Vehicle control system, vehicle control device, vehicle control method and vehicle control program

Abstract

To provide a vehicle control system that can balance careful control to display of an attention-seeking mark and securement of traffic flow.SOLUTION: A processor of a vehicle control system, which controls a host vehicle, with respect to a target vehicle on which an attention-seeking mark corresponding to an occupant is displayed, is configured to recognize the attention-seeking mark displayed on the target vehicle and set, on the host vehicle, a control command for supporting a driving action assumed to be made by the target vehicle whose attention-seeking mark is recognized, in response to a determination that the action is made in priority to a driving action by the host vehicle.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to vehicle control technology. [Background technology]

[0002] Patent Document 1 discloses a control technique for controlling the driving state of a vehicle in accordance with the contents of signs marked on the road or on a preceding vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-78114 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in Patent Document 1, the approach distance of the vehicle to the preceding vehicle is restricted in response to the recognition of a beginner mark or an elderly mark that is displayed on the preceding vehicle depending on the occupant who needs to be alerted to the surroundings. Since such consideration control regarding the approach distance is performed even in situations where it is unnecessary for the preceding vehicle, there is a risk that it will unnecessarily hinder the maintenance of traffic flow including other road users other than the vehicle and the preceding vehicle.

[0005] An object of the present disclosure is to provide a vehicle control system that balances considerate control of the display of caution marks with ensuring traffic flow. Another object of the present disclosure is to provide a vehicle control device that balances considerate control of the display of caution marks with ensuring traffic flow. Yet another object of the present disclosure is to provide a vehicle control method that balances considerate control of the display of caution marks with ensuring traffic flow. Yet another object of the present disclosure is to provide a vehicle control program that balances considerate control of the display of caution marks with ensuring traffic flow. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is A vehicle control system having a processor (12) for controlling a host vehicle (2) with respect to a target vehicle (30) that is marked with an attention drawing mark (Ma) according to an occupant, comprising: The processor Recognizing a warning mark displayed on a target vehicle; and setting a control command to the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark has been recognized should be given priority over the host vehicle.

[0008] A second aspect of the present disclosure is A vehicle control device having a processor (12), configured to be mountable in a host vehicle (2), and configured to control the host vehicle with respect to a target vehicle (30) that is marked with an attention-calling mark (Ma) corresponding to an occupant, The processor Recognizing a warning mark displayed on a target vehicle; and setting a control command to the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark has been recognized should be given priority over the host vehicle.

[0009] A third aspect of the present disclosure is A vehicle control method executed by a processor (12) for controlling a host vehicle (2) with respect to a target vehicle (30) marked with an occupant-dependent attention drawing mark (Ma), comprising: Recognizing a warning mark displayed on a target vehicle; and setting a control command in the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark has been recognized is to be given priority over the host vehicle.

[0010] A fourth aspect of the present disclosure is A vehicle control program is stored in a storage medium (10) for controlling a host vehicle (2) with respect to a target vehicle (30) marked with an attention-calling mark (Ma) corresponding to an occupant, and includes instructions for causing a processor (12) to execute the control, Recognizing a warning mark displayed on a target vehicle; and setting a control command to the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark has been recognized should be given priority over the host vehicle.

[0011] In this way, in the first to fourth aspects, the attention warning mark displayed on the target vehicle is recognized depending on the occupant. Therefore, according to the first to fourth aspects, a control command is set in the host vehicle to provide assistance in response to a determination that the driving behavior expected of the target vehicle for which the attention warning mark has been recognized should be given priority over the host vehicle. This makes it possible to realize assistance that gives priority to the target vehicle over the host vehicle, aiming for driving behavior that is expected to require considerate control of the target vehicle. Therefore, it becomes possible to balance considerate control of the display of the attention warning mark with ensuring traffic flow. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram showing a physical configuration of a vehicle control system according to an embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating a traveling environment of a host vehicle to which an embodiment is applied. [Figure 3] 2 is a schematic diagram illustrating an attention-calling mark that is a recognition target of the vehicle control system according to the embodiment; FIG. [Figure 4] 2 is a schematic diagram illustrating an attention-calling mark that is a recognition target of the vehicle control system according to the embodiment; FIG. [Figure 5] 2 is a schematic diagram illustrating an attention-calling mark that is a recognition target of the vehicle control system according to the embodiment; FIG. [Figure 6] 2 is a schematic diagram illustrating an attention-calling mark that is a recognition target of the vehicle control system according to the embodiment; FIG. [Figure 7] 2 is a schematic diagram illustrating an attention-calling mark that is a recognition target of the vehicle control system according to the embodiment; FIG. [Figure 8] 1 is a block diagram showing a functional configuration of a vehicle control system according to an embodiment; [Figure 9] 1 is a flowchart illustrating a vehicle control flow according to an embodiment. [Figure 10] FIG. 2 is a schematic diagram illustrating a vehicle control flow according to an embodiment. [Figure 11] FIG. 2 is a schematic diagram illustrating a vehicle control flow according to an embodiment. [Figure 12] FIG. 2 is a schematic diagram illustrating a vehicle control flow according to an embodiment. [Figure 13] FIG. 4 is a characteristic diagram for explaining a vehicle control flow according to an embodiment. [Figure 14] FIG. 4 is a characteristic diagram for explaining a vehicle control flow according to an embodiment. [Figure 15] FIG. 4 is a characteristic diagram for explaining a vehicle control flow according to an embodiment. [Figure 16] FIG. 4 is a characteristic diagram for explaining a vehicle control flow according to an embodiment. [Figure 17] FIG. 2 is a schematic diagram illustrating a vehicle control flow according to an embodiment. [Figure 18] FIG. 4 is a characteristic diagram for explaining a vehicle control flow according to an embodiment. [Figure 19] FIG. 2 is a schematic diagram illustrating a vehicle control flow according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0014] A vehicle control system 1 according to one embodiment shown in FIG. 1 controls a host vehicle 2. At least a portion of the vehicle control system 1 is mounted on the host vehicle 2. The host vehicle 2 to which the vehicle control system 1 is applied may be capable of achieving a level of automated driving defined in, for example, SAE J3016, in which a manual driving assistance task exists that assists an operator in performing manual driving operations, along with an automated driving task. Here, the host vehicle 2 is a road user, such as an automobile or truck, and may be referred to as an ego-vehicle from a perspective centered on the host vehicle 2. In the vehicle control system 1 according to this embodiment, the target of driving assistance is a driver who sits in the driver's seat of the host vehicle 2 and is capable of performing manual driving operations, as the operator of the host vehicle 2.

