Vehicle control system

Abstract

In automated valet parking systems where the lighting of vehicles driving in the parking area is turned on and off according to instructions from the automated valet parking management system, the on / off of the lighting devices can be controlled more appropriately. [Solution] The vehicle control system is installed in a vehicle subject to automatic valet parking and comprises a lighting device and one or more processors. The lighting device is the target of a first lighting instruction transmitted from the automatic valet parking management system to the vehicle as it travels within the parking area of ​​the parking lot. When the vehicle travels within the parking area, one or more processors perform an on / off determination process to determine whether or not to turn on or off the lighting device based on target route information transmitted from the management system to the vehicle. If it is determined that the lighting device should be turned on or off, a second lighting instruction for the lighting device is generated, and the lighting device is turned on or off in response to the receipt of the first lighting instruction or the generation of the second lighting instruction.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control system mounted on a target vehicle for Automated Valet Parking (AVP).

Background Art

[0002] Patent Document 1 discloses a technology related to automated valet parking. The parking lot management system transmits a travel route to the vehicle. The vehicle automatically travels along the acquired travel route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an automated valet parking system where the lighting and extinguishing of the lighting device of a vehicle traveling in a parking area are performed according to instructions from the management system of the automated valet parking, if the instructions from the management system are not transmitted when necessary or the instruction timing is inappropriate, the vehicle may not be able to appropriately control the lighting and extinguishing of the lighting device.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a vehicle control system that can more appropriately control the lighting and extinguishing of the lighting device of a vehicle in the above-described automated valet parking system.

Means for Solving the Problems

[0006] The vehicle control system described herein is installed in a vehicle subject to automatic valet parking. The vehicle control system comprises a lighting device and one or more processors. The lighting device is the target of a first lighting instruction, which is an on or off instruction transmitted from the automatic valet parking management system to the target vehicle as it travels within the parking area of ​​the parking lot. When the target vehicle travels within the parking area, one or more processors perform an on / off determination process to determine whether or not to turn on or off the lighting device based on target route information transmitted from the management system to the target vehicle. If it is determined that the lighting device should be turned on or off, a second lighting instruction, which is an on or off instruction for the lighting device, is generated, and the lighting device is turned on or off in response to the receipt of the first lighting instruction or the generation of the second lighting instruction. [Effects of the Invention]

[0007] According to this disclosure, if the management system determines that the lighting device should be turned on or off based on target route information, a second lighting instruction is generated on the vehicle side. Then, in response to the receipt of the first lighting instruction or the generation of the second lighting instruction, the lighting device is turned on or off. In this way, the lighting device is turned on or off not only by instructions from the management system (first lighting instruction) but also by the vehicle's own judgment based on target route information. Therefore, in an automated valet parking system in which the lighting device of a vehicle traveling in a parking area is turned on and off according to instructions from the automated valet parking management system (first lighting instruction), the turning on and off of the lighting device can be controlled more appropriately. [Brief explanation of the drawing]

[0008] [Figure 1] This is a conceptual diagram illustrating the overview and configuration example of an automated valet parking system according to an embodiment. [Figure 2] This flowchart shows the processing flow related to the first example of lighting control according to the embodiment. [Figure 3] This flowchart shows the processing flow related to the second example of lighting control according to the embodiment. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described with reference to the attached drawings.

[0010] 1. Overview of the automated valet parking system Figure 1 is a conceptual diagram illustrating the overview and configuration example of an automated valet parking system 100 according to an embodiment. The automated valet parking system 100 includes a vehicle control system 10 mounted on a vehicle 1 and an automated valet parking management system 20 (hereinafter also simply referred to as the management system 20), and performs automated valet parking (AVP) of the vehicle 1 in a parking lot 2.

[0011] Vehicle 1 is configured to run AVP in parking lot 2. In other words, Vehicle 1 is a vehicle subject to AVP. Vehicle 1 can drive automatically without user operation, at least within parking lot 2. More specifically, the automatic driving of Vehicle 1 within parking lot 2 is controlled according to control instructions INS (remote instructions) from a management system 20 that utilizes infrastructure sensors 24. Vehicle 1 may also be an autonomous vehicle capable of driving automatically outside of parking lot 2.

