Vehicle control system and vehicle control method

Abstract

To suppress a reduction in trackability of a vehicle state relative to a travel plan that is generated on the basis of a vehicular target track.SOLUTION: Processing for setting a control mode of travel control is executed. In the setting processing, what is determined is whether a given condition causing a reduction in trackability of a vehicle state relative to a target vehicle state is satisfied. Further, in the case of being determined that the given condition is satisfied, the control mode is switched to an emergency mode from a normal mode. In the emergency mode, generation of a travel plan is cancelled. Alternatively, update or reference of a travel plan that is generated while the satisfaction of the given condition is determined is inhibited. Alternatively, a control instruction value calculated by using a target control value in the travel plan generated while the satisfaction of the given condition is determined and a present vehicle state is modified.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a system and method for controlling cruise control of a vehicle. [Background technology]

[0002] JP 2016-203882 A discloses a system for controlling a vehicle. This conventional system generates a driving plan according to a target trajectory of the vehicle. The conventional system also generates a control width of a target control value of the vehicle in the driving plan. This control width indicates a range of target control values ​​that are acceptable in light of the driving plan even if the vehicle state deviates from the target vehicle state. The conventional system further calculates a command control value so that the target vehicle state corresponds to the target control value, and controls an actuator of the vehicle based on this command control value.

[0003] In vehicle driving control by a conventional system, the control width of the target control value is used to determine whether the current vehicle state significantly deviates from the driving plan. If it is determined that the vehicle state significantly deviates from the driving plan, the actuator parameters are changed so that the actuator output quickly approaches the output corresponding to the command control value. If not, the parameters are changed so that the actuator output slowly approaches the output corresponding to the command control value. Therefore, it is possible to bring the vehicle state closer to the target vehicle state depending on the degree of deviation of the current vehicle state from the driving plan. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-203882 A Summary of the Invention [Problem to be solved by the invention]

[0005] Meanwhile, the target control values ​​in the driving plan include information on the target position in a coordinate system fixed to the vehicle. In driving control based on the target position, the deviation between each target position and the current estimated position of the vehicle (self-position estimation deviation) is calculated. Then, the control command values ​​of the actuators are calculated so that this position deviation is reduced.

[0006] Here, consider a case where the deviation in self-location estimation in the longitudinal direction of a moving vehicle is several tens of centimeters. When cruising at medium to high speeds, this degree of deviation in self-location estimation can be said to be within the acceptable range. On the other hand, when driving at very low speeds with an emphasis on the target position, the ride comfort of the passengers and the ability of the vehicle state (i.e., the vehicle position) to follow the target position are significantly affected.

[0007] The effect of this self-location estimation deviation of about several tens of centimeters on the ride comfort and tracking ability of the occupants is expected to be significant, particularly in the speed range where the vehicle is about to stop. The decrease in tracking ability when the vehicle is about to stop makes it difficult to stop at the target position or to stop at the target position at the target time. This problem cannot be solved by changing parameters based on the conventional deviation judgment. If parameters are changed based on the deviation judgment, it may rather have a negative effect on the ride comfort of the vehicle occupants.

[0008] One object of the present disclosure is to provide a technique capable of suppressing a decrease in the ability of a vehicle state to track a driving plan that is generated based on a target trajectory of the vehicle. [Means for solving the problem]

[0009] The first aspect is a system for controlling vehicle driving, which has the following features. The vehicle control system includes a control device, the control device includes a processor and a memory, and the memory stores a program executable by the processor. When the driving control program is executed by the processor, the processor generating a driving plan for the vehicle according to a target trajectory indicating a trajectory on which the vehicle should travel; Calculating control command values ​​for travel actuators of the vehicle based on a current vehicle state of the vehicle and a target control value of the vehicle in the travel plan so that the vehicle state of the vehicle becomes a target vehicle state corresponding to the target control value; The traveling actuator is controlled based on the control command value. When the program for driving control is executed by the processor, the processor further performs a process of setting a control mode of the driving control. In the control mode setting process, the processor determining whether a predetermined condition is satisfied under which the tracking ability of the vehicle state with respect to the target vehicle state is reduced; When it is determined that the predetermined condition is satisfied, the control mode is switched from a normal mode to a temporary mode. In the normal mode, the control command value is calculated using the current vehicle state and the target control value in the driving plan. In the temporary mode, generation of the driving plan is stopped, updating or referencing of the driving plan generated while it is determined that the specified condition is satisfied is prohibited, or the control command value calculated using the target control value in the driving plan generated while it is determined that the specified condition is satisfied and the current vehicle state is modified.

[0010] The second aspect has the same features as the first aspect, as follows. When the control mode is set to the temporary mode and the generation of the driving plan is stopped, the processor controls the driving actuator based on the control command value calculated using the target control value in the driving plan immediately before it is determined that the specified condition is satisfied.

[0011] The third aspect has the same features as the first aspect, as follows. When the control mode is set to the temporary mode and updating or referencing of the driving plan generated while it is determined that the specified condition is satisfied is prohibited, the processor controls the driving actuator based on the control command value calculated using the target control value in the driving plan immediately before it is determined that the specified condition is satisfied.

[0012] The fourth aspect has the same features as the first aspect as follows. When the control mode is set to the temporary mode and the generation of the driving plan is stopped, the processor sets a temporary target control value corresponding to the content of the driving control that was executed immediately before it was determined that the specified condition was satisfied, and controls the driving actuator based on the control command value calculated using the temporary target control value.