[0015] As shown in Fig. 2, in the traffic environment in which the host vehicle 2 is moving, other road users 3 other than the host vehicle 2 are also moving. The other road users 3 include, for example, vehicles and people. Among the other road users 3, vehicles such as automobiles and trucks are defined as target vehicles 30 as seen from the host vehicle 2. In particular, the target vehicles 30 in this embodiment are assumed to be other vehicles marked with an attention drawing mark Ma indicating that the occupant needs to be alerted to the surroundings.

[0016] As shown in FIG. 3, the attention warning mark Ma may be a novice driver sign that warns that the driver of the target vehicle 30 is a novice driver. As shown in FIG. 4, the attention warning mark Ma may be an elderly driver sign that warns that the driver of the target vehicle 30 is elderly. As shown in FIG. 5, the attention warning mark Ma may be a hearing impaired sign that warns that the driver of the target vehicle 30 is hearing impaired. As shown in FIG. 6, the attention warning mark Ma may be a physically disabled sign that warns that the occupant of the target vehicle 30 is physically disabled. As shown in FIG. 7, the attention warning mark Ma may be an international symbol mark that warns that the occupant to be transported by the welfare vehicle serving as the target vehicle 30 is disabled. Note that the figure shown in FIG. 7 is a registered trademark. The attention warning mark Ma may be a commonly available baby mark (not shown) that warns that the occupant of the target vehicle 30 is an infant.

[0017] 1, a host vehicle 2 is equipped with an actuator system 4, a sensor system 5, a communication system 6, a map database (DB) 7, and an information presentation system 8, along with at least a part of a vehicle control system 1. However, Fig. 1 representatively shows an example in which the entire vehicle control system 1 is equipped in the host vehicle 2, and is implemented in the form of a vehicle control device such as a processing device (e.g., a processing ECU) or a semiconductor device (e.g., a semiconductor chip).

[0018] The actuator system 4 is configured to be able to control the host vehicle 2 based on a control command given from the vehicle control system 1. The actuator system 4 may be at least one type of power train actuator, such as an internal combustion engine or a motor-generator-motor. The actuator system 4 may be at least one type of braking actuator, such as a brake unit. The actuator system 4 may be at least one type of steering actuator, such as a power steering unit.

[0019] The actuator system 4 may be at least one type of headlight actuator, such as an adaptive headlight unit, etc. The actuator system 4 may be at least one type of horn actuator, such as an electronic horn unit, etc. The actuator system 4 may be at least one type of hazard lamp actuator, such as a hazard flasher unit, etc.

[0020] The sensor system 5 senses the external and internal environments of the host vehicle 2 to obtain sensing information that can be used in the vehicle control system 1. To this end, the sensor system 5 includes an external sensor 50 and an internal sensor 52.

[0021] The external sensor 50 senses targets present in the external world of the host vehicle 2. The target sensing type external sensor 50 is, for example, at least one type of sensor selected from an on-board camera, a LiDAR (light detection and ranging / laser imaging detection and ranging), a laser sensor, a millimeter wave sensor, and a sonar sensor. The target sensing type external sensor 50 may be implemented by combining multiple types of sensors so as to be able to sense the front, sides, and rear directions of the host vehicle 2. The external sensor 50 may sense the amount of ambient light in the external world of the host vehicle 2 using, for example, an illuminance sensor.

[0022] The internal sensor 52 senses a specific physical quantity of motion related to vehicle motion in the internal world of the host vehicle 2. The internal sensor 52 of the motion sensing type is at least one of, for example, a speed sensor, an acceleration sensor, a gyro sensor, and an inertial sensor. The internal sensor 52 may sense the operation or state of occupants, including the driver, in the internal world of the host vehicle 2. The internal sensor 52 of the occupant sensing type is at least one of, for example, an accelerator pedal sensor, a steering angle sensor, a steering torque sensor, a brake pedal sensor, a shift sensor, an occupant camera, an occupant seat switch, a gesture sensor, a biometric sensor, and a seat occupancy sensor.

