Vehicle control device, vehicle and vehicle system

Abstract

To provide a vehicle control device capable of, even when there occurs an abnormality which does not allow continuation of automatic drive or driving support to be performed only by an own vehicle, continuing the automatic drive or driving support by the vehicle.SOLUTION: A control device 11 (vehicle control device) controls the drive of an actuator system 300 (on-vehicle actuator) of a vehicle 2 by using input from a sensor group 110A (auxiliary sensor) of an auxiliary vehicle 3 when an abnormality of a sensor group 110 (on-vehicle sensor) of the vehicle 2 is detected. The control device 11 also forces the vehicle 2 to travel by controlling the drive of an actuator system 300A (auxiliary actuator) of the auxiliary vehicle 3 when the abnormality of the actuator system 300 is detected.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device, a vehicle, and a vehicle system. [Background technology]

[0002] Various autonomous vehicles have been proposed. For example, JP 2019-171971 A proposes an autonomous vehicle that focuses on a vehicle that tows a towing vehicle. The towing vehicle described in JP 2019-171971 A switches between autonomous driving modes when towing a towed vehicle and when not towing a towed vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-171971 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned JP 2019-171971 A does not consider the case where an abnormality occurs in an autonomous vehicle and the vehicle is no longer able to perform autonomous driving or driving assistance on its own.

[0005] Therefore, the present inventors have studied a vehicle control device, a vehicle, and a vehicle system that enables a vehicle to continue autonomous driving or driving assistance even if an abnormality occurs that prevents the vehicle from continuing autonomous driving or driving assistance on its own.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide a vehicle control device, a vehicle, and a vehicle system that enable the vehicle to continue autonomous driving or driving assistance even if an abnormality occurs that prevents the vehicle from continuing autonomous driving or driving assistance on its own. [Means for solving the problem]

[0007] A vehicle control device according to a first aspect of the present disclosure is a vehicle control device mounted on a vehicle capable of running using an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator. The vehicle includes at least one mounted sensor that acquires information on an external environment of the vehicle, at least one mounted actuator used for running the vehicle, an mounted control unit that controls the drive of the mounted actuator using an input from the mounted sensor, and a communication device that communicates with the auxiliary vehicle. The vehicle control device performs at least one of a first alternative control that controls the drive of the mounted actuator using an input from the auxiliary sensor when an abnormality of the mounted sensor is detected, and a second alternative control that controls the drive of the auxiliary actuator to run the vehicle when an abnormality of the mounted actuator is detected.

[0008] As described above, the vehicle control device according to the first aspect performs at least one of a first alternative control for controlling the drive of the onboard actuator using an input from the auxiliary sensor when an abnormality in the onboard sensor is detected, and a second alternative control for controlling the drive of the auxiliary actuator to run the vehicle when an abnormality in the onboard actuator is detected. As a result, even if the vehicle cannot continue autonomous driving or driving assistance by itself due to an abnormality in the onboard sensor or the onboard actuator, the vehicle can continue autonomous driving or driving assistance by using the auxiliary sensor or auxiliary actuator of the auxiliary vehicle through the first alternative control or the second alternative control.

[0009] In the vehicle control device according to the first aspect, the auxiliary vehicle preferably includes an auxiliary control unit that controls the drive of the auxiliary actuator using an input from the auxiliary sensor, and the vehicle control device performs at least one of the first alternative control and the second alternative control using either the on-board control unit or the auxiliary control unit. With this configuration, at least one of the first alternative control and the second alternative control can be easily performed using the on-board control unit provided in the vehicle and the auxiliary control unit provided in the auxiliary vehicle.

[0010] In the vehicle control device according to the first aspect, preferably, a plurality of on-board sensors are provided, the plurality of on-board sensors including a first on-board sensor that acquires first information from the external environment and a second on-board sensor that acquires second information from the external environment, a plurality of auxiliary sensors are provided, the plurality of auxiliary sensors including a first auxiliary sensor that acquires the first information from the external environment and a second auxiliary sensor that acquires the second information from the external environment, and when an abnormality in the first on-board sensor is detected, driving of the on-board actuator is controlled using the first auxiliary sensor. With this configuration, even when the vehicle cannot continue autonomous driving or driving assistance by itself due to an abnormality in the first on-board sensor, the vehicle can continue autonomous driving or driving assistance by utilizing the auxiliary sensor of the auxiliary vehicle.

[0011] In this case, preferably, the first mounted sensor and the second mounted sensor are configured to acquire information on the external environment located ahead of the vehicle, and the detection distance of the first mounted sensor is longer than the detection distance of the second mounted sensor, and the first auxiliary sensor and the second auxiliary sensor are configured to acquire information on the external environment located ahead of the auxiliary vehicle, and the detection distance of the first auxiliary sensor is longer than the detection distance of the second auxiliary sensor. With this configuration, when an abnormality occurs in the first mounted sensor of the vehicle, which has a relatively long detection distance, the first auxiliary sensor of the auxiliary vehicle, which has a relatively long detection distance, can be used. This allows the vehicle to easily continue automatic driving or driving assistance.

[0012] In the vehicle control device according to the first aspect, preferably, the vehicle further includes a coupling section to which the auxiliary vehicle is coupled, and a plurality of on-board actuators are provided, the plurality of on-board actuators including a first on-board actuator that performs a first function for the vehicle to travel and a second on-board actuator that performs a second function for the vehicle to travel, and a plurality of auxiliary actuators are provided, the plurality of on-board actuators including a first auxiliary actuator that performs a first function for the auxiliary vehicle to travel and a second auxiliary actuator that performs a second function for the auxiliary vehicle to travel, and when an abnormality of the first on-board actuator is detected, the vehicle travels using the first auxiliary actuator in the state in which the auxiliary vehicle is coupled. With this configuration, even if the vehicle cannot continue automatic driving or driving assistance by itself due to an abnormality of the first on-board actuator, the vehicle can continue automatic driving or driving assistance by using the first auxiliary actuator of the auxiliary vehicle. In addition, since the vehicle and the auxiliary vehicle are coupled, automatic driving and driving assistance of the vehicle using the first auxiliary actuator can be facilitated.

[0013] In this case, preferably, the vehicle further includes a wheel and a moving device for moving the wheel upward, and when an abnormality in the wheel is detected, the moving device is used to move the wheel upward with the auxiliary vehicle connected. With this configuration, the abnormal wheel can be separated from the ground. As a result, automatic driving and driving assistance of the vehicle using the first auxiliary actuator can be made easier.

[0014] A vehicle according to a second aspect of the present disclosure is a vehicle configured to be able to communicate with an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator, and is equipped with at least one onboard sensor that acquires information about the vehicle's external environment, at least one onboard actuator used for driving the vehicle, a control unit that controls the drive of the onboard actuator using input from the onboard sensor, and a communication device that communicates with the auxiliary vehicle, wherein the control unit implements at least one of a first alternative control that controls the drive of the onboard actuator based on input from the auxiliary sensor when an abnormality is detected in the onboard sensor, and a second alternative control that drives using the auxiliary actuator when an abnormality is detected in the onboard actuator.