[0013] The fifth aspect has the same features as the first aspect, as follows. When the control mode is set to the temporary mode and the control command value calculated using the target control value in the driving plan generated while it is determined that the specified condition is satisfied and the current vehicle state is modified, the processor multiplies the control command value calculated based on the target control value in the driving plan and the current vehicle state by a specified parameter.

[0014] A sixth aspect is any one of the first to fifth aspects, further comprising the following feature. The processor further includes, in the control mode setting process, When it is determined that the predetermined condition is satisfied, it is determined whether or not a restriction condition that restricts switching to the temporary mode is satisfied; If it is determined that the restriction condition is satisfied, the switching from the normal mode to the temporary mode is canceled.

[0015] A seventh aspect is a method for controlling vehicle travel, which has the following features. The method comprises: generating a driving plan for the vehicle according to a target trajectory indicating a trajectory on which the vehicle should travel; calculating a control command value for a traveling actuator of the vehicle based on a current vehicle state of the vehicle and a target control value of the vehicle in the traveling plan so that the vehicle state of the vehicle becomes a target vehicle state corresponding to the target control value; controlling the traveling actuator based on the control command value; setting a control mode of the driving control; Equipped with. The step of setting the control mode includes: determining whether a predetermined condition is satisfied under which the tracking ability of the vehicle state with respect to the target vehicle state is reduced; switching the control mode from a normal mode to a temporary mode when it is determined that the predetermined condition is satisfied; Equipped with. In the normal mode, the control command value is calculated using the current vehicle state and the target control value in the driving plan. In the temporary mode, generation of the driving plan is stopped, updating or referencing of the driving plan generated while it is determined that the specified condition is satisfied is prohibited, or the control command value calculated using the target control value in the driving plan generated while it is determined that the specified condition is satisfied and the current vehicle state is modified.

[0016] The eighth aspect has the same features as the seventh aspect as follows. The step of setting the control mode further includes: determining whether or not a restriction condition that restricts switching to the temporary mode is satisfied when it is determined that the predetermined condition is satisfied; canceling the switching from the normal mode to the temporary mode when it is determined that the restriction condition is satisfied; Equipped with. Effect of the Invention

[0017] According to the first or seventh aspect, when a predetermined condition is satisfied that reduces the tracking ability of the vehicle state to the target vehicle state, the control mode is switched from the normal mode to the temporary mode. In the temporary mode, generation of a driving plan is stopped. Or, updating or referencing of a driving plan generated while it is determined that the predetermined condition is satisfied is prohibited. Or, a control command value calculated using a target control value in the driving plan generated while it is determined that the predetermined condition is satisfied and the current vehicle state is corrected.

[0018] By canceling the generation of the driving plan, calculation of a control command value based on a target control value that may reduce tracking ability is avoided. Even when updating or referencing a driving plan generated while it is determined that the specified condition is satisfied is prohibited, calculation of a control command value based on a target control value that may reduce tracking ability is avoided. If the control command value calculated using the target control value in the driving plan generated while it is determined that the specified condition is satisfied and the current vehicle state is corrected, it is possible to suppress the deterioration of tracking ability compared to the case where this correction is not performed.

[0019] According to the second aspect, when the control mode is set to the temporary mode and the generation of the driving plan is stopped, the driving actuators are controlled based on the control command value calculated using the target control value in the driving plan immediately before it is determined that the predetermined condition is satisfied. The target control value in the driving plan immediately before it is determined that the predetermined condition is satisfied can be said to be a target control value that is unlikely to reduce the tracking ability. Therefore, according to the second aspect, it is possible to continue the execution of driving control based on the target control value that is unlikely to reduce the tracking ability.

[0020] According to the third aspect, when the control mode is set to the temporary mode and updating or referencing of a driving plan generated while it is determined that the predetermined condition is satisfied is prohibited, the driving actuators are controlled based on a control command value calculated using a target control value in the driving plan immediately before it is determined that the predetermined condition is satisfied. Therefore, it is possible to obtain the same effect as the second aspect.

[0021] According to the fourth aspect, when the control mode is set to the temporary mode and the generation of the driving plan is stopped, a temporary target control value is set according to the content of the driving control executed immediately before it is determined that the predetermined condition is satisfied, and the driving actuator is controlled based on the control command value calculated using this temporary target control value. By using the temporary target control value, it is not necessary to use a target control value that may reduce the tracking ability. Therefore, according to the fourth aspect, it is possible to suppress the deterioration of the tracking ability compared to the case where a target control value that may reduce the tracking ability is used.

[0022] According to the fifth aspect, when the control mode is set to the temporary mode and a control command value calculated using a target control value in a driving plan generated while it is determined that a predetermined condition is satisfied and a current vehicle state is modified, a predetermined parameter is multiplied by the control command value calculated based on the target control value in the driving plan and the current vehicle state. By multiplying the control command value by the predetermined parameter, the target control value that may reduce tracking ability is corrected. Therefore, according to the fifth aspect, it is possible to obtain the same effect as the fourth aspect.

