Control method for cooperative driving based on vehicle security status

Abstract

To provide a cooperative travel control method based on a vehicle security status base.SOLUTION: A cooperative travel controlling method according to one embodiment of the present invention grasps a security status of a target vehicle of a cooperative travel, determines a cooperative travel strategy depending on the grasped security status, and controls travel according to the determined cooperative travel strategy. As a consequence, since the method can prevent an accident occurrence due to the cooperative travel with a vehicle with a problem by executing or eliminating a cooperative travel based on a security status of the other vehicle, the method may contribute to ensuring a safety of a driver and a passenger.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to autonomous driving technology, and more particularly to a method for safely operating / controlling cooperative driving in which vehicles cooperate with other vehicles in the vicinity to share information and negotiate driving. [Background technology]

[0002] Level 3 and above autonomous vehicles drive autonomously based on information such as sensors installed on the vehicle and detailed maps provided in advance, but to take strategic actions that could affect traffic flow, they need to share information through cooperation with other vehicles in the vicinity. Cooperative driving determines optimal driving conditions and routes based on the information acquired by one's own vehicle and information provided by other vehicles in the vicinity. The driving environments in which cooperative driving is decided are environments where there is a high possibility of accidents occurring, such as lane changes, overtaking, avoidance, cutting in, intersections, and merging, and the decision to drive cooperatively can have a significant impact on the safety of the driver and other vehicles. Summary of the Invention [Problem to be solved by the invention]

[0003] Therefore, the present invention has been made in consideration of the above problems, and an object of the present invention is to provide a control method for implementing / eliminating cooperative driving that may put the driver and passengers at risk, based on the security status of the other vehicle. [Means for solving the problem]

[0004] To achieve the above-mentioned objective, a method for controlling cooperative driving according to one embodiment of the present invention includes steps of grasping the security status of vehicles involved in cooperative driving, determining a cooperative driving strategy based on the grasped security status, and controlling driving based on the determined cooperative driving strategy.

[0005] The determining step may change the class of the cooperative driving to be performed depending on the security status of the target vehicle of the cooperative driving. The determining step may give up on the cooperative driving depending on the security status of the target vehicle of the cooperative driving. In the determining step, when the cooperative driving class to be executed with the target vehicle of the cooperative driving is a first class, the step may determine cooperative driving in the first class if the security status of the target vehicle of the cooperative driving is the first status, which is the best, or a second status, which is worse than the first status. In the determining step, the step may determine to abandon cooperative driving if the security status of the target vehicle of the cooperative driving is a third status, which is worse than the second status, and may abandon cooperative driving and determine to engage in cautious driving if the security status of the target vehicle of the cooperative driving is a fourth status, which is worse than the third status.

[0006] The determining step may include determining cooperative driving in the second class if the cooperative driving class to be executed with the target vehicle of cooperative driving is a second class requiring more cooperation than the first class and the security status of the target vehicle of cooperative driving is the first status. The determining step may include determining cooperative driving in the first class if the cooperative driving class to be executed with the target vehicle of cooperative driving is the second class requiring more cooperation than the first class and the security status of the target vehicle of cooperative driving is the second status, deciding to abandon cooperative driving if the security status of the target vehicle of cooperative driving is a third status, and abandoning cooperative driving and deciding to engage in guard driving if the security status of the target vehicle of cooperative driving is a fourth status.

[0007] The decision step may be such that, if the cooperative driving class to be executed with the target vehicle of the cooperative driving is a third class that requires more cooperation than the second class, if the security status of the target vehicle of the cooperative driving is a first status, the decision is made to carry out cooperative driving in the third class, if the security status of the target vehicle of the cooperative driving is a second status, the decision is made to carry out cooperative driving in the first class, if the security status of the target vehicle of the cooperative driving is a third status, the decision is made to abandon cooperative driving, and if the security status of the target vehicle of the cooperative driving is a fourth status, the decision is made to abandon cooperative driving and to carry out cautious driving.