[0015] In the vehicle according to the second aspect, as described above, at least one of the following control is performed: a first alternative control for controlling the drive of the onboard actuator using an input from the auxiliary sensor when an abnormality in the onboard sensor is detected, and a second alternative control for controlling the drive of the auxiliary actuator to run the vehicle when an abnormality in the onboard actuator is detected. This makes it possible to provide a vehicle that can continue automatic driving or driving assistance by utilizing the auxiliary sensor or auxiliary actuator of the auxiliary vehicle through the first alternative control or the second alternative control, even when the host vehicle alone is unable to continue automatic driving or driving assistance due to an abnormality in the onboard sensor or the onboard actuator.

[0016] A vehicle system according to a third aspect of the present disclosure is a vehicle system comprising an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator, and a vehicle configured to communicate with the auxiliary vehicle, wherein the vehicle comprises at least one onboard sensor that acquires information about the vehicle's external environment, at least one onboard actuator used for driving the vehicle, a vehicle control device that controls driving of the onboard actuator using input from the onboard sensor, and a communication device that communicates with the auxiliary vehicle, and the vehicle control device implements at least one of a first alternative control that controls driving of the onboard actuator based on input from the auxiliary sensor when an abnormality is detected in the onboard sensor, and a second alternative control that drives the vehicle using the auxiliary actuator when an abnormality is detected in the onboard actuator.

[0017] In the vehicle system according to the third aspect, as described above, at least one of the following control is performed: a first alternative control for controlling the drive of the onboard actuator using an input from the auxiliary sensor when an abnormality in the onboard sensor is detected, and a second alternative control for controlling the drive of the auxiliary actuator to run the vehicle when an abnormality in the onboard actuator is detected. This makes it possible to provide a vehicle system that allows the vehicle to continue automatic driving or driving assistance by utilizing the auxiliary sensor or auxiliary actuator of the auxiliary vehicle through the first alternative control or the second alternative control, even when the vehicle is unable to continue automatic driving or driving assistance by itself due to an abnormality in the onboard sensor or the onboard actuator. Effect of the Invention

[0018] According to the vehicle control device, vehicle, and vehicle system of the present disclosure, even if an abnormality occurs that prevents the vehicle from continuing autonomous driving or driving assistance on its own, the vehicle can continue autonomous driving or driving assistance. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing a configuration of a vehicle system according to an embodiment. [Diagram 2] FIG. 1 is a diagram illustrating a configuration of a vehicle according to an embodiment. [Diagram 3] FIG. 2 illustrates a detection area for each sensor on a vehicle according to one embodiment. [Figure 4] FIG. 2 illustrates the detection areas of each sensor of the auxiliary vehicle according to one embodiment. [Diagram 5] FIG. 1 is a diagram showing a configuration of an auxiliary vehicle according to an embodiment. [Figure 6] 1 is a diagram showing a state in which a vehicle is driven using a forward laser of an auxiliary vehicle according to an embodiment; [Figure 7] 1 is a diagram showing a state in which the vehicle is driven using a rear camera of an auxiliary vehicle according to an embodiment; [Figure 8]FIG. 13 is a diagram showing a state in which the vehicle is driven using hydraulic brakes of the auxiliary vehicle according to one embodiment. [Figure 9] FIG. 13 is a diagram illustrating a state in which the front wheels of the vehicle are retracted according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] A vehicle system 1 and a control device 11 according to this embodiment will be described with reference to Figures 1 to 9. Among the configurations shown in Figures 1 to 9, the same or substantially the same configurations are denoted by the same reference numerals and duplicated description will be omitted.

[0021] 1 is a schematic diagram showing a vehicle system 1 according to this embodiment. The vehicle system 1 includes a vehicle 2 and an auxiliary vehicle 3. The vehicle 2 is a vehicle capable of performing autonomous driving or driving assistance driving.

[0022] The vehicle 2 includes a driving assistance system 100, a communication device 10, a control device 11, and an alarm device 12. The vehicle 2 includes a pair of front wheels 30 and a pair of rear wheels 31. The vehicle 2 can communicate with the auxiliary vehicle 3 and the server 4 through the communication device 10. The alarm device 12 is a device for notifying the driver or the like of various information about the vehicle 2. The alarm device 12 includes, for example, a display unit 13 that displays various information. The communication device 10 and the control device 11 are examples of a "communication device" and a "vehicle control device" in the present disclosure, respectively. The front wheels 30 and the rear wheels 31 are examples of a "wheel" in the present disclosure.

[0023] The auxiliary vehicle 3 is a vehicle that assists the traveling of the vehicle 2 when a breakdown occurs in the vehicle 2. In the example shown in Fig. 1, a plurality of auxiliary vehicles 3 are provided.

[0024] The assisted vehicle 3 includes a driving assistance system 100A, a communication device 10A, a control device 11A, and an alarm device 12A. The assisted vehicle 3 includes a pair of front wheels 30A and a pair of rear wheels 31A. The alarm device 12A includes a display unit 13A that displays various information. The assisted vehicle 3 can communicate with the vehicle 2 and the server 4 through the communication device 10A.

[0025] The server 4 manages the schedule of the multiple auxiliary vehicles 3. In some cases, an abnormality occurs in a sensor mounted on the vehicle 2, making it impossible for the vehicle 2 to perform autonomous driving or driving-assisted driving. In this case, a request signal RS1 is transmitted from the vehicle 2 to the server 4 by the driver. Upon receiving the request signal RS1, the server 4 directs the auxiliary vehicle 3 to the vehicle 2 based on the position information of the vehicle 2 contained in the request signal RS1.

[0026] When the auxiliary vehicle 3 arrives at the location where the vehicle 2 is located, it cooperates with the vehicle 2 to enable the vehicle 2 to drive autonomously or with driving assistance, and then drives the vehicle 2.

[0027] The assisted vehicle 3 includes a driving assistance system 100A similar to the vehicle 2, and has a configuration similar to that of the vehicle 2. Therefore, the configuration of the vehicle 2 will be mainly described.

[0028] 2 is a block diagram showing a schematic configuration of the vehicle 2. The vehicle 2 includes a driving assistance system 100, a control device 11, an actuator system 300, and an operation device 400. The actuator system 300 is an example of an "on-board actuator" in the present disclosure.

[0029] The driving assistance system 100 is configured to execute implemented applications to realize various functions for assisting driving of the vehicle 2, including at least one of steering control, drive control, and braking control of the vehicle 2. The driving assistance system 100 includes a plurality of applications. The applications implemented in the driving assistance system 100 include, for example, an application that realizes the functions of an autonomous driving system (AD), an application that realizes the functions of an automatic parking system, and an application that realizes the functions of an advanced driver assistance system (ADAS) (hereinafter referred to as an ADAS application).

[0030] The ADAS applications include at least one of an application that realizes a following driving function (such as ACC (Adaptive Cruise Control)), an application that realizes an ASL (Auto Speed ​​Limiter) function, an application that realizes a lane keeping assist function (such as LKA (Lane Keeping Assist) and LTA (Lane Tracing Assist)), an application that realizes a collision mitigation braking function (such as AEB (Autonomous Emergency Braking) and PCS (Pre-Crash Safety)), and an application that realizes a lane departure warning function (such as LDW (Lane Departure Warning) and LDA (Lane Departure Alert)).

[0031] 2 shows an example in which the driving assistance system 100 includes, as applications, an AEB 102, an LKA 104, an ACC 106, and an automatic parking 108. The driving assistance system 100 includes various applications and a sensor group 110. The sensor group 110 is an example of an "on-board sensor" in the present disclosure.