[0023] According to the sixth or eighth aspect, when it is determined that a restriction condition that restricts switching to the temporary mode is satisfied, switching from the normal mode to the temporary mode is stopped. Therefore, it is possible to avoid switching to the temporary mode in a situation in which switching to the temporary mode is not appropriate. [Brief description of the drawings]

[0024] [Figure 1] 1 is a diagram for explaining an overview of driving control based on a driving plan, which is performed by a vehicle control system according to an embodiment. FIG. [Diagram 2] FIG. 1 is a diagram illustrating a problem with driving control based on a driving plan. [Diagram 3] FIG. 11 is a diagram illustrating another problem with driving control based on a driving plan. [Figure 4] 1 is a block diagram showing an example of the configuration of a system according to an embodiment; [Diagram 5] 5 is a block diagram showing an example of a functional configuration of a control device shown in FIG. 4. [Figure 6] 5 is a flowchart showing an example of a flow of processing performed by a driving schedule generating unit shown in FIG. [Figure 7] 13 is a flowchart showing another example of the flow of processing performed by the driving schedule generating unit. [Figure 8] 10 is a flowchart showing an example of a flow of a control mode setting process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, a vehicle control system and a vehicle control method according to an embodiment of the present invention will be described with reference to the drawings. The vehicle control method according to the embodiment is realized by computer processing performed in the vehicle control system. In addition, in each drawing, the same or corresponding parts are given the same reference numerals, and the description thereof will be simplified or omitted.

[0026] 1. Overview of the embodiment 1-1. Driving control based on driving plan FIG. 1 is a diagram for explaining an overview of driving control based on a driving plan performed by a vehicle control system according to an embodiment. A vehicle control system (hereinafter, also simply referred to as "system") 10 shown in FIG. 1 controls a vehicle 1. Typically, the system 10 is mounted on the vehicle 1. At least a part of the system 10 may be disposed in an external device outside the vehicle 1, or the vehicle 1 may be controlled remotely. In other words, the system 10 may be disposed in a distributed manner between the vehicle 1 and the external device.

[0027] The vehicle 1 controlled by the system 10 is a vehicle capable of autonomous driving. The autonomous driving here is assumed to be based on the premise that the driver (or a remote operator) of the vehicle 1 does not necessarily have to concentrate 100% on driving.

[0028] The system 10 performs driving control of the vehicle 1. In the driving control of the vehicle 1, the steering, acceleration, and deceleration of the vehicle 1 are controlled. When the vehicle 1 is driven autonomously, the system 10 executes driving control so that the vehicle 1 follows a target trajectory TR. The target trajectory TR is a trajectory along which the vehicle 1 should travel. The target trajectory TR is generated, for example, based on a driving route from the departure point of the vehicle 1 to the destination. The driving route is calculated, for example, by a navigation system (not shown). The target trajectory TR may be generated based on peripheral information of the vehicle 1, or may be generated based on a combination of the driving route and peripheral information.

[0029] A driving plan according to the target trajectory TR is generated on the target trajectory TR. The driving plan is generated, for example, based on the surrounding information of the vehicle 1 and map information. The driving plan may be generated based only on the surrounding information of the vehicle 1 without using map information. The driving plan includes a set of target control values ​​TCi in driving control of the vehicle 1. The target control values ​​TCi are exemplified by target positions [Xi, Yi] through which the vehicle 1 should pass. In the example shown in FIG. 1, the X direction is the forward direction of the vehicle 1, and the Y direction is a planar direction perpendicular to the X direction. However, the coordinate system (X, Y) is not limited to the example shown in FIG. 1. The target positions [Xi, Yi] are set at a predetermined interval (for example, 1 to 2 m) on the target trajectory TR. The target positions [Xi, Yi] are set approximately several to several tens of seconds ahead from the current time.

[0030] The target control value TCi may be a combination of the target position [Xi, Yi] and the target speed [VXi, VYi] of the vehicle 1 at the target position [Xi, Yi]. Instead of the target speed [VXi, VYi], a target time at the target position [Xi, Yi] may be used. When the target time is used, the target control value TCi may further include the orientation of the vehicle 1 at the target time. In addition to the target position [Xi, Yi] and the target speed [VXi, VYi], the target control value TCi may include at least one of a target yaw angle of the vehicle 1 at the target position [Xi, Yi] and a target acceleration of the vehicle 1 at the target position [Xi, Yi].

[0031] In order to make the vehicle 1 follow the target trajectory TR, the cruise control calculates the deviation (e.g., position deviation, speed deviation, time deviation, yaw angle deviation, speed deviation, etc.) between the target vehicle state corresponding to the target control value TCi and the current vehicle state of the vehicle 1. The cruise control also calculates control command values ​​for the cruise actuators of the vehicle 1 so as to reduce this deviation. In other words, the control command values ​​are command values ​​for controlling the current vehicle state to the target vehicle state. The cruise actuators include a steering actuator, a drive actuator, and a braking actuator. Then, the cruise actuators are controlled based on the control command values.

[0032] 1-2. Problems with driving control based on driving plans As already explained, the target position [Xi, Yi] and the target speed [VXi, VYi] are examples of target control values ​​TCi constituting the driving plan. Here, consider a case where the self-location estimation deviation in the longitudinal direction of a traveling vehicle is several tens of centimeters. When cruising at medium to high speed, this degree of self-location estimation deviation can be said to be within an acceptable range. On the other hand, when traveling at a very low speed with an emphasis on the target position, the influence on the tracking ability of the vehicle state (i.e., the vehicle position) with respect to the target position is large. In particular, when the vehicle is about to stop, a self-location estimation deviation of several tens of centimeters has a significant influence on this tracking ability.

[0033] This problem will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the transition of vehicle speed during execution of cruise control aimed at deceleration. Three types of vehicle speed transition are depicted in Fig. 2. The dashed line shows the transition of vehicle speed (ideal vehicle speed) when ideal deceleration is performed. The dashed line shows the transition of target vehicle speed calculated from position deviation. The solid line shows the transition of actual vehicle speed when the travel actuator is controlled according to a control command value calculated based on this target speed.