[0008] The determining step may include, when the cooperative driving class to be executed with the target vehicle of the cooperative driving is the fourth class, which requires cooperation with instructions from an emergency vehicle, deciding to abandon cooperative driving and to drive cautiously if the security status of the target vehicle of the cooperative driving is the fourth status, which is the worst, and deciding to perform cooperative driving in the fourth class if the security status of the target vehicle of the cooperative driving is not the fourth status.

[0009] A cooperative driving control system according to another embodiment of the present invention includes a communication unit that communicates with a target vehicle in the cooperative driving, and a control unit that grasps the security status of the target vehicle in the cooperative driving, determines a cooperative driving strategy based on the grasped security status, and controls driving based on the determined cooperative driving strategy. A method for controlling cooperative driving according to another embodiment of the present invention includes steps of transmitting the security status of a vehicle to a target vehicle in the cooperative driving, determining the security status of the target vehicle in the cooperative driving, and determining a cooperative driving strategy based on the determined security status. [Effects of the Invention]

[0010] As described above, according to an embodiment of the present invention, by implementing or excluding cooperative driving based on the security status of the other vehicle, it is possible to prevent accidents caused by cooperative driving with problematic vehicles, thereby contributing to ensuring the safety of the driver and passengers. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a table for classifying vehicles in cooperative driving. [Figure 2] FIG. 1 is a diagram illustrating a cooperative driving method using Class A. [Figure 3] FIG. 1 is a diagram showing an example of cooperative driving using Class A. [Figure 4] FIG. 1 is a diagram illustrating a cooperative driving method using Class B. [Figure 5] FIG. 1 is a diagram showing an example of cooperative driving using Class B. [Figure 6] FIG. 1 is a diagram illustrating a cooperative driving method using Class C. [Figure 7] FIG. 10 is a diagram illustrating an example of cooperative driving using Class C. [Figure 8] FIG. 1 is a diagram illustrating a cooperative driving method using Class D. [Figure 9] FIG. 1 is a diagram illustrating an example of cooperative driving using Class D. [Figure 10] In the embodiment of the present invention, this is a table that classifies the security status of the in-vehicle network of a T-CDA vehicle that is a target vehicle for driving negotiation in cooperative driving. [Figure 11] FIG. 10 is a diagram illustrating an example of Class Down. [Figure 12] FIG. 10 is a diagram illustrating an example of caution driving. [Figure 13] 10 is a flowchart showing a security status-based Class A cooperative driving method. [Figure 14] 10 is a flowchart showing a security status-based Class B cooperative driving method. [Figure 15] 10 is a flowchart showing a security status-based Class C cooperative driving method. [Figure 16] 10 is a flowchart showing a security status-based Class D cooperative driving method. [Figure 17]FIG. 10 is a block diagram illustrating a security status-based cooperative driving system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] The invention will now be explained in more detail with reference to the drawings. 1. Overview Autonomous vehicles navigate autonomously based on their own sensors and the information they are given, but to take strategic actions that could affect traffic flow, they must be able to share information through cooperation with other vehicles around them. Cooperative driving in autonomous driving determines optimal driving conditions and routes based on information acquired by the vehicle itself and information provided by other vehicles in the vicinity. The driving environments in which cooperative driving is decided are environments where there is a high possibility of accidents occurring, such as lane changes, overtaking, avoidance, cutting in, intersections, and merging, and the decision to drive cooperatively can have a significant impact on the safety of the driver and other vehicles. Therefore, an embodiment of the present invention provides a security status-based cooperative driving method, which ensures the integrity of the information provided by the vehicle itself and other vehicles, and provides the security status of in-vehicle data, such as network intrusion, to the outside world, enabling safe cooperative driving. Specifically, this method involves notifying external vehicles of the security status of the vehicle's internal network, obtaining the security status of other vehicles, changing the autonomous driving cooperation class, excluding them from cooperation targets, or driving them with caution as an emergency vehicle or dangerous vehicle.

