuration, and is assumed to be a fixed time in the embodiment.

[0027] Here, before the F / O process is started, i.e., before time T1, the final target trajectory TRF is generated using the first target trajectory TR1, and after the F / O process is completed, i.e., after time T2, the final target trajectory TRF is generated using the second target trajectory TR2.

[0028] During the F / O processing, that is, between time T1 and time T2, the final target trajectory TRF is not generated. As described above, the second target trajectory TR2 is generated after time T1. The second target trajectory TR2 is generated for the first time using the last information of the first target trajectory TR1 generated at a time before time T1 (for example, time T3). This initial generation itself is performed before time T2. However, during the F / O processing, the final target trajectory TRF is not generated using the first second target trajectory TR2. Note that time T3 is time T1 or a time before time T1.

[0029] Autonomous driving control during F / O processing is performed based on the final target trajectory TRF generated using the latest information of the first target trajectory TR1 described above. The problem here is that the vehicle VH is moving during F / O processing. Therefore, even if it is assumed that the F / O processing is completed in the minimum time, the information of the second target trajectory used to generate the final target trajectory TRF performed upon completion of the F / O processing may deviate from the information that reflects the state of the vehicle VH during the F / O processing. In particular, in a warm standby system, the F / O processing may take time, and this deviation becomes larger. Furthermore, this deviation becomes larger when the vehicle speed or steering angle of the vehicle VH is high.

[0030] Therefore, in this embodiment, the following process is performed in the F / O process. Fig. 3 is a diagram illustrating the process performed in the F / O process of this embodiment. The left side of Fig. 3 depicts a first target trajectory TR1(T3) generated at time T3. The right side of Fig. 3 also depicts a second target trajectory TR2(T3) generated based on the latest information of the first target trajectory TR1 generated at time T3. The information of the target position [X1i, Y1i] and target velocity [V1Xi, VY1i] included in the first target trajectory TR1(T3) matches the information of the target position [X2i, Y2i] and target velocity [VX2i, VY2i] included in the second target trajectory TR2(T3).

[0031] In the F / O process, the movement amount (movement amount in each of the X and Y directions) of the vehicle VH during the F / O process is estimated based on the history of state information of the vehicle VH before time T1 (e.g., vehicle speed, acceleration, and steering angle). This estimation is performed based on the assumption that the vehicle VH moves during the F / O process according to the final target trajectory TRF generated using the first target trajectory TR1 (T3). Once the estimated movement amount of the vehicle VH is calculated, the target position [X1i, Y1i] that the vehicle VH will reach or pass through during the F / O process is identified.

[0032] In the F / O process, the first target trajectory TR1(T3) is updated (modified) using the identified target position [X1i, Y1i]. The first target trajectory TR1(T3) is updated, for example, by deleting the information of the identified target position [X1i, Y1i] from the information of the first target trajectory TR1(T3). The first target trajectory TR1*(T3) depicted in the center of FIG. 3 represents the updated first target trajectory TR1(T3). The target position and target velocity (updated target position and updated target velocity) included in the first target trajectory TR1*(T3) are represented by [X1*i, Y1*i] and [VX1*i, VY1*i].

[0033] In the F / O process, the set of target positions [X1*i, Y1*i] and target velocities [VX1*i, VY1*i] is further compared with the set of target positions [X2i, Y2i] and target velocities [VX2i, VY2i]. Then, the position [X, Y] where at least the target position information matches is set as the switching position from the first target trajectory TR1 to the second target trajectory TR2.

[0034] Here, "matching of target position information" refers not only to the case where the target position [X1*i, Y1*i] and the target position [X2i, Y2i] are perfectly matched, but also to the case where there is an error (a few percent) that can be considered a perfect match. Also, "matching of at least target position information" means that it is acceptable for both the target position and target velocity information to be matched.

[0035] By setting such a switching position, it is possible to reduce the difference between the target position [X1i, Y1i] before switching of the basic target trajectory TRB and the target position [X2i, Y2i] after switching to an error that can be considered to be a perfect match or less. Therefore, it is possible to prevent the vehicle VH from suddenly accelerating or decelerating after the F / O processing is completed, or from suddenly steering the vehicle VH. Below, an example of the configuration of a system for realizing such a function will be described.