[0023] The communication system 6 acquires communication information usable in the vehicle control system 1 via wireless communication. The communication system 6 may receive positioning signals from satellites of a global navigation satellite system (GNSS) present in the external world of the host vehicle 2. The positioning type communication system 6 is, for example, a GNSS receiver. The communication system 6 may transmit and receive communication signals to and from a V2X system present in the external world of the host vehicle 2. The V2X communication type communication system 6 is, for example, at least one of a dedicated short range communications (DSRC) communication device and a cellular V2X (C-V2X) communication device. The communication system 6 may transmit and receive communication signals to and from a mobile terminal present in the internal world of the host vehicle 2. The terminal communication type communication system 6 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, etc.

[0024] The map DB 7 stores map information available to the vehicle control system 1. The map DB 7 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map DB 7 may be a DB for a locator that estimates the self-position of the host vehicle 2. The map DB may be a DB for a navigation unit that navigates the driving route of the host vehicle 2. The map DB 7 may be constructed by combining multiple types of DBs.

[0025] The map DB 7 updates the map information by downloading digital maps as needed, for example, via V2X communication with an external center via the communication system 6. The map information is two-dimensional or three-dimensional data representing the external environment in which the host vehicle 2 is traveling. Digital data of a high-precision map may be used as the three-dimensional map information. The map information includes road information representing at least one of the following: the position, shape, and road surface condition of a road. The map information may also include structure information representing at least one of the positions and shapes of buildings and traffic lights facing the road. The map information may also include road marking information representing at least one of the positions and shapes of signs and lane markings attached to the road.

[0026] The information presentation system 8 presents notification information to occupants, including the driver, of the host vehicle 2. The information presentation system 8 presents notification information by stimulating the vision of the occupants in the host vehicle 2. The information presentation system 8 of the visual information presentation type is, for example, at least one of an in-vehicle monitor, a head-up display (HUD), a combination meter, a navigation unit, and an illumination unit. The information presentation system 8 may present notification information by stimulating the auditory sense of the occupants. The information presentation system 8 of the auditory information presentation type is, for example, at least one of a speaker, a buzzer, and a vibration unit. The information presentation system 8 may present notification information by stimulating the cutaneous sense of the occupants. The information presentation system 8 of the cutaneous sense information presentation type is, for example, at least one of a vibration unit, a reaction force unit, and an air conditioning unit.

[0027] The vehicle control system 1 is connected to an actuator system 4, a sensor system 5, a communication system 6, a map DB 7, and an information presentation system 8 via at least one of, for example, a LAN (local area network), a wire harness, an internal bus, or a wireless communication line. The vehicle control system 1 is configured to include at least one dedicated computer.

[0028] The dedicated computer constituting the vehicle control system 1 may be an integrated ECU (electronic control unit) that integrates the driving control of the host vehicle 2. The dedicated computer constituting the vehicle control system 1 may be a sensing ECU that processes sensing information in the driving control of the host vehicle 2. The dedicated computer constituting the vehicle control system 1 may be a recognition ECU that recognizes the external world in the driving control of the host vehicle 2. The dedicated computer constituting the vehicle control system 1 may be a locator ECU that estimates the self-position of the host vehicle 2.

[0029] The dedicated computer constituting the vehicle control system 1 may be a planning ECU that plans the driving control of the host vehicle 2. The dedicated computer constituting the vehicle control system 1 may be a navigation ECU that navigates a driving route in the driving control of the host vehicle 2. The dedicated computer constituting the vehicle control system 1 may be an actuator ECU that controls the actuator system 4 as part of the driving control of the host vehicle 2.

[0030] The dedicated computer constituting the vehicle control system 1 may be an information management ECU that controls the information presentation system 8 as part of the driving control of the host vehicle 2. The dedicated computer constituting the vehicle control system 1 may also be at least one external computer that constitutes, for example, an external center or a mobile terminal that can communicate via the communication system 6.

[0031] The dedicated computer constituting the vehicle control system 1 has at least one memory 10 and one processor 12. The memory 10 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs, data, etc. The processor 12 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), or a reduced instruction set computer (RISC)-CPU.

[0032] The processor 12 executes a plurality of instructions included in a vehicle control program stored as software in the memory 10. In this way, the vehicle control system 1 constructs a plurality of functional blocks for performing vehicle control processing on the host vehicle 2. The plurality of functional blocks constructed by the vehicle control system 1 in this way include a recognition block 100 and a control block 120, as shown in FIG.

[0033] The recognition block 100 acquires sensing information from the sensor system 5. The recognition block 100 acquires communication information from the communication system 6. The recognition block 100 acquires map information stored in the map DB 7. The recognition block 100 acquires past information of control commands to the host vehicle 2 by the control block 120 from the memory 10. The recognition block 100 processes this acquired information individually and then fuses it to generate recognition data that recognizes the external environment and internal environment of the host vehicle 2. Therefore, the recognition data generated by the recognition block 100 represents the state of the external environment and internal environment recognized for each scene in which the host vehicle 2 is traveling.