[0013] 2. Vehicle Classification In the cooperative driving scenario, there are various vehicles depending on whether they are equipped with an autonomous driving system and whether they have a communication device. Figure 1 shows a table classifying vehicles in cooperative driving, and the vehicles are classified into a total of five categories. E-CDA (Ego Cooperative Driving Automation) vehicles are the main vehicles in cooperative driving, and support autonomous driving (ADS possible) and vehicle-to-vehicle communication (V2X).T-CDA (Target Cooperative Driving Automation) vehicles are the target (partner) vehicles in cooperative driving, and like E-CDA vehicles, support autonomous driving (ADS possible) and vehicle-to-vehicle communication (V2X possible).

[0014] C-VEH (Connected VEHicle) is a vehicle that does not support autonomous driving (ADS not possible) but only supports vehicle-to-vehicle communication (V2X possible). It includes vehicles that support autonomous driving but have switched to manual driving by the driver, and is not a vehicle that is subject to driving negotiations. N-VEH (Normal VEHicle) is a vehicle that does not support autonomous driving or vehicle-to-vehicle communication, and is not a vehicle that is subject to driving negotiations. As an emergency vehicle, the CE-VEH (Connected Emergency VEHicle) can issue forced cooperative driving commands (forced route change requests) through vehicle-to-vehicle communication (V2X).

[0015] 3. Classification of cooperative driving Cooperative driving is classified into Class A, B, C, and D as follows, depending on the amount and quality of information shared between vehicles. 3.1 Class A:Here I am and What I see Class A is a cooperative driving system in which autonomous vehicles share recognized traffic environment information. Vehicles capable of vehicle-to-vehicle communication (T-CDA vehicles, C-VEHs, CE-VEHs) distribute their own vehicle information (position, direction, steering wheel, etc.) to their surroundings, and E-CDA vehicles drive cooperatively based on the received vehicle information.

[0016] FIG. 2 is a diagram illustrating a Class A cooperative driving method. As shown in the figure, the Class A cooperative driving protocol is performed in a cyclically repeated manner (S101). When a vehicle that can communicate with the surrounding vehicles (T-CDA vehicle, C-VEH, CE-VEH) is detected, vehicle information is generated and distributed to the surrounding vehicles (S102, S103). When an E-CDA vehicle receives vehicle information distributed by the surrounding vehicles (S104), it attempts to generate and control a route based on that information (S105).

[0017] Figure 3 shows an example of cooperative driving using Class A. As shown in the figure, two C-VEHs (1, 2) periodically broadcast their own vehicle information to the surrounding area, and an E-CDA vehicle (A) determines and executes driving on a merging road based on the received vehicle information.

[0018] 3.2 Class B:This is what I plan to do Class B is a type of cooperative driving in which vehicles cooperate by sharing driving intentions for planned future actions. When a T-CDA vehicle broadcasts its driving intentions (left turn, right turn, backing up, going straight, U-turn, etc.) to its surroundings, E-CDA vehicles will carry out cooperative driving based on the received driving intentions.

[0019] Figure 4 is a diagram showing a cooperative driving method using Class B. As shown in the figure, the Class B cooperative driving protocol transmits its own driving intention (S202) when an E-CDA vehicle is expected to take a different driving course from its current course (such as a left or right turn, a U-turn, a lane change, entering a merging road, or entering an intersection) (S201). When the E-CDA vehicle receives driving intentions transmitted by surrounding vehicles (S203), it attempts to generate and control a route based on the intentions (S204).

[0020] Figure 5 is a diagram showing an example of cooperative driving using Class B. As shown in the figure, when a T-CDA vehicle (T) and a C-VEH (C) are traveling on a main road and an E-CDA vehicle (A) is traveling on a merging road, the E-CDA vehicle (A) receives the driving status of the C-VEH (C) and the driving plan of the T-CDA vehicle (T), and merges between the C-VEH (C) and the T-CDA vehicle (T) based on the received information.