[0036] 2.Configuration example 4 is a block diagram showing an example of the configuration of a system 100 according to an embodiment. The system 100 includes an information acquisition device 10, a first arithmetic device 20, a second arithmetic device 30, a management device 40, a control device 50, and a traveling device 60. These devices are connected, for example, by an in-vehicle network (for example, a CAN (Controller Area Network)).

[0037] The information acquisition device 10 acquires driving environment information ENV. The driving environment information ENV is information that indicates the driving environment of the vehicle VH and is information necessary for the automatic driving of the vehicle VH. Examples of the driving environment information ENV include map information, location information, status information, surrounding information, and distribution information.

[0038] The map information includes, for example, information on road positions and road shapes. The map information is acquired from an on-board map database or an external server. The position information is information indicating the position and direction of the vehicle VH. The position information is acquired, for example, from a GPS (Global Positioning System) device. The status information is information indicating the status of the vehicle VH. The status information is acquired from status sensors such as a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, and a steering angle sensor.

[0039] The surrounding information is information that indicates the situation around the vehicle VH. The surrounding information is acquired from recognition sensors such as a camera, a LIDAR (Laser Imaging Detection and Ranging), and a radar. The surrounding information includes information about targets around the vehicle VH (e.g., vehicles, pedestrians, roadside objects, obstacles, white lines, etc.). The surrounding information also includes information about relative information (position and speed) of targets with respect to the vehicle VH. The distributed information is acquired from an external device. The distributed information is provided by infrastructure around the vehicle VH and vehicles around the vehicle VH.

[0040] The first arithmetic device 20 is a device that performs various types of information processing. For example, the first arithmetic device 20 is a microcomputer. The first arithmetic device 20 is also called an ECU (Electronic Control Unit). More specifically, the first arithmetic device 20 includes at least one processor 21 and at least one storage device 22.

[0041] The storage device 22 stores various types of information. For example, the storage device 22 stores driving environment information ENV acquired by the information acquisition device 10. Examples of the storage device 22 include a volatile memory, a non-volatile memory, and an HDD (Hard Disk Drive). The processor 21 executes a computer program. This computer program is stored in the storage device 22 or recorded on a computer-readable recording medium. The processor 21 executes the computer program, thereby realizing the functions of the first arithmetic device 20.

[0042] The functions of the first arithmetic device 20 include a function for generating a first target trajectory TR1. The first target trajectory TR1 is generated based on the driving environment information ENV. For example, the first arithmetic device 20 generates a first target trajectory TR1 for driving while maintaining the current driving lane. As another example, the first arithmetic device 20 generates a first target trajectory TR1 for changing lanes. As yet another example, the first arithmetic device 20 generates a first target trajectory TR1 for avoiding a collision between the vehicle VH and a surrounding object.

[0043] The first calculation device 20 (processor 21) outputs the first target trajectory TR1 to the management device 40. The first calculation device 20 outputs the latest first target trajectory TR1 to the management device 40 every time a first target trajectory TR1 is generated.

[0044] The second arithmetic unit 30 is a device that performs various types of information processing. The basic configuration of the second arithmetic unit 30 is the same as that of the first arithmetic unit 20. That is, the second arithmetic unit 30 includes at least one processor 31 and at least one storage device 32.

[0045] Various types of information are stored in the storage device 32. For example, driving environment information ENV is stored in the storage device 32. The processor 31 executes a computer program. This computer program is stored in the storage device 32 or recorded on a computer-readable recording medium. The processor 31 executes the computer program, thereby realizing the functions of the second arithmetic device 30.

[0046] The functions of the second calculation device 30 include a function for generating a second target trajectory TR2. The second target trajectory TR2 is generated based on the driving environment information ENV. An example of the second target trajectory TR2 is the same as that described for the first target trajectory TR1. When F / O processing is performed, the initial generation of the second target trajectory TR is performed based on the latest information of the first target trajectory TR1. Furthermore, when feedback information (hereinafter also referred to as "F / B information") described below is received, the latest second target trajectory TR2 is updated based on this F / B information.