[0034] Specifically, the recognition block 100 generates recognition data by localization that recognizes the self-state including the self-position of the host vehicle 2. The recognition data regarding the self-state may represent at least one of the following, which appear in the host vehicle 2 in accordance with the control command from the control block 120: the self-position (longitude and latitude and altitude), attitude angle, steering angle, speed, acceleration, jerk, yaw rate, etc.

[0035] The recognition block 100 generates recognition data by recognizing targets including other road users 3, obstacles, and structures present in the external world of the host vehicle 2. The recognition data regarding the targets may represent at least one type of physical quantity of motion, such as separation distance, direction of motion, relative velocity, relative acceleration, and time to collision. The recognition data regarding the targets may represent classification of targets clustered based on such physical quantities of motion. In particular, the recognition data regarding the classified targets may include data identifying an attention warning mark Ma displayed on a target vehicle 30 among other road users 3.

[0036] The recognition block 100 generates recognition data by recognizing the road on which the host vehicle 2 is traveling. The recognition data regarding the road may represent at least one type of road condition, such as the position and size of the road, nodes where roads join, bends where roads bend, the curvature or radius of curvature of a curved road, the position and size of a pedestrian walkway, and the amount of ambient light on the road. In particular, the recognition data regarding the road within the parking facility 90 may represent at least one type of condition, such as the position, size, and availability of an aisle space 900 as a parking aisle and a parking space 902 (see Figures 13 and 15 described below) that constitute the road within the facility.

[0037] The recognition block 100 generates recognition data by recognizing road markings associated with the road on which the host vehicle 2 travels. The recognition data regarding road markings may represent at least one type of marking status, such as road signs, dividing lines, and traffic lights. The recognition data regarding road markings may further represent at least one type of traffic rules on the road recognized from such marking status, such as direction of travel, speed limit, and stopping position. In view of these factors, it is particularly preferable that the recognition data regarding the road described above includes identification data identifying the lanes 92 (see Figures 10 to 12, 16 to 19 described below) in which the host vehicle 2 and other road users 3 travel. Furthermore, the recognition data regarding a parking space 902 on the road within the parking facility 90 described above may include data identifying the other road users 3 who have parked or stopped in the space 902 (see Figures 13 and 15 described below).

[0038] In addition to the above, the recognition block 100 generates recognition data by recognizing the actions of the driver as an operator with respect to the host vehicle 2. Of the driver's operations, the recognition data of manual driving operations related to the running of the host vehicle 2 may represent at least one of, for example, an accelerator pedal operation amount, a steering angle, a steering torque, a brake pedal operation amount, and a shift position. Of the driver's operations, the recognition data of manual driving operations related to interactions with the outside of the host vehicle 2 may represent the operation state of at least one of, for example, a light switch, a horn switch, and a hazard switch.

[0039] The control block 120 shown in FIG. 8 acquires recognition data from the recognition block 100. The control block 120 acquires past information on control commands to the host vehicle 2 by reading it from the memory 10. The control block 120 generates control commands to be set in the host vehicle 2 based on the acquired information and data. At this time, a control command is generated to be issued to the actuator system 4 so as to control a driving task corresponding to the autonomous driving level adjusted to suit the scene, either an autonomous driving task or a manual driving assistance task, in the host vehicle 2. The data of the control command thus generated is stored in the memory 10. Here, the adjustment of the autonomous driving level may include a handover in which the driving task is transferred between the vehicle control system 1 and the driver by transitioning the driving mode between the autonomous driving task and the manual driving assistance task. Such a handover may be realized at at least one of the following times: a driver's request for handover; a timing for entering or leaving the autonomous driving operation design domain; and a timing for a minimum-risk operation.

[0040] (Vehicle control flow) The vehicle control method in which the vehicle control system 1 controls the host vehicle 2 through cooperation of the blocks 100 and 120 described so far is repeatedly executed in accordance with the vehicle control flow shown in Fig. 9 while the vehicle 2 is running. Note that in the following description, each "S" in the vehicle control flow represents a plurality of steps executed by a plurality of instructions included in the vehicle control program.

[0041] In S100, the recognition block 100 recognizes a target vehicle 30 marked with an attention drawing mark Ma among other road users 3 present in the external world of the host vehicle 2, and determines whether or not it has acquired recognition data of the marked vehicle 30. As a result, if a negative determination is made in S100, the current execution of the vehicle control flow ends, and the next execution of the same flow begins. On the other hand, if a positive determination is made in S100, it is determined that the attention drawing mark Ma of the target vehicle 30 has been recognized, and the vehicle control flow proceeds to S101.

[0042] In S101, the control block 120 determines the driving behavior Bd expected of the target vehicle 30 for which the attention warning mark Ma has been recognized in S100. Specifically, the control block 120 in S101 predictively and / or observationally determines the driving behavior Bd expected in the future of the target vehicle 30 from the current state of the target vehicle 30 represented by the recognition data acquired in S100. At this time, the driving behavior Bd of the target vehicle 30 may be determined based on at least one type of recognition data other than that related to the target vehicle 30.

[0043] Therefore, the control block 120 in S101 further determines whether the driving behavior Bd of the target vehicle 30 corresponds to a priority behavior Bdp that is to be prioritized over the driving behavior of the host vehicle 2. At this time, at least one type of driving behavior Bd is defined for the target vehicle 30 as the priority behavior Bdp.