[0032] Each application included in the driving assistance system 100 outputs a request for an action plan to the motion manager 200 based on information on the vehicle surroundings and assistance requests from the driver acquired (input) from the sensor group 110. The motion manager 200 controls the driving of the actuator system 300 using the input from the sensor group 110. Here, the action plan includes the longitudinal acceleration / deceleration of the vehicle 2, the target curvature of the travel route of the vehicle 2, and the like.

[0033] The sensor group 110 is a device for acquiring various information of the external environment of the vehicle 2. The sensor group 110 includes a front camera 120, a rear camera 121, a front LiDAR 130, a rear LiDAR 131, a side LiDAR 132, a side LiDAR 133, a front laser 140, a rear laser 141, a side laser 142, a side laser 143, and a position detection device 150. The front camera 120 and the front LiDAR 130 are examples of the "first mounted sensor" and the "second mounted sensor" of the present disclosure, respectively.

[0034] The front camera 120 captures an image of the front of the vehicle 2. The rear camera 121 captures an image of the rear of the vehicle 2. The front camera 120 captures images of, for example, white lines, signs, and the surrounding environment. The front camera 120 transmits captured image data ID20 to each application of the driving assistance system 100. The rear camera 121 also transmits captured image data ID21 to each application of the driving assistance system 100.

[0035] The LiDAR is a device that acquires distance and positional relationship information for measuring distance by irradiating a laser light (light such as infrared light) in a pulsed manner and measuring the distance based on the time it takes for the light to reflect off an object and return. The front LiDAR 130 acquires information in front of the vehicle 2. The rear LiDAR 131 acquires information behind the vehicle 2. The side LiDAR 132 and the side LiDAR 133 each acquire information on the side of the vehicle 2. The front LiDAR 130 transmits the acquired point cloud data PD30 to each application of the driving assistance system 100. The rear LiDAR 131, the side LiDAR 132, and the side LiDAR 133 transmit the point cloud data PD31, PD32, and PD33 to each application, respectively.

[0036] A laser is a device that emits radio waves with a frequency of, for example, 30 GHz to 300 GHz, detects the reflected waves, and detects the distance to an object. The forward laser 140 measures the distance to other vehicles, etc. located in front of the vehicle 2. The rearward laser 141 measures the distance to other vehicles, etc. located behind the vehicle 2. The sideward laser 142 and the sideward laser 143 each measure the distance to other vehicles, etc. located to the sides of the vehicle 2.

[0037] The forward laser 140, the rearward laser 141, the side laser 142, and the side laser 143 transmit the acquired distance data DD40, DD41, DD42, and DD43 to each application of the driving assistance system 100, respectively.

[0038] 3 is a plan view showing a schematic diagram of the detection range of each sensor of the sensor group 110. A detection area R20 indicates the detection area of ​​the front camera 120. A detection area R21 indicates the detection area of ​​the rear camera 121.

[0039] Detection areas R30, R31, R32, and R33 indicate the detection areas of the front LiDAR 130, the rear LiDAR 131, the side LiDAR 132, and the side LiDAR 133, respectively.

[0040] Detection areas R40, R41, R42, and R43 indicate the detection areas of the forward laser 140, the rearward laser 141, the side laser 142, and the side laser 143, respectively.

[0041] Here, detection distance L20 indicates the detection distance of the front camera 120 in the forward direction of the vehicle 2. Moreover, detection distance L30 indicates the detection distance of the front LiDAR 130 in the forward direction of the vehicle 2. In this embodiment, detection distance L20 is longer than detection distance L30.

[0042] 4 is a plan view showing a schematic diagram of the detection range of each sensor of the sensor group 110A. A detection area R20A indicates the detection area of ​​the front camera 120A. A detection area R21A indicates the detection area of ​​the rear camera 121A.

[0043] Detection regions R30A, R31A, R32A, and R33A indicate the detection regions of the front LiDAR 130A, the rear LiDAR 131A, the side LiDAR 132A, and the side LiDAR 133A, respectively.

[0044] Detection areas R40A, R41A, R42A, and R43A indicate the detection areas of the front laser 140A, the rear laser 141A, the side laser 142A, and the side laser 143A, respectively.

[0045] Here, the detection distance L20A indicates the detection distance of the front camera 120A in the forward direction of the auxiliary vehicle 3. Moreover, the detection distance L30 indicates the detection distance of the front LiDAR 130A in the forward direction of the auxiliary vehicle 3. In this embodiment, the detection distance L20A is longer than the detection distance L30A.

[0046] In FIG. 2, the position detection device 150 is configured by, for example, a GPS (Global Positioning System) that detects the position of the vehicle 2 using information received from a plurality of satellites orbiting the earth.

[0047] Each application such as the AEB 102 provided in the driving assistance system 100 acquires information input from at least one sensor of the sensor group 110. Each application is capable of recognizing other vehicles, obstacles, or people around the vehicle 2, for example, based on information outside the vehicle 2 acquired by the sensor group 110. Furthermore, each application acquires an assistance request from the driver via a user interface (not shown) such as a switch.

[0048] The operating device 400 includes operating members, such as a shift lever for changing a shift range and a brake pedal, which are operated by a user who is a driver.

[0049] The actuator system 300 includes a plurality of types of actuator systems. The actuator system 300 includes, for example, a powertrain system 302, a brake system 304, a steering system 306, and a sensor group 308. The brake system 304 is an example of a "first mounted actuator" in the present disclosure. Each of the powertrain system 302, the steering system 306, and the sensor group 308 is an example of a "second mounted actuator" in the present disclosure.

[0050] The powertrain system 302 includes a powertrain actuator capable of generating a driving force to the driving wheels of the vehicle 2, and a powertrain ECU (Electronic Control Unit) that controls the operation of the powertrain actuator.

[0051] The power train actuator includes, for example, an internal combustion engine, a transmission, and a drive source. The drive source includes a motor generator, a power storage device, and a power control unit (PUC). The PCU includes an inverter and a converter.

[0052] The powertrain ECU controls the driving of each powertrain actuator, and includes, for example, an internal combustion engine ECU, a PCUECU, and a power storage device ECU.

[0053] Brake system 304 includes hydraulic brake 32 (see FIG. 8), hydraulic brake 33 (see FIG. 8), and brake ECU 34 (see FIG. 8). Hydraulic brake 32 is provided on front wheel 30. Hydraulic brake 33 is provided on rear wheel 31. Brake ECU 34 controls the operation of hydraulic brake 32 and hydraulic brake 33.

[0054] The steering system 306 includes, for example, a steering device capable of changing the steering angle of the steering wheels (for example, the front wheels 30) of the vehicle 2, and an ECU (neither shown) that controls the operation of the steering device. The steering device includes, for example, a steering wheel that changes the steering angle according to the amount of operation, and an electric power steering (EPS: Electric Power Steering) that can adjust the steering angle by an actuator separately from the operation of the steering wheel. The ECU that controls the operation of the steering device controls the operation of the actuator of the EPS. The sensor group 308 includes a tire pressure sensor 45 (see FIG. 9), a tire pressure sensor 46 (see FIG. 9), a front-rear G sensor (not shown) that detects the vehicle body acceleration in the front-rear direction of the vehicle 2, a lateral G sensor (not shown) that detects the vehicle body acceleration in the left-right direction of the vehicle 2, and a wheel speed sensor (not shown) that detects the wheel speed.