[0047] The second arithmetic device 30 (processor 31) outputs the second target trajectory TR2 to the management device 40. Every time a second target trajectory TR2 is generated, the second arithmetic device 30 outputs the latest second target trajectory TR2 to the management device 40. When the latest second target trajectory TR2 is updated based on the F / B information, the second arithmetic device 30 outputs the updated second target trajectory TR2 to the management device 40 as the latest second target trajectory TR2.

[0048] The management device 40 is a device that performs various types of information processing. The basic configuration of the management device 40 is the same as that of the first arithmetic device 20. That is, the management device 40 includes at least one processor 41 and at least one storage device 42.

[0049] The storage device 42 stores various types of information. For example, the storage device 42 stores operating state information ST1, operating state information ST2, and the like in addition to driving environment information ENV. The operating state information ST1 is information indicating the operating state of the first arithmetic device 20. The operating state information ST2 is information indicating the operating state of the second arithmetic device 30. The operating state includes CPU usage, memory usage, network load, and the like. The management device 40 manages the first arithmetic device 20 based on the operating state information ST1, and manages the second arithmetic device 30 based on the operating state information ST2.

[0050] The various information stored in the storage device 42 includes a first target trajectory TR1 and a second target trajectory TR2. The processor 41 executes a computer program. This computer program is stored in the storage device 42 or recorded on a computer-readable recording medium. The functions of the management device 40 are realized by the processor 41 executing the computer program.

[0051] The functions of the management device 40 include a function of generating a final target trajectory TRF. The target trajectory used to generate the final target trajectory TRF is the first target trajectory TR1 while the function of the first calculation device 20 (particularly, the function of generating the first target trajectory TR1) is normal. If an abnormality is detected in the function of the first calculation device 20, the second target trajectory TR2 is used to generate the final target trajectory TRF.

[0052] The management device 40 outputs the final target trajectory TRF to the control device 50. The management device 40 outputs the latest final target trajectory TRF to the control device 50 every time a final target trajectory TRF is generated.

[0053] The management device 40 (processor 41) performs F / O processing when an abnormality is detected in the function of the first calculation device 20. The F / O processing may be performed after confirming that the function of the second calculation device 30 is normal. When an abnormality is detected in the function of the second calculation device 30, the management device 40 may perform additional F / O processing. The additional F / O processing is processing to switch the target trajectory TR for generating the final target trajectory TRF from the second target trajectory TR2 to another target trajectory TR. An example of the other target trajectory TR is the first target trajectory TR1 when the function of the first calculation device 20 is recovered.

[0054] During the F / O processing, if an abnormality is detected in the function of the first calculation device 20, the management device 40 calculates an estimated movement amount of the vehicle VH during the F / O processing based on the history of state information of the vehicle VH before the time when the abnormality was detected (time T1 in FIG. 3). The management device 40 also generates a first target trajectory TR1(T3) based on the latest information of the first target trajectory TR1 generated at a time before time T1 (time T3). Then, based on the estimated movement amount of the vehicle VH and the first target trajectory TR1(T3), the management device 40 identifies a target position [X1i, Y1i] that the vehicle VH will reach or pass through during the F / O processing.

[0055] In the F / O process, the management device 40 further updates (modifies) the first target trajectory TR1(T3) using the identified target position [X1i, Y1i]. Then, the management device 40 compares the updated first target trajectory TR1(T3) (i.e., the first target trajectory TR1*(T3) described in FIG. 3) with the second target trajectory TR2. The second target trajectory TR2 to be compared was generated based on the latest information of the first target trajectory TR1 generated at time T3 and was transmitted from the second calculation device 30 to the management device 40.

[0056] The management device 40 compares the updated first target trajectory TR1(T3) with the second target trajectory TR2 to identify a position [X, Y] where at least the target position information matches. When the vehicle VH reaches the identified position [X, Y], the management device 40 ends the F / O processing. In parallel with comparing the updated first target trajectory TR1(T3) with the second target trajectory TR2, the management device 40 transmits information on the updated first target trajectory TR1(T3) to the second calculation device 30 as F / B information.