[0034] Here, the target vehicle speed at each target position [Xi, Yi] leading to the target stopping position is calculated so that the target vehicle speed at the target stopping position becomes 0 when the vehicle is about to stop. However, if the self-location estimation result is shifted in the direction of the target stopping position, in order to realize the target control value, more deceleration is required compared to before the position shift occurred, and the target vehicle speed needs to be reduced. On the other hand, if the self-location estimation result is shifted in the opposite direction to the target stopping position, the target vehicle speed needs to be increased. This causes unnecessary acceleration and deceleration, impairing the ride comfort of the passengers, and as a result, causing a decrease in the ability to follow the target control value.

[0035] The problem of reduced tracking ability described in Fig. 2 is not limited to when the vehicle is decelerating as described in Fig. 2, but may also occur when the vehicle is starting. However, this problem is more likely to be significant when the vehicle is decelerating than when the vehicle is starting, and is particularly significant when the vehicle is decelerating to stop. This is because the target position for stopping the vehicle is important when the vehicle is decelerating to stop, and a reduction in the tracking ability of the vehicle state with respect to the target position makes it difficult to stop the vehicle at the target stop position or to stop the vehicle at the target stop position at the target time.

[0036] Cruise control based on a cruise plan has another problem. One such problem is changes in the characteristics of the cruise actuator during cruise control. For example, regenerative control during deceleration is performed by cooperative control of the regenerative brake and the hydraulic brake. However, in the very low speed range just before stopping, braking is performed only by the hydraulic brake through cooperative control. Therefore, the vehicle state (e.g., vehicle position, vehicle speed, etc.) fluctuates significantly when transitioning to this very low speed range.

[0037] This problem will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the transition of the vehicle speed during the execution of the coordinated control of the regenerative brake and the hydraulic brake. The three types of vehicle speed shown in Fig. 3 are the same as those shown in Fig. 2.

[0038] As can be seen from the transitions of the three types of vehicle speeds shown in Fig. 3, the three types of vehicle speeds are roughly the same before a characteristic change occurs in the brake actuator due to cooperative control. However, in the example shown in Fig. 3, the actual vehicle speed temporarily drops significantly as a result of the characteristic change (Fig. 3(i)). Then, the target vehicle speed is corrected upward to bring the vehicle state closer to the target vehicle state (i.e., the target vehicle speed), and this upward correction causes the actual vehicle speed to rise (Figs. 3(ii) and (iii)). Then, the target vehicle speed is corrected downward to bring the vehicle state closer to the target vehicle state (Fig. 3(iv)). In this way, unnecessary acceleration and deceleration are performed after the characteristic change occurs.

[0039] 1-3. Switching control modes Therefore, in the driving control according to the embodiment, a "control mode setting process" is performed to switch the control mode of the driving control between a "normal mode" and a "temporary mode". The normal mode is a control mode for controlling the driving actuators based on the deviation between the above-mentioned current vehicle state and a target vehicle state corresponding to the target control value TCi. The temporary mode is a control mode that is performed when it is predicted that the tracking ability of the vehicle state with respect to the target vehicle state will decrease if the driving actuators are controlled in the normal mode.

[0040] The default mode of the control mode is the normal mode. The control mode is switched in the control mode setting process based on whether or not a predetermined condition is satisfied that reduces the tracking ability of the vehicle state to the target vehicle state corresponding to the target control value TCi. The predetermined condition is determined based on information about the surroundings of the vehicle 1, information about the recognition accuracy of the vehicle's own position, and information about the speed range in which the characteristics of the traveling actuator change. When the normal mode is set and it is determined that the predetermined condition is satisfied, the control mode is switched to the temporary mode. When the temporary mode is set and it is determined that the predetermined condition is not satisfied, the control mode is switched to the normal mode. Note that the switching of the control mode may be restricted by adding another condition to the predetermined condition.

[0041] While the temporary mode is set, for example, the generation of the travel plan is stopped (first example). By stopping the generation of the travel plan, the calculation of the control command value based on the target control value TCi that may reduce the tracking ability is avoided. Therefore, the above-mentioned problem is solved. Even if the generation of the travel plan is stopped, the calculation of the control command value based on the target control value TCi that constitutes the travel plan immediately before it is determined that the predetermined condition is satisfied is performed. That is, in the first example, the control command value calculated based on the travel plan generated immediately before it is determined that the predetermined condition is satisfied is input to the travel actuator. Thus, according to the first example, the execution of the travel control is continued based on the target control value TCi that is unlikely to reduce the tracking ability.

[0042] In the second example, the generation of the driving plan continues while the temporary mode is set. However, in the second example, the update of the driving plan generated while the temporary mode is set is prohibited. The reference of the driving plan generated while the temporary mode is set may be prohibited. By prohibiting the update or reference of the driving plan, the same effect as that of the first example described above can be obtained. In either case, as in the first example, the control command value calculated based on the driving plan generated immediately before it is determined that the predetermined condition is satisfied is input to the traveling actuator. Thus, according to the second example, even if the generation of the driving plan is continued, the execution of the driving control continues based on the target control value TCi that is unlikely to reduce the tracking ability.

[0043] In the third example, the generation of the driving plan is stopped. This is the same as the first example. However, in the third example, a temporary target control value is set according to the content of the driving control executed immediately before it is determined that the predetermined condition is satisfied. Examples of this driving control include deceleration / stop control and starting control. The deceleration / stop control is a control for decelerating the vehicle 1 and stopping it at a target stopping position. The starting control is a control for releasing the stopped state of the vehicle 1 and starting it.