[0021] 3.3 Class C:Let's do this together Class C is a form of cooperative driving in which vehicles agree on the driving order through a series of cooperation messages. The leading E-CDA vehicle recognizes the T-CDA vehicle with which it is negotiating and determines that negotiation is necessary for safe driving. After that, it proposes driving priority and transmits it to the T-CDA vehicle through a driving negotiation message. After receiving the driving negotiation message, the T-CDA vehicle returns an agreement message and drives according to the proposed driving order. Figure 6 shows a cooperative driving method using Class C. As shown in the figure, the Class C cooperative driving protocol is executed after receiving a driving intention message from the other vehicle (S301). If there is a high possibility of collision (S302), the system checks whether the vehicle is in the negotiation lead position (merging road < main lane priority, turning < straight driving, etc.) based on the current vehicle's driving position (S303).

[0022] If the E-CDA vehicle is the negotiation leader (S303-Yes), it proposes a driving negotiation priority (S304), and if the proposal is accepted (S305), it executes route generation and control (S306) and transmits the execution results (S307). On the other hand, if the T-CDA vehicle is the negotiation initiator (S303-No), it receives a proposal for negotiation priority (S308) and transmits a message to accept or reject the proposal (S309). If it accepts the proposal (S309-Yes), it generates and controls a route according to the proposal (S310).

[0023] Figure 7 is a diagram showing an example of cooperative driving using Class C. As shown in the figure, when a T-CDA vehicle (T) and a C-VEH (C) are traveling on a merging road and an N-HEV (N) and an E-CDA vehicle (A) are traveling on a main road, the E-CDA vehicle (A) shares the driving status of the C-VEH (C) and exchanges driving negotiation data with the T-CDA vehicle (T). Then, based on the driving status and driving negotiation information, the E-CDA vehicle (A) traveling on the main road allows the T-CDA vehicle (T) to enter the main road behind the N-HEV (N), and then the C-VEH (C) passes through the merging road before entering the main road.

[0024] 3.4 Class D:I will do as detected Class D is a cooperative driving system in which special vehicles (emergency vehicles) instruct surrounding vehicles on how to act. Emergency vehicles such as EC-VEH (for example, fire engines) broadcast their own emergency driving information (EDM) to the surrounding area, guiding other vehicles to drive in a cooperative manner.

[0025] 8 is a diagram showing a cooperative driving method according to Class D. As shown in the figure, in the cooperative driving protocol according to Class D, when an emergency vehicle such as an EC-VEH is likely to collide with a T-CDA vehicle (S401-Yes & S402-Yes), it executes cooperative driving according to the situation (S403). In addition, when the EC-VEH detects a possibility of collision with a nearby vehicle (S401-Yes & S402-No), it distributes emergency driving information to nearby vehicles (S404) and guides the creation and control of a route for the other vehicle (S405). 9 is a diagram showing an example of cooperative driving using Class D. As shown in the figure, when a CE-VEH(E) is driving on a merging road and an E-CDA vehicle(A) is driving on a main road, the E-CDA vehicle(A) exchanges driving negotiation data with the CE-VEH(E) and, in response to the instructions of the CE-VEH(E), allows the CE-VEH(E) to merge onto the main road first.

[0026] 4. Classification of vehicles subject to driving negotiation In an embodiment of the present invention, the security status of the in-vehicle network of a T-CDA vehicle that is the target vehicle for driving negotiation in cooperative driving is classified into four levels: Negligible, Severe, Major, and Moderate, as shown in Figure 10. The Negligible (Normal) state is when the vehicle's security status is normal or there is a negligible threat, while the Moderate (Warning) state is when security is compromised to the point that the driver is dissatisfied with the driving quality (User satisfaction negatively affected). A major condition is a security breach that causes significant annoyance to the driver. A severe condition is a vehicle not working or showing unexpected behavior of core functions such as enabling limp home mode or autonomous driving to an unintended location.

[0027] 5. How to respond to cooperative driving based on vehicle security status 5.1 Cooperative Driving Response Method #1: Class Down If the security status of a T-CDA vehicle is in Moderate (Warning) state, when attempting cooperative driving in Class B or Class C, the class will be downgraded to cooperative driving in Class A. For example, as shown on the left side of Figure 11, an E-CDA vehicle (A) can drive cooperatively with a T-CDA vehicle in a Negligible (normal) state using Class C, but as shown on the right side, it can only drive cooperatively with a T-CDA vehicle in a Moderate (warning) state using Class A.