[0055] As shown in FIG. 2, the control device 11 includes an exercise manager 200 and a judgment unit 201. The judgment unit 201 acquires various information detected by each sensor of the sensor group 110, and detects an abnormality occurring in each sensor based on the acquired information. The exercise manager 200 includes a reception unit 202, an arbitration unit 204, a calculation unit 206, and a distribution unit 208. The operation of each member when the vehicle 2 configured as above runs will be described. The exercise manager 200 is an example of the "mounted control unit" of the present disclosure.

[0056] The reception unit 202 receives a request signal PLN1 from an application of the driving assistance system 100. The request signal PLN1 includes, for example, a request signal PLN1-2 of the ACC 106, a request signal PLN1-6 of the AEB 102, and a request signal PLN1-11 of the LKA 104. The request signal PLN1-2 includes a request value (action plan) indicating a target acceleration of the vehicle 2, and the like. The request signal PLN1-6 includes a request value (action plan) indicating a target acceleration of the vehicle 2, a vehicle stop maintenance request (action plan), and the like. The request signal PLN1-11 includes information indicating a request value (action plan) indicating a target curvature of a travel route of the vehicle 2.

[0057] The arbitration unit 204 arbitrates various request values ​​(action plans) included in the request signal PLN1. For example, the arbitration unit 204 arbitrates the target acceleration of the vehicle 2 included in the request signal PLN1-2 and the request signal PLN1-6. An example of the arbitration process is to select one request value from among multiple request values ​​(action plans) based on a predetermined selection criterion. Another example of the arbitration process is to set a new request value based on the multiple request values. Note that the arbitration unit 204 may arbitrate requests for multiple request values ​​by further adding predetermined information received from the actuator system 300.

[0058] For example, the calculation unit 206 calculates a motion requirement value required for the vehicle 2 based on the arbitrated requirement value. When the arbitrated requirement value is a positive acceleration of the vehicle 2, the motion requirement value is a driving force and a driving torque.

[0059] The distributor 208 distributes (transmits) the motion demand value calculated by the calculator 206 to at least one actuator system of the actuator system 300. For example, when the arbitrated demand value is a positive acceleration of the vehicle 2, the distributor 208 distributes the motion demand value only to the powertrain system 302. In the example shown in Fig. 2, the distributor 208 transmits demand signals ACL1, BRK1, and STR1 to the actuator system 300.

[0060] The request signal ACL1 includes, for example, information on a requested value of driving torque or driving force, information on a requested shift range (including information on a target shift range and a recognized shift range, which will be described below), and the like.

[0061] The request signal BRK1 includes, for example, information on the requested value of braking torque, and information on the timing of braking (whether or not braking is to be performed immediately, etc.).

[0062] The request signal STR1 includes, for example, a target (requested) steering angle, information on whether the target steering angle is valid, and information on upper and lower limit torques of the assist torque for steering wheel operation.

[0063] The powertrain system 302, the brake system 304, and the steering system 306 are driven to satisfy the received motion demand values, and the actuator system 300 sends response signals ACL2, BRK2, STR2, and VSS2 indicating the states of each actuator to the motion manager 200.

[0064] The response signal ACL2 is transmitted from the powertrain system 302 to the motion manager 200. The response signal ACL2 is a signal that indicates the state of the powertrain system 302. The response signal ACL2 includes, for example, information on the operation of the accelerator pedal, information on the actual driving torque or actual driving force of the powertrain system 302, actual shift range information (including information on the current shift range described below), information on the upper and lower limits of the driving torque, information on the upper and lower limits of the driving force, information on the reliability of the powertrain system 302, and the like.

[0065] The response signal BRK2 is a signal transmitted from the brake system 304, and is a signal indicating the state of the brake system 304. The response signal BRK2 includes, for example, information on the operation of the brake pedal, information on the braking torque requested by the driver, information on the requested value of the braking torque after arbitration, information on the actual braking torque after arbitration, information on the reliability of the brake system 304, and the like.

[0066] The response signal STR2 is a signal transmitted from the steering system 306, and is a signal indicating the state of the steering system 306. The information from the steering system 306 includes, for example, information on the reliability of the steering system 306, information on whether the driver is gripping the steering wheel, information on the torque for operating the steering wheel, information on the rotation angle of the steering wheel, and the like.

[0067] The response signal VSS2 is a signal transmitted from the sensor group 308. The response signal VSS2 includes, for example, the detection values ​​of the longitudinal G sensors, the detection values ​​of the lateral G sensors, the detection values ​​of the wheel speed sensors of each wheel, the detection value of the yaw rate sensor, and information regarding the reliability of each sensor.

[0068] The motion manager 200 transmits a response signal PLN2 including various information received from the actuator system 300 to the driving assistance system 100.

[0069] Each application of the driving assistance system 100 updates the request signal PLN1 based on the received response signal PLN2.

[0070] In this manner, the vehicle 2 travels based on driving assistance provided by each application of the driving assistance system 100.

[0071] The determination unit 201 acquires information acquired by each sensor of the sensor group 110 during the startup of the vehicle 2. The determination unit 201 acquires image data ID20 and image data ID21 from the front camera 120 and the rear camera 121, respectively. The determination unit 201 acquires point cloud data PD30, PD31, PD32, and PD33 from the front LiDAR 130, the rear LiDAR 131, the side LiDAR 132, and the side LiDAR 133, respectively. The determination unit 201 acquires distance data DD40, DD41, DD42, and DD43 from the front laser 140, the rear laser 141, the side laser 142, and the side laser 143, respectively.

[0072] The determination unit 201 determines whether or not an abnormality has occurred in each sensor based on various data input from each sensor.

[0073] When no data is input from any sensor of the sensor group 110 for a predetermined period of time, the determination unit 201 determines that an abnormality has occurred in that sensor. Furthermore, based on each input data, the determination unit 201 determines whether or not there is an abnormality in the sensor that output the data. Note that the determination unit 201 may be configured to determine whether or not there is an abnormality in each sensor by comparing the input data from each sensor.

[0074] For example, the determination unit 201 may be configured to determine that an abnormality has occurred in the front camera 120 when the image data ID20 input from the front camera 120 is not input within a predetermined period of time.

[0075] For example, when the missing area of ​​the image data ID20 is equal to or larger than a predetermined range, the determination unit 201 may be configured to determine that an abnormality has occurred in the front camera 120. In this case, for example, a foreign object may be attached to the lens of the front camera 120, or the optical element of the front camera 120 may be damaged.

[0076] For example, the judgment unit 201 judges whether or not there is an abnormality in the forward camera 120, the forward LiDAR 130, and the forward laser 140 based on the distance to the forward vehicle calculated based on image data ID20, the distance to the forward vehicle calculated based on point cloud data PD30, and the distance to the forward vehicle calculated based on distance data DD40.

[0077] When an abnormality occurs in any of the sensors in the sensor group 110, the determination unit 201 transmits an abnormality signal AS to the exercise manager 200 and the notification device 12. This abnormality signal AS includes information for identifying which sensor in the sensor group 110 has experienced the abnormality.

[0078] When the motion manager 200 receives the abnormality signal AS, it stops communication with the driving assistance system 100 and communication with the actuator system 300 within a predetermined period of time. As a result, the vehicle 2 is capable of normal driving operated by the driver, but is unable to perform automatic driving and driving assistance based on the driving assistance system 100.