[0044] An example of the temporary target control value when the deceleration stop control is executed is the distance to the target stop position. Another example is a combination of the distance to the target stop position and the remaining time until the vehicle speed decreases to zero. An example of the temporary target control value when the start control is executed is the remaining time until the vehicle speed increases to a predetermined speed or higher. When the temporary target control value is set, the deviation between the corresponding target vehicle state and the current vehicle state of the vehicle 1 (for example, the distance deviation to the target stop position, the remaining time deviation) is calculated. Then, the control command value of the traveling actuator is calculated so that this deviation is reduced. In this way, in the third example, the temporary target control value is used instead of the target control value TCi that may reduce the tracking ability, thereby solving the above-mentioned problem.

[0045] In the fourth example, while the temporary mode is set, the generation of the driving plan continues. This is the same as the second example. In the fourth example, a control command value is calculated based on a target vehicle state corresponding to a target control value constituting the driving plan generated while the temporary mode is set and the current vehicle state. However, in the fourth example, the calculated control command value is multiplied by a predetermined parameter.

[0046] The speed range in which the characteristic change of the traveling actuator occurs is known, and therefore the amount of change in the vehicle state when the characteristic change occurs can be predicted to some extent. The predetermined parameter is a parameter for offsetting such a predicted amount of change in the vehicle state. In this way, in the fourth example, the target control value TCi that may reduce the tracking ability is corrected using the predetermined parameter, thereby solving the above-mentioned problem.

[0047] To sum up, in the driving control according to the embodiment, a control mode setting process is performed. Then, when the control mode is set to the temporary mode by this setting process, calculation of a control command value based on a target control value TCi that may reduce the tracking ability is avoided, thereby suppressing the decrease in tracking ability (first or second example). Alternatively, a temporary target control value is used instead of the target control value TCi that may reduce the tracking ability, thereby suppressing the decrease in tracking ability (third example). Alternatively, the target control value TCi that may reduce the tracking ability is corrected, thereby suppressing the decrease in tracking ability (fourth example).

[0048] Hereinafter, a vehicle control system and a vehicle control method according to an embodiment will be described in detail.

[0049] 2.Vehicle Control System 2-1. System configuration example 4 is a block diagram showing an example of the configuration of a system according to an embodiment of the present invention. In the example shown in FIG. 4, a system 10 includes an information acquisition device 20, a traveling actuator 30, and a control device 40.

[0050] The information acquisition device 20 is a device for acquiring driving environment information ENV. The driving environment information ENV is information indicating the driving environment of the vehicle 1, and is information necessary for automatic driving of the vehicle 1. Examples of the driving environment information ENV include map information, surrounding information, self-position information, driving state information, driver operation information, and the like.

[0051] The map information includes, for example, information on lane layout and road shape. The map information is stored in a map database (not shown). The map database is an example of the information acquisition device 20. The map database may be formed in a storage device mounted on the vehicle 1, or may be formed in a storage device of an external management server (not shown).

[0052] The surrounding information is information that indicates the situation around the vehicle 1. The surrounding information is acquired by, for example, a camera, a radar, or a LIDAR (Laser Imaging Detection and Ranging) mounted on the vehicle 1. These on-board sensors are examples of the information acquisition device 20.

[0053] The self-location information is information indicating the position and direction of the vehicle 1. The self-location information is acquired, for example, by a GPS (Global Positioning System) device mounted on the vehicle 1. The GPS device is also an example of the information acquisition device 20. The self-location information may be information whose accuracy has been improved by a well-known self-location estimation process.

[0054] The driving state information is information that indicates the driving state of the vehicle 1. The driving state information is acquired by, for example, a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, and a steering angle sensor. The vehicle speed sensor detects the vehicle speed. The yaw rate sensor detects the yaw rate of the vehicle 1. The acceleration sensor detects the acceleration of the vehicle 1 (e.g., lateral acceleration, longitudinal acceleration, etc.). The steering angle sensor detects the steering angle (turning angle) of the vehicle 1. These in-vehicle sensors are also examples of the information acquisition device 20.

[0055] The driver operation information is information indicating operations performed on the vehicle 1 by the driver (or a remote operator) of the vehicle 1. The driver operation information is acquired, for example, by a steering sensor, an accelerator pedal sensor, and a brake pedal sensor of the vehicle 1. The steering sensor detects, for example, the steering torque applied to the steering wheel by the driver. The accelerator pedal sensor detects the amount of depression of the accelerator pedal by the driver. The brake pedal sensor detects the amount of operation of the brake pedal by the driver. These in-vehicle sensors are also examples of the information acquisition device 20.

[0056] The traveling actuator 30 includes a steering actuator 31, a drive actuator 32, and a braking actuator 33. The steering actuator 31 steers the tires of the vehicle 1. An example of the steering actuator 31 is an EPS (Electric Power Steering) actuator. The driving actuator 32 generates a driving force. An example of the driving actuator 32 is an engine throttle valve, a motor, etc. The braking actuator 33 generates a braking force. An example of the braking actuator 33 is a motor, a hydraulic brake, etc.