[0044] 10 and 11 , the priority action Bdp may be an expected action of the target vehicle 30, such as entering a common lane 920 shared with the host vehicle 2 among multiple lanes 92 on a road. In this case, the priority action Bdp may be either an entering action within a speed range exceeding or equal to a threshold, or an entering action that is not substantially dependent on speed. Such an entering action determined as the priority action Bdp may be expected for the target vehicle 30 that may be changing lanes from an adjacent lane 92 into the lane 920 in which the host vehicle 2 is traveling on the recognized road. The entering action determined as the priority action Bdp may be expected for the target vehicle 30 while changing lanes from the adjacent lane 92 into the lane 920 in which the host vehicle 2 is traveling on the recognized road, and / or while merging from the merging lane 92 into the main lane that is the lane 920 in which the host vehicle 2 is traveling.

[0045] 12, the priority action Bdp may be an expected action of the target vehicle 30, such as merging onto a main lane from a lane 920 shared with the host vehicle 2 following the target vehicle 30. Such a merging action determined as the priority action Bdp may be expected for the target vehicle 30 accelerating from the merging source lane 920 ahead of the host vehicle 2 toward the merging destination lane 92, which is the main lane, on the recognized road.

[0046] The priority action Bdp may be a departure action as an expected action expected of the target vehicle 30, as shown in Figures 13 and 14. Such a departure action determined as a priority action Bdp may be expected for the target vehicle 30 that may start from a parked or stopped state recognized in the spaces 900, 902 in the parking facility 90 or on a road other than these. The departure action determined as a priority action Bdp may be expected for the target vehicle 30 that has started moving from a parked or stopped state recognized on such a road.

[0047] The preferred action Bdp may be a parking action into a parking space 902 in a parking facility 90 that is a common area with the host vehicle 2, as shown in FIG. 15 , which is an expected action of the target vehicle 30. Such a parking action determined as a preferred action Bdp may be expected for the target vehicle 30 that may park from an aisle space 900 into a parking space 902 in the recognized parking facility 90. The parking action determined as a preferred action Bdp may be expected for the target vehicle 30 that is moving from the aisle space 900 to the parking space 902 in the recognized parking facility 90.

[0048] 16, the priority action Bdp may be an expected action of the target vehicle 30, which is an evasive action against an emergency vehicle 32 approaching from further behind the host vehicle 2 following the target vehicle 30. The evasive action determined as such a priority action Bdp may be expected for the target vehicle 30 traveling in a lane 92 shared with at least the host vehicle 2 and the emergency vehicle 32 recognized behind it.

[0049] 17, the priority action Bdp may be a stopping action in front of the host vehicle 2 due to a delayed reaction of the occupant to a green light, as an expected action of the target vehicle 30. Such a stopping action determined as the priority action Bdp may be expected for the target vehicle 30 that remains stopped in the shared lane 920 with the host vehicle 2 even after the traffic light recognized in front of the target vehicle 30 changes from a red light to a green light.

[0050] 18, the priority action Bdp may be a slowing down action and a stopping action in front of the host vehicle 2 in response to a traffic jam, as an expected action expected of the target vehicle 30. The slowing down action and the stopping action determined as such a priority action Bdp may be expected for the target vehicle 30 following in the common lane 920 with the host vehicle 2 behind another vehicle recognized as a congested other road user 3 in front of the target vehicle 30.

[0051] The priority action Bdp may be a driving action in a scene where the amount of ambient light has fallen into a dark environment range, as an expected action of the target vehicle 30, as shown in Fig. 19. Such a driving action in a dark environment determined as the priority action Bdp may be expected for the target vehicle 30 traveling in a surrounding environment where the amount of ambient light recognized is less than a threshold or within a dark environment range below, such as at night or in a dark place.

[0052] 9, if the driving behavior Bd of the target vehicle 30 does not correspond to any of the priority behaviors Bdp and a negative determination is made in S101, the current execution of the vehicle control flow ends and the next execution of the same flow starts. On the other hand, if the driving behavior Bd of the target vehicle 30 corresponds to any of the priority behaviors Bdp and a positive determination is made in S101, the vehicle control flow proceeds to S102.

[0053] In S102, the control block 120 sets a control command to the host vehicle 2 to assist the driving action Bd determined to be the priority action Bdp in S101 in response to the determination. Specifically, in S102, the control block 120 generates a control command to at least one type of actuator system 4 that needs to control driving in response to the priority action Bdp defined for the determination in S101.

[0054] 10 and 11, where the determined priority action Bdp is an action of entering the shared lane 920 with the host vehicle 2, a control command may be generated to restrict the approach distance of the host vehicle 2 from the target vehicle 30 to a distance range that exceeds or is equal to or greater than a threshold value so as to allow the target vehicle 30 to enter. At this time, a control command may also be generated to cause the host vehicle 2 to change lanes from the shared lane 920 to the adjacent lane 92.