[0079] When the notification device 12 receives the abnormality signal AS, it notifies the driver that automatic driving and driving assistance will be impossible after a predetermined period of time has elapsed. Furthermore, when the assisted vehicle 3 is performing automatic driving or driving assistance using the driving assistance system 100, the notification device 12 notifies the driver that driving control will be returned to the driver.

[0080] The notification device 12 displays an assistance request button 20 on the display unit 13 after a predetermined period of time has elapsed since receiving the abnormality signal AS.

[0081] 1, when the driver presses the assistance request button 20, a request signal RS1 is transmitted from the vehicle 2 to the server 4. The request signal RS1 includes information for identifying the vehicle 2, position information of the vehicle 2, and information on an abnormality that has occurred in the vehicle 2. The abnormality information includes information for identifying a sensor or actuator in the vehicle 2 in which an abnormality has occurred.

[0082] 5 is a block diagram showing the auxiliary vehicle 3. Each configuration of the auxiliary vehicle 3 is substantially the same as that of the vehicle 2. Therefore, the configurations corresponding to those of the vehicle 2 are given similar reference symbols (for example, the reference symbol for the vehicle 2 is given the letter "A") and the description thereof is omitted.

[0083] The assisted vehicle 3 includes a driving assistance system 100A, a sensor group 110A, an exercise manager 200A, a determination unit 201A, an actuator system 300A, and an operation device 400A. The exercise manager 200A and the actuator system 300A are examples of the "assistance control unit" and the "assistance actuator" of the present disclosure, respectively. The sensor group 110A is an example of the "assistance sensor" of the present disclosure.

[0084] The driving assistance system 100A includes an AEB 102A, an LKA 104A, an ACC 106A, and an automatic parking 108A.

[0085] The sensor group 110A is a device for acquiring various information of the external environment of the auxiliary vehicle 3. The sensor group 110A includes a front camera 120A, a rear camera 121A, a front LiDAR 130A, a rear LiDAR 131A, a side LiDAR 132A, a side LiDAR 133A, a front laser 140A, a rear laser 141A, a side laser 142A, a side laser 143A, and a position detection device 150A. The motion manager 200A includes a reception unit 202A, an arbitration unit 204A, a calculation unit 206A, and a distribution unit 208A. The actuator system 300A includes a power train system 302A, a brake system 304A, a steering system 306A, and a sensor group 308A. The front camera 120A and the front LiDAR 130A are examples of a "first auxiliary sensor" and a "second auxiliary sensor" of the present disclosure, respectively. The brake system 304A is an example of a "first auxiliary actuator" of the present disclosure. The powertrain system 302A, the steering system 306A, and the sensor group 308A are each an example of a "second auxiliary actuator" of the present disclosure.

[0086] When the assisted vehicle 3 travels based on each application of the driving assistance system 100A, the driving assistance system 100A transmits a request signal PLN1A to the exercise manager 200A.

[0087] The motion manager 200A transmits request signals ACL1A, BRK1A, and STR1A to the actuator system 300A. The actuator system 300A transmits response signals ACL2A, BRK2A, STR2A, and VSS2A to the motion manager 200A. The motion manager 200A transmits a response signal PLN2A to the driving assistance system 100A.

[0088] (Control when sensor is abnormal) In the vehicle system 1 configured as described above, it is assumed that an abnormality occurs in the forward laser 140 of the vehicle 2. When the determination unit 201 (see FIG. 2) detects an abnormality in the forward laser 140, it transmits an abnormality signal AS to the notification device 12. The notification device 12 displays an assistance request button 20 (see FIG. 2) on the display unit 13 a predetermined period of time after receiving the abnormality signal AS. When the driver presses the assistance request button 20, a request signal RS1 (see FIG. 1) is transmitted to the server 4. When the server 4 receives the request signal RS1, it directs the assistance vehicle 3 to the vehicle 2 based on the position information of the vehicle 2 contained in the request signal RS1 and the like.

[0089] When auxiliary vehicle 3 arrives at the location where vehicle 2 is located, it cooperates with vehicle 2 to enable vehicle 2 to perform autonomous driving or driving-assisted driving.

[0090] 6 is a diagram showing a state in which the vehicle 2 can perform automatic driving or driving assistance driving by coordinating with the auxiliary vehicle 3. The auxiliary vehicle 3 establishes communication with the vehicle 2 before driving in cooperation with the vehicle 2. When the vehicle 2 establishes communication with the auxiliary vehicle 3, the communication stop state between the exercise manager 200 and the driving assistance system 100 is released.

[0091] As shown in FIG. 6, when the vehicle 2 performs automatic driving or driving assistance driving in cooperation with the auxiliary vehicle 3, the auxiliary vehicle 3 drives in front of the vehicle 2.

[0092] In the driving assistance system 100, when an abnormality occurs in a sensor that acquires information on the area ahead of the vehicle 2, the vehicle 2 transmits a travel request DR1 to the auxiliary vehicle 3 to travel ahead of the vehicle 2. On the other hand, when an abnormality occurs in a sensor that acquires information on the area behind the vehicle 2, the vehicle 2 transmits a travel request DR2 (see FIG. 7) to the auxiliary vehicle 3.

[0093] When the auxiliary vehicle 3 receives the travel request DR1 from the vehicle 2, the auxiliary vehicle 3 is controlled to travel in front of the vehicle 2. The travel request DR1 includes information that identifies the sensor or actuator in the vehicle 2 in which an abnormality has occurred. In this embodiment, the travel request DR1 includes information that indicates that an abnormality has occurred in the forward laser 140.

[0094] The auxiliary vehicle 3 transmits data of a sensor that performs the same function as the sensor specified in the driving request DR1 to the vehicle 2. In this embodiment, the auxiliary vehicle 3 transmits distance data DD40A of the forward laser 140A to the vehicle 2. Therefore, the communication device 10 of the vehicle 2 acquires distance data DD40A from the forward laser 140A corresponding to the failed forward laser 140, among the sensors of the sensor group 110A.

[0095] Then, the communication device 10 of the vehicle 2 transmits the acquired distance data DD40A to each application of the driving assistance system 100. Each application of the driving assistance system 100 calculates a request value (request signal PLN10) to the exercise manager 200 based on the acquired distance data DD40A and various data from the sensor group 110. Specifically, each application of the driving assistance system 100 calculates the request value based on the distance data DD40A, image data ID20 and 21, point cloud data PD30 to PD33, and distance data DD40 to DD42.

[0096] Then, the driving assistance system 100 inputs the request signal PLN10 to the motion manager 200. The motion manager 200 calculates the request signals ACL10, BRK10, and STR10 based on the input request signal PLN10, and inputs each request signal to the actuator system 300. Then, the actuator system 300 transmits response signals ACL20, BRK20, STR20, and VSS20 to the motion manager 200. The motion manager 200 transmits the response signal PLN20 to the driving assistance system 100 based on the received response signals.

[0097] In this way, the vehicle 2 is capable of autonomous driving or driving-assisted driving using the data (DD40A) acquired from the auxiliary vehicle 3.

[0098] Each application of the driving assistance system 100 may calculate a required value for the exercise manager 200 after correcting the acquired distance data DD40A. For example, each application may calculate a required value using corrected data obtained by correcting the distance data DD40A based on the distance between the auxiliary vehicle 3 and the vehicle 2.