[0057] The control device 40 is an information processing device that performs various processes. The control device 40 is also called an ECU (Electronic Control Unit). The control device 40 is, for example, a microcomputer equipped with a processor 41 and a memory 42. The processor 41 includes a CPU (Central Processing Unit). The memory 42 is a volatile memory such as a DDR memory, and expands various programs used by the processor 41 and temporarily stores various information. The various information stored in the memory 42 includes driving environment information ENV. The various information stored in the memory 42 also includes a control command value CON to be transmitted to the traveling actuator 30.

[0058] The processor 41 executes vehicle control software, which is a computer program. The vehicle control software is stored in the memory 42 or recorded in a computer-readable recording medium. The processor 41 executes the vehicle control software to realize various functions of the control device 40.

[0059] 2-3.Example of control device function configuration Fig. 5 is a block diagram showing an example of a functional configuration of the control device 40 shown in Fig. 4. In the example shown in Fig. 5, the control device 40 includes a vehicle state recognition unit 43, a driving plan generation unit 44, a driving control unit 45, and a control mode setting unit 46.

[0060] The vehicle state recognition unit 43 recognizes the vehicle state of the vehicle 1. The vehicle state recognized by the vehicle state recognition unit 43 includes position information of the vehicle 1 on a map. The position information of the vehicle 1 on the map is recognized, for example, based on map information and self-position information. The vehicle state recognized by the vehicle state recognition unit 43 also includes target information around the vehicle 1. The target information is recognized based on surrounding information. Examples of targets include vehicles other than the vehicle 1, pedestrians, roadside objects, obstacles, and white lines (demarcation lines). The target information includes information on the relative position and relative speed of the target with respect to the vehicle 1.

[0061] The vehicle state recognized by the vehicle state recognition unit 43 further includes characteristic information of the vehicle 1. The characteristic information is, for example, the reliability (sensor reliability) of the detection result by a surrounding information sensor such as a camera or a vehicle state sensor such as a vehicle speed sensor. The sensor reliability is recognized based on the comparison result, for example, by comparing the detection results by two sensors capable of detecting the same object. If the detection results are equal, the reliability is recognized as high, and if the detection results are different, the reliability is recognized as low. Specifically, if the recognition result of the target based on the imaging information of the camera matches with the recognition result based on the obstacle information of the radar, the reliability is recognized as high, and if these recognition results do not match, the reliability is recognized as low.

[0062] The driving plan generating unit 44 generates a target trajectory TR for the vehicle 1. The target trajectory TR is generated based on a driving route calculated by a navigation system, for example. The target trajectory TR may be generated based on peripheral information about the vehicle 1, or may be generated based on a combination of the driving route and peripheral information. The target trajectory TR is generated so that the vehicle 1 will travel optimally in light of standards such as safety, legal patrol, and driving efficiency.

[0063] The driving plan generating unit 44 also generates a driving plan according to the generated target trajectory TR. The driving plan is generated, for example, based on the surrounding information of the vehicle 1 and map information. The driving plan may be generated based only on the surrounding information of the vehicle 1 without using map information. The driving plan includes a set of target control values ​​TCi in the driving control of the vehicle 1. Examples of the target control values ​​TCi include a target position [Xi, Yi] through which the vehicle 1 should pass, a combination of the target position [Xi, Yi] and the target speed [VXi, VYi] of the vehicle 1 at the target position [Xi, Yi], and the like.

[0064] When a target trajectory TR is generated, the driving plan generation unit 44 overwrites the past target trajectory TR with the generated target trajectory TR. In other words, when a target trajectory TR is generated, the driving plan generation unit 44 updates the target trajectory TR. The driving plan generation unit 44 generates a driving plan according to the updated target trajectory TR. In this way, when the target trajectory TR is updated, a driving plan according to the updated target trajectory TR is generated.

[0065] The travel plan generating unit 44 further calculates a control command value for the travel actuator 30 based on the travel plan. For example, the travel plan generating unit 44 calculates the deviation between the target vehicle state corresponding to the target control value TCi included in the travel plan and the current vehicle state of the vehicle 1. Then, the travel plan generating unit 44 calculates the control command value CON so as to reduce this deviation. The control command value CON is transmitted to the travel actuator 30.

[0066] Fig. 6 is a flowchart showing an example of the flow of processing performed by the driving schedule generating unit 44. The routine shown in Fig. 6 is repeatedly executed at a predetermined cycle.

[0067] 6, first, various information is acquired (step S11). Examples of the various information acquired in step S11 include information on a driving route for generating a target trajectory TR, driving environment information ENV, etc. The various information includes information on the vehicle state recognized by the vehicle state recognition unit 43 (for example, position information of the vehicle 1, target information around the vehicle 1, and characteristic information of the vehicle 1).

[0068] Following the processing of step S11, a target trajectory TR is generated (step S12). Then, it is determined whether or not the control mode is set to the normal mode (step S13). If it is determined in the processing of step S13 that the control mode is set to the normal mode, a driving plan is generated (step S14), and an update is performed based on this driving plan (step S15). Then, a control command value CON is calculated based on the updated driving plan, and this is transmitted to the driving control unit 45 (step S16). A specific example of the series of processing from steps S12 to S16 has been described above.

[0069] If the determination result of step S13 is negative, an update end flag is transmitted to the driving control unit 45 (step S17). A negative determination result of step S13 means that the control mode is set to the temporary mode. In other words, the processes of steps S13 and S17 are processes for realizing the "first example" in which the generation of the driving plan is stopped. The update end flag is transmitted for the purpose of providing the driving control unit 45 with information that the generation of the driving plan is being intentionally stopped.