[0055] 10 and 11, where the determined priority action Bdp is an action of entering the shared lane 920 with the host vehicle 2, a control command may be generated to restrict the approach speed of the host vehicle 2 relative to the target vehicle 30 to a speed range below or equal to a threshold value so as to allow the target vehicle 30 to enter. In the case of FIG. 12, where the determined priority action Bdp is an action of merging from the shared lane 920 with the following host vehicle 2 onto the main lane, a control command may be generated to restrict the approach distance of the host vehicle 2 relative to the target vehicle 30 to a distance range above or equal to a threshold value so as to allow the target vehicle 30 to merge.

[0056] 13 and 14 , where the determined priority action Bdp is a departure action, a control command may be generated to restrict the approach distance of the host vehicle 2 from the target vehicle 30 to a distance range exceeding or equal to a threshold value so as to allow the departure action of the target vehicle 30. At this time, a control command may be generated to restrict the approach distance of the host vehicle 2 from the target vehicle 30 so as to leave a space at least in the forward and / or reverse directions when the attitude of the target vehicle 30 is recognized. Furthermore, for the target vehicle 30 in a parked or stopped state in a parking space 902, a control command may also be generated to park the host vehicle 2 while avoiding the adjacent parking space 902, or while ensuring an approach distance exceeding or equal to the threshold value even in the adjacent parking space 902.

[0057] 15 , where the determined priority action Bdp is a parking action from an aisle space 900 to a parking space 902 in a parking facility 90 that is a shared area with the host vehicle 2, a control command may be generated to yield the spaces 900, 902 to the target vehicle 30 rather than the host vehicle 2 so as to allow the parking action of the target vehicle 30. At this time, a control command may also be generated to park the host vehicle 2 while avoiding the adjacent parking space 902 to be yielded to the target vehicle 30, or while ensuring an approach distance of more than or equal to a threshold for the adjacent parking space 902. Furthermore, if the attention warning mark Ma of the target vehicle 30 is a handicapped person sign and the parking space 902 to be yielded to is a handicapped person-only space, a control command may be generated to leave space for the parking action around the only space.

[0058] In the case of Figure 16 where the determined priority action Bdp is an evacuation action toward the emergency vehicle 32, a control command may be generated from the host vehicle 2 to warn the target vehicle 30 of the approach of the emergency vehicle 32 by automatically flashing the headlights or hazard lights so as to support the evacuation action of the target vehicle 30. In the case of Figure 17 where the determined priority action Bdp is a stopping action at a green light, a control command may be generated from the host vehicle 2 to warn the target vehicle 30 of the approach of the emergency vehicle 32 by limiting the output of a warning sound caused by the occupant operating the horn switch so as to allow the target vehicle 30 to make the stopping action.

[0059] 18, where the determined priority action Bdp is slowing down and stopping in a traffic jam, a control command may be generated to restrict the approach distance of the host vehicle 2 from the target vehicle 30 to a distance range that exceeds or is equal to a threshold value so as to allow these actions of the target vehicle 30. In the case of Fig. 19, where the determined priority action Bdp is traveling in a dark environment, a control command may be generated to restrict the approach distance of the host vehicle 2 from the target vehicle 30 to a distance range that exceeds or is equal to a threshold value so as to allow the target vehicle 30 to ensure safety, for example, by slowing down.

[0060] 19 , where the determined priority action Bdp is a driving action in a dark environment, a control command may be generated to illuminate the surrounding environment of the target vehicle 30 from the host vehicle 2 so as to support the driving action of the target vehicle 30. At this time, a control command may be generated to illuminate, for example, road signs that are recognized in the surrounding environment of the target vehicle 30, or two-dimensional codes that provide driving support information within the parking facility 90. Furthermore, a control command may also be generated to, for example, limit the speed of the host vehicle 2 to a speed range below or equal to a threshold value so as to ensure the safety of the host vehicle 2 regardless of the priority illumination of the target vehicle 30.

[0061] 9 is set in the host vehicle 2, the setting of the control command may be notified inside or outside the host vehicle 2. When the execution of S102 is completed as described above, the current execution of the vehicle control flow ends, and the next execution of the same flow begins.

[0062] (Action and effect) The effects of the present embodiment described above will be explained below.

[0063] In this embodiment, the attention warning mark Ma displayed on the target vehicle 30 is recognized depending on the occupant. Therefore, according to this embodiment, a control command is set in the host vehicle 2 to provide assistance in response to a determination that the driving behavior Bd expected of the target vehicle 30 for which the attention warning mark Ma has been recognized should be given priority over the host vehicle 2. This makes it possible to realize assistance that gives priority to the target vehicle 30 over the host vehicle 2, aiming at the driving behavior Bd for which considerate control is expected of the target vehicle 30. Therefore, it becomes possible to balance considerate control regarding the display of the attention warning mark Ma with ensuring traffic flow.