[0099] Thus, in the vehicle system 1 of this embodiment, the vehicle 2 can perform autonomous driving or driving-assisted driving by using input from the forward camera 120A of the auxiliary vehicle 3 when an abnormality occurs in the forward camera 120, which is part of the sensor group 110.

[0100] Furthermore, in this embodiment, the vehicle 2 controls the driving of the auxiliary vehicle 3. For example, in order to control the driving of the auxiliary vehicle 3, the vehicle 2 receives image data ID20A and ID21A, point cloud data PD30A to PD33A, and distance data DD40A to DD43A from the auxiliary vehicle 3.

[0101] The driving assistance system 100 of the vehicle 2 calculates a required value for the driving assistance system 100A of the assisted vehicle 3 based on the image data ID20A and ID21A, the point cloud data PD30A to PD33A, and the distance data DD40A to DD43A.

[0102] Vehicle 2 transmits request signals ACL1B, BRK1B, and STR1B to the auxiliary vehicle 3. Upon receiving the request signals ACL1B, BRK1B, and STR1B, the communication device 10A of the auxiliary vehicle 3 transmits them to the actuator system 300A of the auxiliary vehicle 3.

[0103] The actuator system 300A is driven based on the received request signals ACL1B, BRK1B, and STR1B. Then, the actuator system 300A transmits response signals ACL2B, BRK2B, STR2B, and VSS2B to the motion manager 200 through the communication device 10A.

[0104] The exercise manager 200 transmits a response signal PLN20B to the driving assistance system 100 upon receiving the response signals ACL2B, BRK2B, STR2B, and VSS2B.

[0105] In this manner, in the vehicle system 1 according to this embodiment, when the auxiliary vehicle 3 assists the driving of the vehicle 2, the vehicle 2 can control the driving of the auxiliary vehicle 3. This allows the vehicle 2 to effectively control the platooning of the vehicle 2 and the auxiliary vehicle 3.

[0106] FIG. 7 is a diagram showing a situation in which the auxiliary vehicle 3 travels while assisting the vehicle 2 when a sensor that acquires information about the rear area of ​​the vehicle 2 fails.

[0107] In the example shown in FIG. 7, a case where an abnormality occurs in the rear camera 121 of the vehicle 2 will be described.

[0108] When communication with the auxiliary vehicle 3 is established, the vehicle 2 transmits a travel request DR2 to the auxiliary vehicle 3. When the auxiliary vehicle 3 receives the travel request DR2, the auxiliary vehicle 3 is controlled to travel behind the vehicle 2. The travel request DR2 includes information identifying the failed sensor. In the example shown in FIG. 7, the travel request DR2 includes information indicating that the rear camera 121 has failed.

[0109] When the auxiliary vehicle 3 receives the driving request DR2, it transmits to the vehicle 2 the image data ID21A of the rear camera 121A.

[0110] The communication device 10 transmits the received image data ID21A to each application of the driving assistance system 100. The sensor group 110 transmits to the driving assistance system 100 the image data ID20, the point cloud data PD30 to PD33, and the distance data DD40 to DD43.

[0111] Each application of the driving assistance system 100 calculates a request value (request signal PLN11) for the exercise manager 200 based on the image data ID20, ID21A, the point cloud data PD30 to PD33, and the distance data DD40 to DD43. Then, the driving assistance system 100 transmits the request signal PLN11 to the exercise manager 200. The exercise manager 200 calculates request signals ACL11, BRK11, and STR11 based on the request signal PLN11 and transmits them to the actuator system 300.

[0112] The actuator system 300 transmits response signals ACL21, BRK21, STR21, and VSS21 to the motion manager 200. The motion manager 200 transmits a response signal PLN21 to the driving assistance system 100 based on the received response signals. In this way, the vehicle 2 can perform automatic driving or driving assistance using data from the sensor (rear camera 121A) of the auxiliary vehicle 3.

[0113] 6 and 7, the forward laser 140 and the rear camera 121 are abnormal, but the present disclosure is not limited to this. Similar control may be performed when other sensors are abnormal.

[0114] (Control when actuator is abnormal) 8, the vehicle 2 includes a coupling portion 35 and a coupling portion 36 for coupling with the auxiliary vehicle 3. The coupling portion 35 is provided on the front side of the vehicle 2. The coupling portion 36 is provided on the rear side of the vehicle 2.

[0115] 8, the auxiliary vehicle 3 assists the vehicle 2 in traveling when an abnormality occurs in the hydraulic brake 33 of the vehicle 2. The auxiliary vehicle 3 is connected to the coupling part 36 by a connecting member 37 connected to the coupling part 36, and is located behind the vehicle 2.

[0116] Before traveling using the auxiliary vehicle 3, the vehicle 2 establishes communication with the auxiliary vehicle 3. Then, the vehicle 2 transmits a traveling request DR3 to the auxiliary vehicle 3. This traveling request DR3 includes a request signal requesting to be connected to the auxiliary vehicle 3 by the connection member 37, information identifying the actuator in which the abnormality has occurred, and information identifying the data to be requested of the auxiliary vehicle 3.

[0117] 8, the travel request DR3 includes information indicating that a failure has occurred in the hydraulic brake 33. The travel request DR3 also includes information requesting image data ID21A, point cloud data PD31A, and distance data DD41A from the auxiliary vehicle 3.

[0118] Then, when the auxiliary vehicle 3 detects that it has been coupled to the coupling portion 36, it transmits to the vehicle 2 the image data ID21A, the point cloud data PD31A, and the distance data DD41A.

[0119] The communication device 10 transmits the image data ID21A, the point cloud data PD31A, and the distance data DD41A received from the assisted vehicle 3 to each application of the driving assistance system 100. In addition, data from each sensor of the sensor group 110 is also transmitted to each application of the driving assistance system 100.

[0120] The driving assistance system 100 of the vehicle 2 calculates a request value (request signal PLN12) to the exercise manager 200 based on the image data ID21A, the point cloud data PD31A, the distance data DD41A, and various data of the sensor group 110. Specifically, the driving assistance system 100 calculates the request value based on the image data ID21A, the point cloud data PD31A, the distance data DD41A, the image data ID20, the point cloud data PD (30, 32, 33), and the distance data DD (40, 42, 43). Then, the driving assistance system 100 inputs the request signal PLN12 to the exercise manager 200.

[0121] The motion manager 200 calculates a request signal ACL12, a request signal BRK12, and a request signal STR12 based on the request signal PLN12, and inputs each request signal to the actuator system 300. Then, the actuator system 300 transmits response signals ACL22, BRK22, STR22, and VSS22 to the motion manager 200. The motion manager 200 transmits a response signal PLN22 to the driving assistance system 100 based on the received response signals.

[0122] 8, the vehicle 2 also controls the driving of the auxiliary vehicle 3. As a result, even if the hydraulic brake 33 of the vehicle 2 is not in operation, at least one of the hydraulic brakes 32A and 33A of the auxiliary vehicle 3 is operated to decelerate or stop the vehicle 2.

[0123] Specifically, the communication device 10 of the vehicle 2 acquires various data from the sensor group 110A and transmits the acquired various data to each application of the driving assistance system 100. The driving assistance system 100 (exercise manager 200) calculates request signals ACL11B, BRK11B, and STR11B based on the various data from the sensor group 110A and transmits them to the actuator system 300A.