[0057] The basic processing when the management device 40 performs additional F / O processing is the same as the above-described F / O processing. The additional F / O processing can be explained by replacing the "first target trajectory TR1" with the "second target trajectory TR2," the "first target trajectory TR1(T3)" with the "second target trajectory TR2(T3)," and the "second target trajectory TR2" with the "other target trajectory" in the description of the above-described F / O processing.

[0058] The control device 50 is a device that performs various types of information processing. The basic configuration of the control device 50 is the same as that of the first arithmetic device 20. That is, the control device 50 includes at least one processor 51 and at least one storage device 52.

[0059] Various types of information are stored in the storage device 52. For example, a final target trajectory TRF is stored in the storage device 52. The processor 51 executes a computer program. This computer program is stored in the storage device 52 or recorded on a computer-readable recording medium. The processor 51 executes the computer program, thereby realizing the functions of the control device 50.

[0060] The functions of the control device 50 include an automatic driving control function. The control device 50 performs automatic driving control by controlling the operation of the traveling device 60. Specifically, the control device 50 controls the steering (turning) of the vehicle VH by controlling the operation of the steering device 61. The control device 50 also controls the acceleration of the vehicle VH by controlling the operation of the drive device 62. The control device 50 also controls the deceleration of the vehicle VH by controlling the operation of the braking device 63.

[0061] In particular, the control device 50 performs automatic driving control so that the vehicle VH follows the final target trajectory TRF. In this case, the control device 50 calculates the deviation between the vehicle VH and the final target trajectory TRF based on the final target trajectory TRF and the position information and state information of the vehicle VH. Examples of the deviation include lateral deviation (Y-direction deviation), yaw angle deviation (azimuth angle deviation), and speed deviation. Then, the control device 50 performs automatic driving control so that the deviation between the vehicle VH and the final target trajectory TRF decreases.

[0062] The control device 50 calculates a control amount for controlling the traveling device 60, i.e., at least one control amount of steering, acceleration, and deceleration. The control amount required for the vehicle VH to follow the final target trajectory TRF, i.e., the control amount required for reducing the deviation between the vehicle VH and the final target trajectory TRF, is hereinafter referred to as a "required control amount CON." Examples of the required control amount CON include a target steering angle, a target yaw rate, a target speed, a target acceleration, a target deceleration, a target torque, and a target current. The control device 50 controls the operation of the traveling device 60 in accordance with the required control amount CON. That is, the control device 50 controls at least one of steering, acceleration, and deceleration.

[0063] The traveling device 60 includes a steering device 61, a drive device 62, and a braking device 63. The steering device 61 steers the wheels of the vehicle VH. For example, the steering device 61 includes an electric power steering (EPS) device. The drive device 62 is a power source that generates a driving force. Examples of the drive device 62 include an engine, an electric motor, and an in-wheel motor. The braking device 63 generates a braking force.

[0064] 3. Information processing example Figures 5-7 are flowcharts showing the flow of processes particularly related to the embodiment. Figure 5 relates to the process executed by the first calculation device 20 (processor 21). Figure 6 relates to the process executed by the management device 40 (processor 31). Figure 7 relates to the process executed by the second calculation device 30 (processor 31). The flowcharts shown in Figures 5-7 are each repeatedly executed at regular intervals.

[0065] 5, first, information acquisition processing is performed (step S11). In the information acquisition processing, for example, driving environment information ENV is acquired. In the information acquisition processing, operating state information ST1 is also acquired. In the information acquisition processing, external information is also acquired. Examples of external information here include input information from a calculation device other than the first calculation device 20, for example, input information from the second calculation device 30 and the management device 40.

[0066] Following the processing of step S11, it is determined whether or not a command to switch the basic target trajectory TRB (hereinafter also referred to as a "TR switching command") has been received (step S12). The TR switching command corresponds to the information input from the management device 40 to the first calculation device 20 among the above-mentioned external information. The TR switching command is output from the management device 40 when it is determined that F / O processing should be started. In other words, the case where a TR switching command is output means the case where an abnormality is detected in the function of the first calculation device 20.

[0067] If the determination result in step S12 is negative, a first target trajectory TR1 is generated based on the driving environment information ENV (step S13). An example of the first target trajectory TR1 generated based on the driving environment information ENV has been described above. Then, the generated first target trajectory TR1 is output (step S14). The first target trajectory TR1 is output to the management device 40.