[0012] Parking area 2 includes a boarding / alighting area 3 and a parking area 4. When vehicle 1 enters parking area 2, it stops at a designated stopping position (boarding / alighting space) in boarding / alighting area 3, where the user alights from vehicle 1. Conversely, when vehicle 1 exits parking area 2, it stops in boarding / alighting area 3, where the user boards vehicle 1. Parking area 4 includes a passageway 5 and multiple parking spaces 6. Passageway 5 is the area through which vehicle 1 travels. Parking spaces 6 are the spaces in which vehicle 1 parks.

[0013] The management system 20 manages the AVP of vehicle 1 in parking lot 2. The management system 20 may include, for example, a local management device installed in parking lot 2 and at least one of a management server in the cloud. Below is an example of the flow when a user X uses the AVP service. Each user's membership information is pre-registered in the management system 20.

[0014] User X makes an AVP reservation by operating a user terminal 30 (e.g., a smartphone). The management system 20 processes the reservation based on the reservation information transmitted from the user terminal 30. When vehicle 1, carrying user X, arrives at the boarding / alighting area 3 of parking lot 2, vehicle 1 stops in a boarding / alighting space, and user X (and any other passengers, if any) get out of vehicle 1. In order to start the automated driving of vehicle 1 based on the control instruction INS from the management system 20 in the AVP (hereinafter simply referred to as "AVP driving"), the management system 20 performs a handover process to transfer the control authority of vehicle 1 from user X to the management system 20. The handover process includes, for example, a process to establish wireless communication between the management system 20 and vehicle 1 (vehicle control system 10), and a process to identify vehicle 1 as the target vehicle for this AVP.

[0015] Once the handover process is complete and the control authority for vehicle 1 is transferred from user X to management system 20, management system 20 performs parking processing for vehicle 1. During parking processing, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting the vehicle 1's driving system 13 to be activated. Vehicle 1 automatically activates its driving system 13 in accordance with the received control instruction INS. Management system 20 also refers to the usage status of parking lot 2, assigns an available parking space 6 to vehicle 1, and then generates a target route TP for vehicle 1 from the boarding / alighting area 3 to the assigned parking space 6. Finally, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting vehicle 1 to perform AVP driving along the generated target route TP toward parking space 6.

[0016] As described above, the target route TP information (target route information Ip) is included in the control instruction INS. The management system 20 generates the target route TP based, for example, on map information of the parking area 4 and information of the parking area 4 recognized by the infrastructure sensor 24. The control instruction INS may also include, for example, vehicle speed information Iv of vehicle 1 (e.g., information on the upper limit of vehicle speed). For example, the vehicle control system 10 may drive vehicle 1 along the target route TP while controlling the speed of vehicle 1 within a range that does not exceed the upper limit of speed included in the control instruction INS.

[0017] Vehicle 1 performs AVP driving towards its assigned parking space 6 according to the target route TP received from the management system 20, and automatically parks in the assigned parking space 6 (parking complete). After vehicle 1 has finished parking, vehicle 1 automatically shuts off the power to the driving system 13 according to the control instruction INS from the management system 20.

[0018] When vehicle 1 exits parking lot 2, the management system 20 performs exit processing for vehicle 1 in response to an exit request from user X operating user terminal 30. In the exit processing, the management system 20 activates the vehicle 1's driving system 13 and then generates a target route TP for vehicle 1 from parking space 6 to boarding / alighting area 3. Then, as with entry, the management system 20 communicates with vehicle 1 and sends a control instruction INS to vehicle 1 requesting it to perform AVP driving along the generated target route TP. Vehicle 1 performs AVP driving towards its assigned boarding / alighting space according to the received target route TP. After vehicle 1 arrives at boarding / alighting area 3, the management system 20 performs handback processing to transfer (return) control of vehicle 1 from the management system 20 to user X. Once the handback processing is complete, user X (and any other passengers) board vehicle 1. Vehicle 1 departs for its next destination and exits parking lot 2 (exit complete). Another scenario in which vehicle 1 performs AVP driving within parking area 4 according to control instructions INS from management system 20 is, for example, when changing the parking space used by vehicle 1.

[0019] 2. System Configuration Example As described above, the automatic valet parking system 100 includes a vehicle control system 10 and an automatic valet parking management system 20.

[0020] 2-1. Vehicle Control System The vehicle control system 10 is mounted on the vehicle 1 and includes a control device 11, sensors 12, a driving system 13, and a lighting device 14.

[0021] The control device 11 controls the vehicle 1 according to various control instructions INS from the management system 20. The control device 11 includes a communication I / F 15, one or more processors 16 (hereinafter simply referred to as the processor 16), and one or more storage devices 17 (hereinafter simply referred to as the storage device 17).