[0070] In the "third example", the generation of the driving plan is stopped as in the "first example". To realize the "third example", the process of step S17 is reinterpreted as follows. In this case, a temporary target control value according to the content of the driving control currently being executed is generated and transmitted to the driving control unit 45. For example, when the content of the driving control currently being executed is deceleration and stop control, the "distance to the target stop position" and the "remaining time until the vehicle speed decreases to zero" are generated as the temporary target control value. For example, when the content of the driving control currently being executed is start control, the "remaining time until the vehicle speed increases to a predetermined speed or more" is generated as the temporary target control value. The temporary target control value may be transmitted to the driving control unit 45 together with an update end flag.

[0071] Fig. 7 is a flowchart showing another example of the flow of processing performed by the driving schedule generating unit 44. The routine shown in Fig. 7 is repeatedly executed at a predetermined cycle, similar to the routine shown in Fig. 6.

[0072] In the routine shown in Fig. 7, the processes of steps S21 to S23 are executed. The content of step S21 is the same as that of step S11 in Fig. 6, the content of step S22 is the same as that of step S12 in Fig. 6, and the content of step S23 is the same as that of step S14 in Fig. 6.

[0073] Following the processing of step S23, it is determined whether or not the control mode is set to the normal mode (step S24). If it is determined in the processing of step S24 that the control mode is set to the normal mode, the driving plan is updated using the driving plan generated in step S23 (step S25). The content of the processing of step S24 is the same as that of step S13 in FIG. 6, and the content of the processing of step S25 is the same as that of step S15 in FIG. 6. Following the processing of step S25, the processing of step S26 is executed. The content of step S26 is the same as that of step S16 in FIG. 6.

[0074] If the determination result in step S24 is negative, updating of the driving plan using the driving plan generated in step S23 is prohibited (step S27). In the processing of step S27, reference to the driving plan may be prohibited. In other words, the processing of steps S24 and S27 is processing for realizing the "second example". By prohibiting the update or reference of the driving plan, calculation of the control command value CON based on the driving plan generated in step S23 is not performed. In this case, the driving plan generated in step S23 may be immediately discarded or temporarily stored in memory 42.

[0075] In the "fourth example", a driving plan is generated in the same way as in the "second example". To realize the "fourth example", the process of step S27 is reinterpreted as follows. In this case, a control command value is calculated based on a target vehicle state corresponding to a target control value constituting the driving plan generated in step S23 and the current vehicle state. Then, the calculated control command value is multiplied by a predetermined parameter. The predetermined parameter is, for example, a parameter that is set in advance as a parameter that offsets the amount of change in the vehicle state when a change in the characteristics of the traveling actuator occurs.

[0076] Returning to FIG. 5, the description of the functional configuration example of the control device 40 will be continued. The driving control unit 45 performs driving control of the vehicle 1. In the driving control, the driving control unit 45 controls the operation of the driving actuator 30 using the control command value CON. Specifically, the driving control unit 45 controls the operation of the steering actuator 31 using the steering command value, thereby controlling the steering of the vehicle 1. The driving control unit 45 also controls the operation of the drive actuator 32 using the drive command value, thereby controlling the acceleration of the vehicle 1. The driving control unit 45 also controls the operation of the brake actuator 33 using the brake command value, thereby controlling the deceleration of the vehicle 1.

[0077] The control mode setting unit 46 performs a process of setting a control mode. The control mode setting unit 46 transmits information on the currently set control mode to the driving plan generating unit 44. The control mode setting unit 46 may transmit information on the currently set control mode to the driving control unit 45. FIG. 8 is a flowchart showing an example of the flow of the control mode setting process. The routine shown in FIG. 8 is repeatedly executed at a predetermined cycle.

[0078] In the routine shown in Fig. 8, first, various information is acquired (step S31). Examples of the various information acquired in step S31 include driving state information, characteristic information, and driver operation information. As already described, the driving state information is information acquired by an on-board sensor such as a vehicle speed sensor, and is included in the driving environment information ENV. The characteristic information is recognized by the vehicle state recognition unit 43. The driver operation information is information acquired by a driver operation detection sensor such as an accelerator pedal sensor, and is included in the driving environment information ENV.

[0079] Following the process of step S31, it is determined whether or not a predetermined condition is satisfied (step S32). As already described, the predetermined condition is used to switch the control mode between the normal mode and the temporary mode. The predetermined condition is determined, for example, based on the characteristic information acquired in the process of step S31. In this example, it is determined whether or not it is recognized that the sensor reliability has decreased based on the characteristic information. Then, if it is determined that it is recognized that the sensor reliability has decreased, it is determined that the predetermined condition is satisfied.

[0080] In another example of the determination of the predetermined condition, the driving state information (vehicle speed information) acquired in the process of step S31 is used. In this example, when the vehicle 1 is decelerating, it is determined based on the vehicle speed information whether the vehicle speed has decreased to a speed range where a characteristic change occurs in the driving actuator 30. Then, if it is determined that the vehicle speed has decreased to a speed range where a characteristic change occurs, it is determined that the predetermined condition is satisfied.

[0081] If the determination result of step S32 is positive, it is determined whether or not the restriction condition is satisfied (step S33). The restriction condition is a condition for restricting switching to the temporary mode. The restriction condition is determined, for example, based on the driver operation information acquired in the processing of step S31. During the automatic driving of the vehicle 1, the driver of the vehicle 1 (or a remote operator) may intervene in the automatic driving. In this case, the driver's intention is predicted based on the driver operation information. If the predicted intention does not match the content of the driving control currently being executed, there is a possibility that switching to the temporary mode is not appropriate. The processing of step S33 is a processing for dealing with such an exceptional situation.