[0064] According to this embodiment, a control command is set to restrict the approach distance of the host vehicle 2 with respect to the target vehicle 30 so as to permit the target vehicle 30, which has recognized the attention warning mark Ma, to enter the common lane 920 with the host vehicle 2, which is determined to be prioritized as a driving behavior Bd of the target vehicle 30. This makes it possible to realize a restriction on the approach distance that gives priority to the target vehicle 30 over the host vehicle 2, with the aim of the target vehicle 30, for which consideration control is expected, entering the common lane 920. Therefore, it is possible to select the target vehicle 30, which is expected to enter the common lane 920, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0065] According to this embodiment, a control command is set to restrict the approach speed of the host vehicle 2 relative to the target vehicle 30 so as to permit the target vehicle 30, which has recognized the attention warning mark Ma, to enter the shared lane 920 with the host vehicle 2, which is determined to be prioritized as a driving behavior Bd of the target vehicle 30. This makes it possible to realize an approach speed restriction that gives priority to the target vehicle 30 over the host vehicle 2, with the aim of the target vehicle 30 entering the shared lane 920, for which consideration control is expected. Therefore, it is possible to select the target vehicle 30, which is expected to enter the shared lane 920, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0066] According to this embodiment, a control command is set to restrict the approaching distance of the host vehicle 2 with respect to the target vehicle 30 so as to permit the target vehicle 30, which has recognized the attention warning mark Ma, to merge onto the main lane from the common lane 920 with the following host vehicle 2, which is determined to be prioritized as the driving behavior Bd of the target vehicle 30. This makes it possible to realize a restriction on the approaching distance that gives priority to the target vehicle 30 over the host vehicle 2, with the aim of the target vehicle 30, for which consideration control is expected, merging onto the main lane. Therefore, it is possible to select the target vehicle 30, which is expected to merge onto the main lane, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0067] According to this embodiment, a control command is set to restrict the approach distance of the host vehicle 2 with respect to the target vehicle 30 so as to permit the starting action, which is determined to be prioritized as the driving action Bd of the target vehicle 30 for which the attention warning mark Ma is recognized. This makes it possible to realize a restriction on the approach distance that gives priority to the target vehicle 30 over the host vehicle 2, aiming at the starting action of the target vehicle 30 for which consideration control is expected. Therefore, it is possible to select the target vehicle 30, which is expected to start, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0068] According to this embodiment, a control command is set to yield the spaces 900, 902 in the common area to the target vehicle 30 rather than the host vehicle 2 so as to allow parking in the common area with the host vehicle 2, which is determined to be prioritized as the driving behavior Bd of the target vehicle 30 for which the attention warning mark Ma is recognized. This makes it possible to realize parking assistance that gives priority to the target vehicle 30 over the host vehicle 2, aiming for parking in the common area of ​​the target vehicle 30 for which consideration control is expected. Therefore, it is possible to select the target vehicle 30, which is expected to park in the common area, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0069] According to this embodiment, a control command is set to warn the target vehicle 30 of the approach of the emergency vehicle 32 from the host vehicle 2 so as to support the following host vehicle 2 in taking evasive action against the emergency vehicle 32 approaching from behind, which is determined to be a priority as the driving action Bd of the target vehicle 30 in which the attention warning mark Ma is recognized. This makes it possible to realize a warning that prioritizes notification to the target vehicle 30 over notification within the host vehicle 2, with the aim of the target vehicle 30 taking evasive action against the emergency vehicle 32, for which consideration control is expected. Therefore, it is possible to select the target vehicle 30, which is expected to take evasive action against the emergency vehicle 32, as the target of consideration control for the display of the attention warning mark Ma, as the target vehicle 30 that is expected to take evasive action against the emergency vehicle 32, and to achieve a balance with ensuring traffic flow.

[0070] According to this embodiment, a control command is set to limit a warning from the host vehicle 2 to the target vehicle 30 so as to allow the target vehicle 30, which recognizes the attention warning mark Ma, to stop at a green light, which is determined to be a priority as the driving behavior Bd of the target vehicle 30 in front of the host vehicle 2. This makes it possible to realize a warning restriction that prioritizes the target vehicle 30 over the host vehicle 2, aiming at the stopping behavior of the target vehicle 30, which is expected to perform considerate control, at a green light. Therefore, it is possible to select the target vehicle 30, which is expected to have a delayed reaction to a green light, as the target of considerate control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0071] According to this embodiment, a control command is set to restrict the approaching distance of the host vehicle 2 to the target vehicle 30 so as to permit slowing down and stopping in a traffic jam, which is determined to be a priority as the driving behavior Bd of the target vehicle 30 for which the attention warning mark Ma is recognized, ahead of the host vehicle 2. This makes it possible to realize a restriction on the approaching distance that gives priority to the target vehicle 30 over the host vehicle 2, aiming at the slowing down and stopping behavior of the target vehicle 30 in a traffic jam for which consideration control is expected. Therefore, it is possible to select the target vehicle 30 that is expected to respond to a traffic jam as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0072] According to this embodiment, a control command is set to restrict the approach distance of the host vehicle 2 with respect to the target vehicle 30 so as to support the driving behavior of the target vehicle 30, which is determined to be prioritized as the driving behavior Bd of the target vehicle 30 in which the attention warning mark Ma is recognized, in a scene where the amount of ambient light has decreased to within the dark environment range. This makes it possible to realize a restriction on the approach distance that prioritizes the target vehicle 30 over the host vehicle 2, aiming at the driving behavior of the target vehicle 30 in a dark environment for which consideration control is expected. Therefore, it is possible to select the target vehicle 30, which is expected to drive in a dark environment, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0073] According to this embodiment, a control command is set to illuminate the surrounding environment of the target vehicle 30 from the host vehicle 2 so as to support the driving behavior Bd of the target vehicle 30 in which the attention warning mark Ma is recognized, which is determined to be prioritized in a scene where the amount of ambient light has decreased to within the dark environment range. This makes it possible to realize lighting that prioritizes the surrounding environment of the target vehicle 30 over the surrounding environment of the host vehicle 2, aiming at the driving behavior of the target vehicle 30 in a dark environment, for which consideration control is expected. Therefore, it is possible to select the target vehicle 30, which is expected to drive in a dark environment, as the target of consideration control for the display of the attention warning mark Ma, and to achieve a balance with ensuring traffic flow.