[0124] Here, when it is necessary to decelerate or stop the vehicle 2, the driving assistance system 100 (exercise manager 200) drives the hydraulic brake 33A of the auxiliary vehicle 3. Specifically, the driving assistance system 100 (exercise manager 200) uses the request signal BRK11B to increase the braking force of at least one of the hydraulic brakes 32A and 33A. In addition, when reducing the driving force of the powertrain system 302A of the auxiliary vehicle 3, the driving force of the powertrain system 302A may be reduced using the request signal ACL11B.

[0125] Then, the actuator system 300A transmits the response signals ACL12B, BRK12B, STR12B, and VSS12B to the exercise manager 200 through the communication device 10A. Upon receiving the received response signals ACL12B, BRK12B, STR12B, and VSS12B, the exercise manager 200 transmits a response signal PLN22B to the driving assistance system 100.

[0126] According to such a vehicle system, even if an abnormality occurs in the hydraulic brake 33 of the vehicle 2, the vehicle 2 can perform automatic driving or driving with driving assistance by using data from the auxiliary vehicle 3 and the hydraulic brake of the auxiliary vehicle 3, etc.

[0127] In the above example, the auxiliary vehicle 3 is disposed behind the vehicle 2, and the vehicle 2 and the auxiliary vehicle 3 travel, but the auxiliary vehicle 3 may travel in front of the vehicle 2. A similar control may be performed when the hydraulic brake 32 is abnormal. When a specific actuator of the vehicle 2 other than the hydraulic brake (brake system) is abnormal, the same auxiliary control as above may be performed using an actuator of the auxiliary vehicle 3 having the same function as the specific actuator.

[0128] 9, the sensor group 308 (see FIG. 2) of the actuator system 300 includes tire pressure sensors 45 and 46. The tire pressure sensor 45 measures the air pressure of the front wheel 30. The tire pressure sensor 46 measures the air pressure of the rear wheel 31.

[0129] The vehicle 2 further includes a lifting device 40 and a lifting device 41. The lifting device 40 is a device that lifts and lowers the front wheels 30. The lifting device 41 is a device that lifts and lowers the rear wheels 31. The lifting devices 40 and 41 are examples of the "moving device" of the present disclosure.

[0130] The lifting device 40 is capable of lifting and lowering the pair of front wheels 30 independently of each other. Moreover, the lifting device 41 is capable of lifting and lowering the pair of rear wheels 31 independently of each other. The pair of front wheels 30 may be lifted and lowered in conjunction with each other by the lifting device 40. Moreover, the pair of rear wheels 31 may be lifted and lowered in conjunction with each other by the lifting device 41.

[0131] Each of the tire pressure sensors 45 and 46 transmits the measured air pressure to the control device 11. When the control device 11 determines that the air pressure of each tire is equal to or lower than a predetermined value, it causes the display unit 13 to display a warning indicating that the tire pressure is equal to or lower than the predetermined value and a notice that the autonomous driving and driving assistance driving will be stopped after a predetermined time has elapsed. The warning displayed on the display unit 13 may also include a notice recommending the user to stop the vehicle.

[0132] 9, it is assumed that the air pressure of the front wheels 30 is lower than a predetermined value. After communication with the auxiliary vehicle 3 is established, the vehicle 2 transmits a travel request DR4 to the auxiliary vehicle 3. The travel request DR4 includes information indicating that the air pressure of the front wheels 30 is low, and a signal requesting that the auxiliary vehicle 3 be coupled to the coupling unit 35. Upon receiving the travel request DR4, the auxiliary vehicle 3 couples the vehicle 2 to the coupling unit 35 by the connection member 37.

[0133] In addition, when the vehicle 2 determines that the air pressure of the rear wheel 31 is below a predetermined value, it transmits a driving request DR4 to the auxiliary vehicle 3, which includes information indicating that the air pressure of the rear wheel 31 is low and a signal requesting that the auxiliary vehicle 3 be connected to the connecting portion 36.

[0134] When the vehicle 2 detects that the auxiliary vehicle 3 is connected to the connecting portion 35, the control device 11 (see FIG. 2) drives the lifting device 40 to lift the front wheels 30. As a result, at least a part of the front wheels 30 is stored inside the vehicle 2. The front wheels 30 are then lifted off the ground.

[0135] In addition, in a state where the auxiliary vehicle 3 is connected to the vehicle 2, even if the front wheels 30 are raised, the vehicle 2 is supported by the auxiliary vehicle 3 and is therefore capable of traveling.

[0136] According to the vehicle system 1 described above, even when the air pressure in the front wheels 30 of the vehicle 2 is low, the vehicle 2 remains coupled to the auxiliary vehicle 3 and is capable of traveling.

[0137] In this case, the motion manager 200 of the vehicle 2 may control the actuator system 300A of the auxiliary vehicle 3 to control the running of the auxiliary vehicle 3 (driving force, braking force, steering angle, etc.).

[0138] In the example shown in FIG. 9, the travel request DR4 includes information indicating that the air pressure of the front wheels 30 is low, and information requesting image data ID20A, point cloud data PD30A, and distance data DD40A from the auxiliary vehicle 3.

[0139] Then, when the auxiliary vehicle 3 detects that it has been coupled to the coupling portion 35, it transmits to the vehicle 2 the image data ID20A, the point cloud data PD30A, and the distance data DD40A.

[0140] The communication device 10 transmits the image data ID20A, the point cloud data PD30A, and the distance data DD40A received from the assisted vehicle 3 to each application of the driving assistance system 100. Data from each sensor of the sensor group 110 is also transmitted to each application of the driving assistance system 100.

[0141] The driving assistance system 100 of the vehicle 2 calculates a request value (request signal PLN13) for the exercise manager 200 based on the image data ID20A, the point cloud data PD30A, the distance data DD40A, and various data of the sensor group 110. Specifically, the driving assistance system 100 calculates the request value based on the image data ID20A, the point cloud data PD30A, the distance data DD40A, the image data ID21, the point cloud data PD (31-33), and the distance data DD (41-43). Then, the driving assistance system 100 inputs the request signal PLN13 to the exercise manager 200. 。

[0142] Then, the motion manager 200 transmits request signals ACL13, BRK13, and STR13 to the actuator system 300. Then, the actuator system 300 transmits response signals ACL23, BRK23, STR23, and VSS23 to the motion manager 200. The motion manager 200 transmits a response signal PLN23 to the driving assistance system 100 based on the received response signals.

[0143] In the above example, the auxiliary vehicle 3 is disposed in front of the vehicle 2 having a broken front wheel 30, but the auxiliary vehicle 3 may be caused to travel behind the vehicle 2 having a broken rear wheel 31. In this case, the rear wheel 31 is lifted by the lifting device 41.

[0144] In the above embodiment, the control device 11 provided in the vehicle 2 assists the running of the vehicle 2 by using the sensors and actuators of the auxiliary vehicle 3, but the present disclosure is not limited to this. The control device that performs the above assistance may be provided in the auxiliary vehicle 3, or may be provided outside the vehicle 2 and the auxiliary vehicle 3.

[0145] In the above embodiment, an example is shown in which the motion manager 200 of the vehicle 2 controls the actuator system 300 using inputs from the sensors of the auxiliary vehicle 3 when an abnormality occurs in a sensor of the vehicle 2, and an example is shown in which the motion manager 200 of the vehicle 2 controls the actuator system 300A when an abnormality occurs in an actuator of the vehicle 2, but the present disclosure is not limited to this. The motion manager 200A of the auxiliary vehicle 3 may perform each of the above controls.