[0028] 5.2 Cooperative Driving Response Method #2: Exclude from Driving Negotiations If the security status of a T-CDA vehicle is in a Major (danger) state, cooperative driving is abandoned and the vehicle is treated as an N-VEH.

[0029] 5.3 Cooperative Driving Response Method #3: Implementing Vigilance Driving If the security status of a T-CDA vehicle is in a severe state, the vehicle will be monitored for vigilance or defensive driving. For example, as shown in FIG. 12, for a T-CDA vehicle whose security status is Severe, not only will cooperative driving not be performed, but cautious driving will be performed, such as by increasing the distance between vehicles.

[0030] 6. Security Status-Based Cooperative Driving Strategy 6.1 Cooperative Driving Strategy by Class A Fig. 13 is a flowchart provided to explain the security status-based cooperative driving method by Class A. "5.2 Exclusion from driving negotiation targets" and "5.3 Execution of cautious driving" are applied here. Specifically, if the security status of the T-CDA vehicle is Severe (S110-Yes), the E-CDA vehicle will execute caution driving and avoidance driving with respect to the T-CDA vehicle (S120). If the security status of the T-CDA vehicle is Major (S130-Yes), the E-CDA vehicle will give up negotiating driving with the T-CDA vehicle (S120). On the other hand, if the security status of the T-CDA vehicle is Moderate (warning) or Negligible (normal) (S130-No), cooperative driving is performed according to Class A (S105).

[0031] 6.2 Cooperative Driving Strategy by Class B Figure 14 is a flowchart provided to explain the security status-based Class B cooperative driving method. "5.1 Class Down," "5.2 Exclusion from driving negotiation target," and "5.3 Execution of cautious driving" are applied here. Specifically, if the security status of the T-CDA vehicle is Severe (S210-Yes), the E-CDA vehicle will execute caution driving and avoidance driving with respect to the T-CDA vehicle (S220). If the security status of the T-CDA vehicle is Major (S230-Yes), the E-CDA vehicle will give up negotiating driving with the T-CDA vehicle (S240). On the other hand, if the security status of the T-CDA vehicle is in Moderate (Warning) state (S250-Yes), Class B is downgraded to Class A and cooperative driving is performed (S260). On the other hand, if the security status of the T-CDA vehicle is in Negligible (Normal) state (S250-No), cooperative driving is performed in Class B (S204).

[0032] 6.3 Cooperative Driving Strategy by Class C Figure 15 is a flowchart provided to explain the security status-based Class C cooperative driving method. "5.1 Class Down," "5.2 Exclusion from driving negotiation target," and "5.3 Execution of cautious driving" are applied here. Specifically, if the security status of the T-CDA vehicle is Severe (S310-Yes), the E-CDA vehicle will execute caution driving and avoidance driving with respect to the T-CDA vehicle (S320). If the security status of the T-CDA vehicle is Major (S330-Yes), the E-CDA vehicle will give up negotiating driving with the T-CDA vehicle (S340). On the other hand, if the security status of the T-CDA vehicle is in Moderate (Warning) state (S350-Yes), Class C is downgraded to Class A and cooperative driving is performed (S360). On the other hand, if the security status of the T-CDA vehicle is in Negligible (Normal) state (S350-No), cooperative driving is performed using Class C (S303 to S311).

[0033] 6.4 Cooperative Driving Strategy by Class D Figure 16 is a flowchart provided to explain the security status-based Class D cooperative driving method. "5.3 Execution of Caution Driving" applies here. Specifically, if the security status of the CE-VEH, which is the target vehicle for the driving negotiation, is Severe in the distributed information received in step S410 (Yes in S420), the E-CDA vehicle executes alert driving and avoidance driving with respect to the CE-VEH (S430). On the other hand, if the security status of the CE-VEH is Major, Moderate, or Negligible (No in S420), the E-CDA vehicle executes Class D cooperative driving (S440).