[0074] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope that does not deviate from the gist of the present disclosure.

[0075] In a modified example, the dedicated computer constituting the vehicle control system 1 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), an SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). Furthermore, such a digital circuit may have a memory that stores a program. [Explanation of symbols]

[0076] 1: Vehicle control system, 2: Host vehicle, 10: Memory, 12: Processor, 30: Target vehicle, Ma: Caution mark

Claims

1. A vehicle control system having a processor (12) for controlling a host vehicle (2) with respect to a target vehicle (30) that is marked with an attention drawing mark (Ma) according to an occupant, comprising: The processor: Recognizing the attention drawing mark displayed on the target vehicle; and setting a control command to the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark is recognized should be given priority over the host vehicle.

2. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to restrict the approach distance of the host vehicle to the target vehicle so as to allow the target vehicle, whose attention warning mark has been recognized, to enter a common lane with the host vehicle, which is determined to be a priority driving behavior of the target vehicle.

3. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to regulate the approach speed of the host vehicle relative to the target vehicle so as to allow the target vehicle, whose attention warning mark has been recognized, to enter a common lane with the host vehicle, which is determined to be a priority driving behavior of the target vehicle.

4. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to restrict the approach distance of the host vehicle to the target vehicle so as to allow the target vehicle, whose attention warning mark has been recognized, to merge onto the main lane from a common lane with the following host vehicle, which is determined to be a priority driving behavior of the target vehicle.

5. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to restrict the approach distance of the host vehicle to the target vehicle so as to allow the target vehicle, whose attention warning mark has been recognized, to perform a starting action that is determined to be a priority as the driving action of the target vehicle.

6. Setting the control command includes: The vehicle control system of claim 1 further includes setting the control command to yield space in the common area to the target vehicle rather than the host vehicle, so as to allow parking in the common area with the host vehicle, which is determined to be a priority driving behavior of the target vehicle in which the attention warning mark is recognized.

7. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command for the host vehicle to warn the target vehicle of the approach of an emergency vehicle approaching from behind the following host vehicle, which has been determined to be a priority driving behavior of the target vehicle in which the attention warning mark has been recognized, so as to assist the target vehicle in taking evasive action against an emergency vehicle approaching from behind the following host vehicle.

8. Setting the control command includes: The vehicle control system of claim 1, further comprising setting the control command to limit warnings from the host vehicle to the target vehicle so as to allow the target vehicle, in front of the host vehicle, to stop at a green light, which is determined to be a priority driving behavior of the target vehicle in which the attention warning mark is recognized.

9. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to restrict the approach distance of the host vehicle to the target vehicle so as to allow slowing down and stopping in traffic congestion ahead of the host vehicle, which is determined to be a priority driving behavior of the target vehicle in which the attention warning mark is recognized.

10. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to restrict the approach distance of the host vehicle to the target vehicle so as to support the driving behavior of the target vehicle in which the attention warning mark is recognized, which is determined to be prioritized as the driving behavior in a scene where the amount of ambient light has decreased to within a dark environment range.

11. Setting the control command includes: The vehicle control system of claim 1 further comprises setting the control command to illuminate the surrounding environment of the target vehicle from the host vehicle so as to support driving behavior in a scene where the amount of ambient light has decreased to within a dark environment range, which driving behavior of the target vehicle in which the attention warning mark has been recognized and which has been determined to be prioritized.

12. A vehicle control device having a processor (12), configured to be mountable in a host vehicle (2), and configured to control the host vehicle with respect to a target vehicle (30) marked with an attention-calling mark (Ma) corresponding to an occupant, comprising: The processor: Recognizing the attention drawing mark displayed on the target vehicle; and setting a control command to the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark has been recognized should be given priority over that of the host vehicle.

13. A vehicle control method executed by a processor (12) for controlling a host vehicle (2) with respect to a target vehicle (30) marked with an occupant-dependent attention drawing mark (Ma), comprising: Recognizing the attention drawing mark displayed on the target vehicle; and setting a control command to the host vehicle to assist in response to a determination that the driving behavior expected of the target vehicle in which the attention warning mark is recognized should be given priority over the host vehicle.

14. A vehicle control program is stored in a storage medium (10) for controlling a host vehicle (2) with respect to a target vehicle (30) marked with an attention-calling mark (Ma) corresponding to an occupant, and includes instructions for causing a processor (12) to execute the control, Recognizing the attention drawing mark displayed on the target vehicle; and setting a control command to the host vehicle to assist in response to a judgment that the driving behavior expected of the target vehicle in which the attention warning mark is recognized should be given priority over the host vehicle.

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