[0146] In the above embodiment, an example is shown in which the actuator system 300 is controlled using the inputs from the sensors of the auxiliary vehicle 3 when an abnormality occurs in a sensor of the vehicle 2, and an example is shown in which the actuator system 300A is controlled when an abnormality occurs in an actuator of the vehicle 2, but the present disclosure is not limited to this. Only one of the above two examples may be performed.

[0147] In the above embodiment, when the vehicle 2 is driven to run using the sensors of the auxiliary vehicle 3 when an abnormality occurs in a sensor of the vehicle 2, the vehicle 2 and the auxiliary vehicle 3 are not coupled to each other. However, the present disclosure is not limited to this. The vehicle 2 and the auxiliary vehicle 3 may be coupled to each other. Furthermore, when the vehicle 2 is driven to run using the actuator system 300A when an abnormality occurs in an actuator of the vehicle 2, the vehicle 2 and the auxiliary vehicle 3 do not have to be coupled to each other. [Explanation of symbols]

[0148] 2 vehicle, 3 auxiliary vehicle, 10 communication device (communication device), 11 control device (vehicle control device), 30 front wheel (wheel), 31 rear wheel (wheel), 35, 36 coupling portion, 40, 41 lifting device (movement device), 110 sensor group (mounted sensor), 110A sensor group (auxiliary sensor), 120 front camera (first mounted sensor), 120A front camera (first auxiliary sensor), 130 front LiDAR (second mounted sensor), 130A front LiDAR (second auxiliary sensor), 200 motion manager (mounted control unit), 200A motion manager (auxiliary control unit), 300 actuator system (mounted actuator), 302 powertrain system (second mounted actuator), 302A powertrain system (second auxiliary actuator), 304 brake system (first mounted actuator), 304A brake system (first auxiliary actuator), 306 steering system (second mounted actuator), 306A Steering system (second auxiliary actuator), 308 sensor group (second on-board actuator), 308A sensor group (second auxiliary actuator).

Claims

1. A vehicle configured to communicate with an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator, at least one on-board sensor for acquiring information about the vehicle's external environment; At least one on-board actuator used to drive the vehicle; A control unit that controls the drive of the mounted actuator using an input from the mounted sensor; A communication device that communicates with the auxiliary vehicle, The mounted sensor is provided in plurality, The plurality of on-board sensors include a first on-board sensor that acquires first information from an external environment in front of the vehicle, and a second on-board sensor that acquires second information from an external environment in rear of the vehicle, A plurality of the auxiliary sensors are provided, the plurality of auxiliary sensors include a first auxiliary sensor that acquires the first information from an external environment in front of the auxiliary vehicle, and a second auxiliary sensor that acquires the second information from an external environment in rear of the auxiliary vehicle; The control unit is a first alternative control that controls the driving of the mounted actuator based on an input from the auxiliary sensor when an abnormality in the mounted sensor is detected; and a second alternative control in which the vehicle travels using the auxiliary actuator when an abnormality in the mounted actuator is detected. When an abnormality in the first mounted sensor is detected, the first auxiliary sensor is used to control the driving of the mounted actuator; When an abnormality in the second mounted sensor is detected, the second auxiliary sensor is used to control the driving of the mounted actuator; If an abnormality occurs in the first mounted sensor, a request is sent to the auxiliary vehicle to travel ahead of the vehicle; If an abnormality occurs in the second mounted sensor, the vehicle transmits a request to the auxiliary vehicle to travel behind the vehicle.

2. the auxiliary vehicle includes an auxiliary control unit that controls driving of the auxiliary actuator using an input from the auxiliary sensor, The vehicle according to claim 1 , wherein at least the first alternative control of the first alternative control and the second alternative control is performed using one of the control unit and the auxiliary control unit.

3. the first mounted sensor and the second mounted sensor are configured to acquire information of an external environment located forward of the vehicle, and a detection distance of the first mounted sensor is longer than a detection distance of the second mounted sensor; 3. The vehicle according to claim 1, wherein the first auxiliary sensor and the second auxiliary sensor are configured to acquire information of an external environment located forward of the auxiliary vehicle, and a detection distance of the first auxiliary sensor is longer than a detection distance of the second auxiliary sensor.

4. Further comprising a coupling portion to which the auxiliary vehicle is coupled, The mounted actuator is provided in plurality, the plurality of mounted actuators include a first mounted actuator that performs a first function for the vehicle to travel, and a second mounted actuator that performs a second function for the vehicle to travel, The auxiliary actuator is provided in plurality. the plurality of mounted actuators include a first auxiliary actuator that exerts the first function for the auxiliary vehicle to travel, and a second auxiliary actuator that exerts the second function for the auxiliary vehicle to travel, 3. The vehicle according to claim 1, wherein when an abnormality in the first mounted actuator is detected, the vehicle travels using the first auxiliary actuator with the auxiliary vehicle coupled thereto.

5. Further comprising wheels including front and rear wheels, and a moving device for moving the wheels upward, The coupling portion includes a first coupling portion provided in a front portion of the vehicle and a second coupling portion provided in a rear portion of the vehicle, When an abnormality in the front wheel is detected, the movement device is used to move the front wheel upward with the auxiliary vehicle connected thereto, and a request to connect the auxiliary vehicle to the first connection portion is transmitted to the auxiliary vehicle; 5. The vehicle according to claim 4, wherein, when an abnormality in the rear wheel is detected, the movement device is used to move the rear wheel upward with the auxiliary vehicle connected thereto, and a request to connect the auxiliary vehicle to the second connection portion is transmitted to the auxiliary vehicle.

6. an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator; A vehicle system including a vehicle configured to be able to communicate with the auxiliary vehicle, The vehicle is at least one on-board sensor for acquiring information about the vehicle's external environment; At least one on-board actuator used to drive the vehicle; a vehicle control device that controls the driving of the mounted actuator using input from the mounted sensor; A communication device that communicates with the auxiliary vehicle, The mounted sensor is provided in plurality, The plurality of on-board sensors include a first on-board sensor that acquires first information from an external environment in front of the vehicle, and a second on-board sensor that acquires second information from an external environment in rear of the vehicle, A plurality of the auxiliary sensors are provided, the plurality of auxiliary sensors include a first auxiliary sensor that acquires the first information from an external environment in front of the auxiliary vehicle, and a second auxiliary sensor that acquires the second information from an external environment in rear of the auxiliary vehicle; The vehicle control device includes: a first alternative control that controls the driving of the mounted actuator based on an input from the auxiliary sensor when an abnormality in the mounted sensor is detected; and a second alternative control in which the vehicle travels using the auxiliary actuator when an abnormality in the mounted actuator is detected. When an abnormality in the first mounted sensor is detected, the first auxiliary sensor is used to control the driving of the mounted actuator; When an abnormality in the second mounted sensor is detected, the second auxiliary sensor is used to control the driving of the mounted actuator; The vehicle is If an abnormality occurs in the first mounted sensor, a request is sent to the auxiliary vehicle to travel ahead of the vehicle; If an abnormality occurs in the second mounted sensor, the vehicle system transmits a request to the auxiliary vehicle to travel behind the vehicle.

Images