[0022] The communication I / F 15 communicates with each of the management system 20 and the user terminal 30 via a communication network. The processor 16 executes various processes. Examples of the processor 16 include a general-purpose processor, a special-purpose processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), an integrated circuit, a conventional circuit, and / or a combination thereof. The processor 16 can also be referred to as circuitry or processing circuitry. The storage device 17 stores various information. Examples of the storage device 17 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc. The functions of the control device 11 may be realized by the cooperation of the processor 16 that executes a computer program and the storage device 17. The computer program is stored in the storage device 17. Alternatively, the computer program may be recorded on a computer-readable recording medium or provided via a network.

[0023] Sensors 12 include recognition sensors, vehicle status sensors, position sensors, etc. Recognition sensors recognize (detect) the surrounding conditions of vehicle 1. Examples of recognition sensors include cameras, LIDAR (Laser Imaging Detection and Ranging), radar, etc. Vehicle status sensors detect the state of vehicle 1. Examples of vehicle status sensors include speed sensors, acceleration sensors, yaw rate sensors, steering angle sensors, etc. Position sensors detect the position and orientation of vehicle 1. An example of a position sensor is a GNSS (Global Navigation Satellite System) sensor.

[0024] The driving system 13 includes a steering device, a drive device, and a braking device. The steering device steers the wheels of the vehicle 1. The drive device is a power source that generates the driving force of the vehicle 1 and includes, for example, at least one of an electric motor and an internal combustion engine. The braking device generates braking force.

[0025] The lighting device 14 referred to here is the target of the first lighting instruction LI1 from the management system 20, which will be described later. Examples of the lighting device 14 include turn signals, hazard lights, etc.

[0026] 2-2. Automated Valet Parking Management System The management system 20 includes a communication interface (communication I / F) 21, one or more processors 22 (hereinafter simply referred to as processor 22), one or more storage devices 23 (hereinafter simply referred to as storage devices 23), and one or more infrastructure sensors 24 (hereinafter simply referred to as infrastructure sensors 24).

[0027] The communication interface 21 communicates with the vehicle 1 (vehicle control system 10) and the user terminal 30 via a communication network. The configuration example of the processor 22 is the same as that of the processor 16 described above. The configuration example of the storage device 23 is the same as that of the storage device 17 described above. The various types of information stored in the storage device 23 include, for example, information about the parking lot 2 (e.g., map information of parking lot 2) and various types of vehicle management information (e.g., vehicle status information indicating the status of vehicle 1, identification information of vehicle 1 (vehicle ID)). The functions of the management system 20 may be realized through the cooperation of the processor 22, which executes a computer program, and the storage device 23. The computer program is stored in the storage device 23. Alternatively, the computer program may be recorded on a computer-readable recording medium or provided via a network.

[0028] 3. Lighting control in AVP The control instruction INS transmitted from the management system 20 to a vehicle 1 traveling within the parking area 4 includes a "first lighting instruction LI1," which is an instruction to turn on or off the lighting device 14 of the vehicle 1. More specifically, the management system 20 determines whether or not to turn on or off the lighting device 14 based on, for example, the target route information Ip that it generates and the location information (current location information) of the vehicle 1. The management system 20 may acquire the location information of the vehicle 1 based on, for example, information from an infrastructure sensor 24 (e.g., a camera), or it may be received from the vehicle 1. If the management system 20 determines that the lighting device 14 should be turned on or off, it generates an on or off instruction as the first lighting instruction LI1 and transmits it to the vehicle 1. The vehicle 1 (vehicle control system 10) receives the first lighting instruction LI1 from the management system 20 and turns on or off the lighting device 14 according to the received first lighting instruction LI1. In addition, the first lighting instruction LI1 is generated and transmitted to the vehicle 1 at the time the management system 20 determines that the lighting device 14 should be turned on or off. In other words, the timing of the transmission of the first lighting instruction LI1 to the vehicle 1 is independent of the timing of the transmission of target route information Ip to the vehicle 1, which is performed periodically (at predetermined intervals).

[0029] In an AVP system where the lighting device 14 of a vehicle 1 traveling in parking area 4 is turned on and off according to a first lighting instruction LI1 from the management system 20 as described above, if the first lighting instruction LI1 is not transmitted when needed, or if the timing of the first lighting instruction LI1 is inappropriate, vehicle 1 may not be able to properly control the turning on and off of the lighting device 14.