[0082] If the determination result in step S33 is negative, the control mode is switched and the control mode is set to the temporary mode (step S34). On the other hand, if the determination result is positive, the control mode switching is restricted and the control mode is maintained in the normal mode (step S35). Note that the process of step S35 is also performed if the determination result in step S32 is negative. [Explanation of symbols]

[0083] 1 vehicle 10 Vehicle Control System 20 Information acquisition device 30 Travel actuator 40 Control device 41 Processors 42 Memory 43 Vehicle status recognition unit 44 Driving plan generation unit 45 Driving control unit 46 Control mode setting section TR target trajectory TCi target control value CON Control command value ENV Operating environment information

Claims

1. A vehicle control system for controlling vehicle travel, A processor; A memory in which a program executable by the processor is stored; A control device including: When the driving control program is executed by the processor, the processor generating a driving plan for the vehicle according to a target trajectory indicating a trajectory on which the vehicle should travel; Calculating a control command value for a traveling actuator of the vehicle based on a current vehicle state of the vehicle and a target control value of the vehicle in the traveling plan so that the vehicle state of the vehicle becomes a target vehicle state corresponding to the target control value; Controlling the traveling actuator based on the control command value; When the program for driving control is executed by the processor, the processor further performs a process of setting a control mode of the driving control, In the control mode setting process, the processor determining whether a predetermined condition is satisfied under which the tracking ability of the vehicle state with respect to the target vehicle state is reduced; the predetermined condition includes a state in which a speed of the vehicle is decreased to a speed range in which a change in a characteristic of the traveling actuator occurs during deceleration of the vehicle, When it is determined that the predetermined condition is satisfied, the control mode is switched from a normal mode to a temporary mode; In the normal mode, the control command value is calculated using the current vehicle state and the target control value in the driving plan, In the temporary mode, The generation of the driving plan is stopped. The driving plan generated while it is determined that the predetermined condition is satisfied is prohibited from being updated or referenced, or The control command value calculated using the target control value in the driving plan generated while it is determined that the predetermined condition is satisfied and the current vehicle state is corrected. A vehicle control system comprising:

2. 2. The vehicle control system according to claim 1, When the control mode is set to the temporary mode and the generation of the travel plan is stopped, the processor controls the travel actuator based on the control command value calculated using the target control value in the travel plan immediately before it is determined that the predetermined condition is satisfied. A vehicle control system comprising:

3. 2. The vehicle control system according to claim 1, When the control mode is set to the temporary mode and updating or referencing of the travel plan generated while it is determined that the predetermined condition is satisfied is prohibited, the processor controls the travel actuator based on the control command value calculated using the target control value in the travel plan immediately before it is determined that the predetermined condition is satisfied. A vehicle control system comprising:

4. 2. The vehicle control system according to claim 1, When the control mode is set to the temporary mode and the generation of the travel plan is stopped, the processor sets a temporary target control value according to the content of the travel control that was executed immediately before it was determined that the predetermined condition was satisfied, and controls the travel actuator based on the control command value calculated using the temporary target control value. A vehicle control system comprising:

5. 2. The vehicle control system according to claim 1, When the control mode is set to the temporary mode and the control command value calculated using the target control value in the driving plan generated while it is determined that the predetermined condition is satisfied and the current vehicle state is modified, the processor multiplies the control command value calculated based on the target control value in the driving plan and the current vehicle state by a predetermined parameter. A vehicle control system comprising:

6. A vehicle control system according to any one of claims 1 to 5, The processor further includes, in the control mode setting process, When it is determined that the predetermined condition is satisfied, it is determined whether or not a restriction condition that restricts switching to the temporary mode is satisfied; When it is determined that the restriction condition is satisfied, the switching from the normal mode to the temporary mode is canceled. A vehicle control system comprising:

7. A vehicle control method for controlling driving of a vehicle, comprising: generating a driving plan for the vehicle according to a target trajectory indicating a trajectory on which the vehicle should travel; calculating a control command value for a traveling actuator of the vehicle based on a current vehicle state of the vehicle and a target control value of the vehicle in the traveling plan so that the vehicle state of the vehicle becomes a target vehicle state corresponding to the target control value; controlling the traveling actuator based on the control command value; setting a control mode of the driving control; Equipped with The step of setting the control mode includes: determining whether a predetermined condition is satisfied under which the tracking ability of the vehicle state with respect to the target vehicle state is reduced; a step of switching the control mode from a normal mode to a temporary mode when it is determined that the predetermined condition is satisfied, the step of the predetermined condition including a state in which the speed of the vehicle has decreased to a speed range in which a change in the characteristics of the traveling actuator occurs during deceleration of the vehicle; Equipped with In the normal mode, the control command value is calculated using the current vehicle state and the target control value in the driving plan, In the temporary mode, The generation of the driving plan is stopped. The driving plan generated while it is determined that the predetermined condition is satisfied is prohibited from being updated or referenced, or The control command value calculated using the target control value in the driving plan generated while it is determined that the predetermined condition is satisfied and the current vehicle state is corrected. A vehicle control method comprising:

8. The vehicle control method according to claim 7, The step of setting the control mode further includes: determining whether or not a restriction condition that restricts switching to the temporary mode is satisfied when it is determined that the predetermined condition is satisfied; canceling the switching from the normal mode to the temporary mode when it is determined that the restriction condition is satisfied; Equipped A vehicle control method comprising:

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