[0068] If the determination result of step S12 is positive, that is, if a TR switching command is received, failover information (hereinafter also referred to as "F / O information") is output (step S15). The F / O information includes information on the latest first target trajectory TR1 at the time of processing step S12. In other words, the F / O information includes the latest information on the first target trajectory TR1 that has already been generated at the time of processing step S12. The F / O information is output to the second calculation device 30 and the management device 40.

[0069] In the routine shown in Fig. 6, first, information acquisition processing is performed (step S21). In the information acquisition processing, for example, driving environment information ENV is acquired. In the information acquisition processing, operating state information ST1 and operating state information ST2 are also acquired. In the information acquisition processing, external information is also acquired. Examples of external information here include input information from a calculation device other than the management device 40, for example, input information from the first calculation device 20, the second calculation device 30, and the control device 50.

[0070] Following the processing of step S21, it is determined whether or not an abnormality has been detected in the function of the first arithmetic device 20 (step S22). The processing of step S22 is processing for determining whether or not to start F / O processing. The processing of step S22 is performed based on the operating state information ST1 acquired in step S21. If the determination result of step S22 is negative, that is, if it is determined that no abnormality has been detected in the function of the first arithmetic device 20, a final target trajectory TRF is generated using the latest first target trajectory TR1 (step S23). Once the final target trajectory TRF has been generated, this final target trajectory TRF is output to the control device 50 (step S29).

[0071] If the determination result of step S22 is positive, a TR switching command is output (step S24). The TR switching command is output to the first arithmetic device 20 and the second arithmetic device 30. The TR switching command to the first arithmetic device 20 includes a command to stop the generation process of the first target trajectory TR1 and a command to output information on the latest first target trajectory TR1 at the current time to the second arithmetic device 30. The TR switching command to the second arithmetic device 30 includes a command to start the generation process of the second target trajectory TR.

[0072] In another example of the process of step S24, the TR switching command to the first arithmetic device 20 may only instruct the first arithmetic device 20 to stop the generation process of the first target trajectory TR1. In this case, the TR switching command to the second arithmetic device 30 includes information on the latest first target trajectory TR1 currently held by the management device 40 and an instruction to start the generation process of the second target trajectory TR based on this latest information.

[0073] Following the processing of step S24, F / O processing is performed (step S25). The specific contents of the F / O processing have been described above. During the F / O processing, a target position [X1i, Y1i] that the vehicle VH will reach or pass through during the F / O processing is identified, and the first target trajectory TR1(T3) is updated (corrected) using this target position [X1i, Y1i]. The updated first target trajectory TR1(T3) is output as F / B information (step S26). The F / B information is output to the second calculation device 30.

[0074] Following the processing of step S26, it is determined whether or not the switching of the basic target trajectory TRB has been completed (step S27). As described above, in the F / O processing, a switching position [X, Y] from the first target trajectory TR1 to the second target trajectory TR2 is set. Then, when the vehicle VH reaches this switching position [X, Y], the F / O processing ends. The processing of step S27 is repeatedly executed until the vehicle VH reaches the switching position [X, Y].

[0075] If the determination result in step S27 is positive, a final target trajectory TRF is generated using the latest second target trajectory TR2 (step S28). Once the final target trajectory TRF is generated, the final target trajectory TRF is output to the control device 50 (step S29).

[0076] 7, first, information acquisition processing is performed (step S31). In the information acquisition processing, for example, driving environment information ENV is acquired. In the information acquisition processing, operating state information ST2 is also acquired. In the information acquisition processing, external information is also acquired. Examples of the external information here include input information from a calculation device other than the second calculation device 30, for example, input information from the first calculation device 20 and the management device 40.

[0077] Following the processing of step S31, it is determined whether or not a TR switching command has been received (step S32). The TR switching command corresponds to the information input from the management device 40 to the second arithmetic device 30 among the above-mentioned external information. If the determination result of step S32 is negative, the processing routine ends. In this case, the second arithmetic device 30 (processor 31) waits for the generation of the second target trajectory TR2.