[0030] Therefore, in this embodiment, when vehicle 1 is driving within parking area 4, the control device 11 (processor 16) of vehicle 1 executes a "lighting / exiting determination process". In the lighting / exiting determination process, the control device 11 determines whether or not to light the lighting device 14 based on the target route information Ip transmitted from the management system 20 to vehicle 1. If the control device 11 determines that the lighting device 14 should be lighted or extinguished, it generates a "second lighting instruction LI2", which is a lighting instruction or an extinguishing instruction for the lighting device 14.

[0031] Furthermore, in this embodiment, the control device 11 turns on or off the lighting device 14 in response to receiving a first lighting instruction LI1 from the management system 20 or generating a second lighting instruction LI2 on the vehicle 1 side.

[0032] 3-1. First example of lighting control In the first example, the control device 11 executes the above-described "on / off determination process" on the condition that it has not received the first lighting instruction LI1 from the management system 20.

[0033] Figure 2 is a flowchart showing the processing flow related to a first example of lighting control according to the embodiment. The processing in this flowchart is executed when vehicle 1 is performing AVP driving.

[0034] In step S100, the control device 11 (processor 16) determines whether or not it has received a control instruction INS from the management system 20. If the control instruction INS is received (step S100; Yes), the control device 11 determines whether or not it has received a first lighting instruction LI1 from the management system 20 (step S102).

[0035] If the first lighting instruction LI1 is received (step S102; Yes), the process proceeds to step S104. In step S104, the control device 11 turns the lighting device 14 on or off according to the received first lighting instruction LI1. The control device 11 also transmits lighting information indicating the lighting status of the lighting device 14 in accordance with the first lighting instruction LI1 to the management system 20. The lighting information corresponds to one of the vehicle status information items mentioned above. Subsequently, the process shown in Figure 2 is repeatedly executed.

[0036] On the other hand, if the first lighting instruction LI1 is not received (step S102; No), the process proceeds to step S106. In step S106, the control device 11 performs a lighting / exit determination process. Specifically, the control device 11 determines whether or not to turn on or extinguish the lighting device 14 based on the target route information Ip (information on the target route TP) that is periodically transmitted from the management system 20 to the vehicle 1 (step S108). Furthermore, the lighting / exit determination process in step S106 includes calculating the lighting timing Ton or extinguishing timing Toff of the lighting device 14 if it is determined that the lighting device 14 should be turned on or extinguished. A specific example of the lighting / exit determination process (including the calculation of the lighting timing Ton or extinguishing timing Toff) is described in section 3-1-1.

[0037] If the lighting / off determination process determines that the lighting device 14 should not be turned on or off (step S108; No), the process proceeds to return. On the other hand, if the lighting / off determination process determines that the lighting device 14 should be turned on or off (step S108; Yes), the process proceeds to step S110.

[0038] In step S110, the control device 11 determines whether the lighting timing Ton or the extinguishing timing Toff calculated in step S106 has arrived. If the lighting timing Ton or the extinguishing timing Toff has not yet arrived (step S110; No), the control device 11 determines again whether or not it has received the first lighting instruction LI1 (step S112). If the first lighting instruction LI1 is received during the waiting period P for the lighting timing Ton or the extinguishing timing Toff to arrive (step S112; Yes), the control device 11 turns on or off the lighting device 14 according to the received first lighting instruction LI1 (step S104). On the other hand, if the first lighting instruction LI1 has not yet been received (step S112; No), the process returns to step S110. As long as the first lighting instruction LI1 is not received during the above period P, the processes in steps S110 and S112 are repeatedly executed.

[0039] On the other hand, if the lighting timing Ton or the extinguishing timing Toff arrives without receiving the first lighting instruction LI1 (step S110; Yes), the control device 11 generates a second lighting instruction LI2 (lighting instruction or extinguishing instruction) for the lighting device 14 (step S114). That is, if the control device 11 determines in the lighting / extinguishing determination process that the lighting device 14 should be lit, it generates a lighting instruction, and if it determines that the lighting device 14 should be extinguished, it generates an extinguishing instruction.

[0040] In step S116, following step S114, the control device 11 turns on or off the lighting device 14 according to the second lighting instruction LI2 generated in step S114.

[0041] In step S118, following step S116, the control device 11 sends a notification to the management system 20 indicating that the lighting device 14 has been turned on or off by a second lighting instruction LI2 generated on the vehicle 1. This allows the management system 20 to understand that the lighting device 14 has been turned on or off by the vehicle 1. Additionally, for example, the management system 20 can use this notification to analyze the reason why its own instruction (first lighting instruction LI1) was not generated for this on or off operation. After step S118, the process proceeds to return.

[0042] According to the first example described above, lighting control is performed primarily based on the first lighting instruction LI1 from the management system 20, with a second lighting instruction LI2 generated by the vehicle 1 as needed to supplement the first lighting instruction LI1. This allows the vehicle 1 to assist the management system 20 in an AVP where lighting control is primarily performed by the management system 20, so that the turning on or off of the lighting device 14 is not miscontrolled. In addition, compared to the second example described later, the processing load on the vehicle 1 related to lighting control is reduced.

[0043] 3-1-1. On / Off Determination Process The following is a specific example of the on / off determination process (see step S106).

[0044] 3-1-1-1. First Specific Example In the first specific example, the lighting device 14 that is subject to lighting control according to this embodiment is a turn signal. The on / off determination process in the first specific example includes determining whether or not a right turn or left turn is planned for vehicle 1 based on the target route information Ip. More specifically, the control device 11 refers to the target route information Ip and determines that a right turn or left turn is planned if a right turn point or left turn point is included on the target route TP of vehicle 1. The on / off determination process then includes determining that the lighting device 14 should be turned on if a right turn or left turn is planned.

[0045] Furthermore, the on / off determination process in the first specific example includes calculating the turn signal on timing Ton1 based on target route information Ip and vehicle speed information Iv when vehicle 1 is scheduled to turn right or left. For example, the on timing Ton1 is the timing at which vehicle 1, while driving in AVP mode, is predicted to reach a point a predetermined distance before the right or left turn point, based on the target route information Ip and vehicle speed information Iv. Here, vehicle speed information Iv is, for example, information on the vehicle speed (target vehicle speed) set by the control device 11 on the side of vehicle 1 within the range of upper limit vehicle speed information from the management system 20.

[0046] Furthermore, the on / off determination process in the first specific example may include calculating the turn signal off timing Toff1 after the start of a right or left turn by vehicle 1, based on the target route information Ip and the vehicle speed information Iv. For example, the off timing Toff1 is the timing at which vehicle 1 is predicted to reach the end point of the right or left turn, based on the target route information Ip and the vehicle speed information Iv.

[0047] 3-1-1-2. Second specific example In the second specific example, the lighting device 14 that is subject to lighting control according to this embodiment is a hazard lamp. The on / off determination process in the second specific example includes determining whether or not it is planned for vehicle 1 to park in the parking space 6, based on the target route information Ip. More specifically, the control device 11 refers to the target route information Ip and determines that parking is planned if the route after the start of the parking operation by vehicle 1 (i.e., very slow driving for parking) (parking route) is included on the target route TP of vehicle 1. The on / off determination process then includes determining that the lighting device 14 should be turned on if parking is planned.

[0048] Furthermore, the on / off determination process in the second specific example includes calculating the hazard lamp on timing Ton2 when vehicle 1 is parked. For example, the on timing Ton2 is calculated as a predetermined time after the start of the parking operation of vehicle 1 in the above parking. More specifically, when vehicle 1 reaches the point where it should start the parking operation, the control device 11 starts the parking operation. For example, when the start of the parking operation arrives, the control device 11 calculates the on timing Ton2 by adding the predetermined time (e.g., a few seconds) to the start of that operation.

[0049] Furthermore, the on / off determination process in the second specific example may include calculating the hazard lamp off timing Toff2 after the start of the parking operation of vehicle 1 based on the target route information Ip and the vehicle speed information Iv. For example, the off timing Toff2 is the timing at which vehicle 1 is predicted to reach the parking position within the parking space based on the target route information Ip and the vehicle speed information Iv.

[0050] 3-2. Second example of lighting control In the second example, the control device 11 executes the "on / off determination process" described above, regardless of whether or not it has received the first lighting instruction LI1 from the management system 20.

[0051] Figure 3 is a flowchart showing the processing flow related to a second example of lighting control according to the embodiment. The processing in this flowchart differs from the processing shown in Figure 2 in the following respects.

[0052] In Figure 3, when a control instruction INS is received (step S100; Yes), the control device 11 performs a light on / off determination process (step S106). If this light on / off determination process determines that the lighting device 14 should be turned on or off (step S108; Yes), the control device 11 sequentially performs the following actions: generating a second light instruction LI2, turning on / off the lighting device 14 according to the second light instruction LI2, and notifying the management system 20 about the light on / off (steps S114-S118).