[0078] If the determination result of step S32 is positive, a second target trajectory TR2 is generated based on the F / O information (step S33). The F / O information is input from the first calculation device 20 immediately after the TR switching command, or is input from the management device 40 simultaneously with the TR switching command. Then, the generated second target trajectory TR2 is output (step S34). The second target trajectory TR2 is output to the management device 40.

[0079] Following the process of step S34, it is determined whether or not F / B information has been received (step S35). As described above, the F / B information is generated in the management device 40 during the F / O process and output to the second calculation device 30 (see step S26 in FIG. 6). The process of step S35 is repeatedly executed until the second calculation device 30 receives the F / B information.

[0080] If the determination result of step S35 is positive, the latest second target trajectory TR2 is updated based on the F / B information (step S36). The F / B information is information on the first target trajectory TR1(T3) (i.e., the first target trajectory TR1*(T3) described in FIG. 3) updated during the F / O process. When the update based on the F / B information is performed, the information on the latest second target trajectory TR2 held by the second calculation device 30 is replaced with the information on the first target trajectory TR1*(T3). This makes it possible to match the information on the latest second target trajectory TR2 held by the second calculation device 30 with the information on the target trajectory grasped by the management device 40.

[0081] Following the processing of step S36, the updated second target trajectory TR2 (i.e., the first target trajectory TR1*(T3)) is output (step S37). The second target trajectory TR2 is output to the management device 40. The generation processing of the second target trajectory TR2 from the processing of step S37 onwards will be explained by the processing according to the routine explained in FIG. 5. This generation processing will be explained by replacing the "first arithmetic device 20" with the "second arithmetic device 30" and the "first target trajectory TR1" with the "second target trajectory TR2" in the explanation of FIG. 5.

[0082] 4. Variations In the embodiment, a warm standby system is assumed. However, the present disclosure can also be applied to a hot standby system. In the case of a hot standby system, the second target trajectory TR2 is constantly generated in the second calculation device 30. Therefore, the time required for F / O processing is expected to be shorter than in a warm standby system.

[0083] However, in a hot standby system, the latest second target trajectory TR2 at the time when an abnormality is detected in the first calculation device 20 (time T1 in FIG. 3) may not completely match the latest first target trajectory TR1. Therefore, the above-described F / O processing is performed to update the latest first target trajectory TR1(T3), and the updated first target trajectory TR1(T3) (i.e., first target trajectory TR1*(T3)) is compared with the latest second target trajectory TR2.

[0084] Then, in these target trajectories, the position [X, Y] where at least the target position information matches is set as the switching position. This makes it possible to prevent the vehicle VH from suddenly accelerating or decelerating after the completion of F / O processing, or from suddenly steering the vehicle VH, even if the latest second target trajectory TR2 and the latest first target trajectory TR1 do not completely match. [Explanation of symbols]

[0085] 10...information acquisition device, 20...first arithmetic unit, 21, 31, 41, 51...processor, 22, 32, 42, 52...storage device, 30...second arithmetic unit, 40...management device, 50...control device, 60...traveling device, 100...system, CON...requested control amount, ENV...driving environment information, ST1, ST2...operation state information, TR...target trajectory, TR1...first target trajectory, TR2...second target trajectory, TRB...basic target trajectory, TRF...final target trajectory, VH...vehicle

Claims

1. A system for controlling an autonomously driven vehicle, a first calculation device that generates a first target trajectory for the autonomous driving; a second calculation device that generates a second target trajectory for the autonomous driving; a management device that manages the first and second calculation devices and generates a final target trajectory for the autonomous driving; a control device that performs automatic driving control of the vehicle based on the final target trajectory; Equipped with the first, second, and final target trajectories each comprise a set of target positions and target velocities of the vehicle; The management device When the function of generating the first target trajectory in the first computing device is normal, the final target trajectory is generated using the first target trajectory; When an abnormality in the generation function is detected, a failover process is performed to switch the basic target trajectory used to generate the final target trajectory from the first target trajectory to the second target trajectory; In the failover process, the management device based on state information of the vehicle before the detection of the abnormality and the last information of the first target trajectory generated before the detection of the abnormality, estimating a movement amount of the vehicle during the failover process in a case where the vehicle moves according to the first target trajectory constituting the last information; calculating an updated target position and an updated target velocity of the vehicle by updating the first target trajectory constituting the final information based on an estimated movement amount of the vehicle; comparing a first set indicating a set of the updated target positions and the updated target velocities with a second set indicating a set of the target positions and the target velocities constituting the second target trajectory generated after the detection of the abnormality; A position where at least the information of the target position in the first and second sets coincides is set as a switching position of the basic target trajectory. A vehicle control system comprising:

2. 10. The system of claim 1, In the failover process, the management device A position where both the information of the target position and the information of the target velocity in the first and second sets match is set as a switching position of the basic target trajectory. A vehicle control system comprising:

3. 3. The system according to claim 1 or 2, The second computing device If the function of generating the first target trajectory is normal, wait for the generation of the second target trajectory; initiate generation of the second target trajectory after detecting the abnormality; The first generation of the second target trajectory after the detection of the abnormality is performed based on the last information. A vehicle control system comprising:

4. 3. The system according to claim 1 or 2, The management device calculates the updated target position and updated target speed of the vehicle only during the failover process. A vehicle control system comprising:

5. 3. The system according to claim 1 or 2, the management device transmits information about the updated target position and the updated target velocity calculated during the failover process to the second calculation device; When receiving the information on the updated target position and the updated target velocity calculated during the failover process, the second calculation device updates the second target trajectory generated before receiving the information on the updated target position and the updated target velocity based on the received information on the updated target position and the updated target velocity. A vehicle control system comprising:

6. A method for controlling an autonomously driven vehicle, comprising: generating a first target trajectory for the autonomous driving; generating a second target trajectory for the autonomous driving; generating a final target trajectory for the autonomous driving; performing automatic driving control of the vehicle based on the final target trajectory; Including, the first, second, and final target trajectories each comprise a set of target positions and target velocities of the vehicle; When a function of generating the first target trajectory possessed by a calculation device that generates the first target trajectory is normal, the final target trajectory is generated using the first target trajectory; When an abnormality in the generation function is detected, a failover process is performed to switch the basic target trajectory used to generate the final target trajectory from the first target trajectory to the second target trajectory; The failover process includes: estimating a movement amount of the vehicle during the failover process when the vehicle moves according to the first target trajectory constituting the last information based on state information of the vehicle before the detection of the abnormality and the last information of the first target trajectory generated before the detection of the abnormality; calculating an updated target position and an updated target velocity of the vehicle by updating the first target trajectory constituting the last information based on an estimated movement amount of the vehicle; comparing a first set indicating a set of the updated target positions and the updated target velocities with a second set indicating a set of the target positions and the target velocities constituting the second target trajectory generated after the detection of the abnormality; setting a position where at least the information of the target position in the first and second sets is the same as a switching position of the basic target trajectory; A vehicle control method comprising:

7. There is a program that controls an autonomous vehicle, generating a first target trajectory for the autonomous driving; generating a second target trajectory for the autonomous driving; generating a final target trajectory for the autonomous driving; performing automatic driving control of the vehicle based on the final target trajectory; configured to cause a computer to execute the first, second, and final target trajectories each comprise a set of target positions and target velocities of the vehicle; When a function of generating the first target trajectory possessed by a calculation device that generates the first target trajectory is normal, the final target trajectory is generated using the first target trajectory; When an abnormality in the generation function is detected, a failover process is performed to switch the basic target trajectory used to generate the final target trajectory from the first target trajectory to the second target trajectory; The failover process includes: estimating a movement amount of the vehicle during the failover process when the vehicle moves according to the first target trajectory constituting the last information based on state information of the vehicle before the detection of the abnormality and the last information of the first target trajectory generated before the detection of the abnormality; calculating an updated target position and an updated target velocity of the vehicle by updating the first target trajectory constituting the last information based on an estimated movement amount of the vehicle; comparing a first set indicating a set of the updated target positions and the updated target velocities with a second set indicating a set of the target positions and the target velocities constituting the second target trajectory generated after the detection of the abnormality; setting a position where at least the information of the target position in the first and second sets is the same as a switching position of the basic target trajectory; A vehicle control program comprising:

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