[0053] Furthermore, in Figure 3, if the control device 11 determines in the on / off determination process that the lighting device 14 should not be turned on or off (step S108; No), it determines whether or not it has received the first lighting instruction LI1 from the management system 20 (step S102). If the first lighting instruction LI1 is received (step S102; Yes), the control device 11 turns on or off the lighting device 14 according to the received first lighting instruction LI1 (step S104). On the other hand, if the first lighting instruction LI1 is not received (step S102; No), the process proceeds to return.

[0054] According to the second example described above, the lighting control is performed in such a way that vehicle 1 is more actively involved in instructing the lighting device 14 to turn on or off compared to the first example. Regarding whether or not to turn on or off the lighting device 14, vehicle 1 (vehicle control system 10) can make a highly accurate decision by utilizing information obtained from on-board sensors 12 along with the target route information Ip. According to the second example, since the decision result from vehicle 1 is actively reflected in the lighting control, it becomes possible to appropriately improve the accuracy of the lighting control.

[0055] 4. Effects As described above, according to the vehicle control system 10 of this embodiment, when it is determined that the lighting device 14 should be turned on or off based on the target route information Ip from the management system 20, a second lighting instruction LI2 is generated on the vehicle 1 side. Then, in response to the reception of the first lighting instruction LI1 or the generation of the second lighting instruction LI2, the lighting device 14 is turned on or off. In this way, the lighting device 14 is turned on or off not only by instructions from the management system 20 (first lighting instruction LI1) but also by decisions made by the vehicle 1 side based on the target route information Ip. For this reason, in an AVP system in which the lighting device 14 of a vehicle 1 traveling in the parking area 4 is turned on and off according to instructions from the management system 20 (first lighting instruction LI1), the turning on and off of the lighting device 14 can be controlled more appropriately. [Explanation of symbols]

[0056] 1 Vehicle, 10 Vehicle control system, 11 Control device, 12 Sensors, 13 Driving system, 14 Lighting device, 20 Automatic valet parking management system, 100 Automatic valet parking system

Claims

1. A vehicle control system installed in a vehicle subject to automatic valet parking, A lighting device that is the target of a first lighting instruction, which is a lighting instruction or a lighting instruction to be transmitted from the automated valet parking management system to the target vehicle driving within the parking area of ​​the parking lot, One or more processors, Equipped with, When the vehicle in question is driving within the parking area, the one or more processors will: Based on the target route information transmitted from the management system to the target vehicle, an on / off determination process is performed to determine whether or not the lighting device should be turned on or off. If it is determined that the lighting device should be turned on or off, a second lighting instruction is generated, which is an instruction to turn on or off the lighting device. In response to the reception of the first lighting instruction or the generation of the second lighting instruction, the lighting device is turned on or off. Vehicle control system.

2. A vehicle control system according to claim 1, The one or more processors execute the on / off determination process on the condition that they have not received the first light-on instruction. Vehicle control system.

3. A vehicle control system according to claim 2, The aforementioned on / off determination process includes calculating the on or off timing of the lighting device when it is determined that the lighting device should be turned on or off. If the lighting timing or the turning-off timing arrives without receiving the first lighting instruction, the one or more processors generate the second lighting instruction. Vehicle control system.

4. A vehicle control system according to claim 3, The aforementioned lighting device is a turn signal, The aforementioned on / off determination process is: Based on the aforementioned target route information, it is determined whether or not the target vehicle is scheduled to make a right or left turn. If the aforementioned right or left turn is planned, it is determined that the aforementioned lighting device should be turned on, Includes, The aforementioned lighting timing is the timing for illuminating the turn signal, which is calculated based on the target route information and the vehicle speed information of the target vehicle when a right or left turn is planned. Vehicle control system.

5. A vehicle control system according to claim 3, The aforementioned lighting device is a hazard lamp, The aforementioned on / off determination process is: Based on the aforementioned target route information, it is determined whether or not the target vehicle is scheduled to be parked in the parking space. If the aforementioned parking is planned, it is determined that the lighting device should be turned on, Includes, The aforementioned lighting timing is the timing at which the hazard lights are turned on, calculated as a predetermined time after the start of the parking operation of the vehicle in question during the parking process. Vehicle control system.

Images