[0034] 7. Security Status-Based Cooperative Driving System 17 is a block diagram showing a security status-based cooperative driving system according to another embodiment of the present invention. The cooperative driving system according to this embodiment of the present invention includes a security inspection unit 510, a driving control unit 520, and a communication unit 530. The security inspection unit 510 inspects the security status of the vehicle's own vehicle's ECU (Electronic Control Unit), detects intrusion into the in-vehicle network connecting the ECU, and inspects the vehicle's security status. The driving control unit 520 transmits the security status of the vehicle inspected by the security inspection unit 510 to other surrounding vehicles via the communication unit 530. The driving control unit 520 ascertains the security status from the vehicle information of the vehicle that is the target of the driving negotiation received via the communication unit 530, and determines whether to execute or not the cooperative driving according to the ascertained security status. Then, the driving control unit 520 controls the ECU to control driving according to the determined cooperative driving strategy.

[0035] 8. Variations So far, the control method for cooperative driving based on the security status of vehicles has been described in detail with reference to a preferred embodiment. In the embodiments of the present invention, a method for supporting cooperative driving of autonomous vehicles has been presented, taking into account the security status of the vehicle involved in the negotiation. In particular, in order to ensure successful cooperative driving of autonomous vehicles, a method has been presented in which information on the security status and safety conditions of the vehicles is exchanged through inter-vehicle communication, and the method for executing / abandoning / ignoring / being cautious about cooperative driving is presented based on the information. This will allow for the establishment and application of a basis for supporting / rejecting autonomous driving services, such as autonomous driving negotiations, that may put the driver and passengers at risk, based on the security status of the autonomous vehicle.

[0036] Meanwhile, the technical concept of the present invention may also be applied to a computer-readable recording medium incorporating a computer program that causes the functions of the apparatus and method according to the present embodiments to be performed. The technical concept of various embodiments of the present invention may be realized in the form of computer-readable code recorded on a computer-readable recording medium. The computer-readable recording medium may be any data storage device that can be read by a computer and that can store data. For example, the computer-readable recording medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, etc. The computer-readable code or program stored on the computer-readable recording medium may be transmitted via a network connected between computers.

[0037] Although the preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the above embodiments. It is clear that a person skilled in the art to which the present invention pertains can conceive of various modifications or alterations within the scope of the technical spirit described in the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

Claims

1. The cooperative driving control system A step of determining a security status regarding intrusion into an in-vehicle network for a target vehicle of the cooperative driving; determining a cooperative driving strategy according to the determined security status; controlling the driving in accordance with the determined cooperative driving strategy; A cooperative driving control method for executing the above, In the determining step, Change the class of the cooperative driving to be performed depending on the security status of the target vehicle in the cooperative driving. A cooperative driving control method characterized by the above.

2. In the determining step, Abandon cooperative driving depending on the security status of the target vehicle 2. The cooperative driving control method according to claim 1.

3. In the determining step, When the cooperative driving class to be executed with the target vehicle of the cooperative driving is the first class, If the security status of the target vehicle of the cooperative driving is the best first status or a second status worse than the first status, the cooperative driving is determined to be performed in the first class.

2. The cooperative driving control method according to claim 1.

4. In the determining step, If the security status of the target vehicle of the cooperative driving is a third status worse than the second status, it is decided to give up the cooperative driving; If the security status of the target vehicle in the cooperative driving is the fourth status, which is worse than the third status, the cooperative driving is abandoned and the vehicle is decided to drive cautiously.

4. The cooperative driving control method according to claim 3.

5. In the determining step, If the cooperative driving class to be executed with the target vehicle of the cooperative driving is a second class that requires more cooperation than the first class, If the security status of the target vehicle in the cooperative driving is the first status, the cooperative driving is determined to be performed by the second class.

5. The cooperative driving control method according to claim 4.

6. In the determining step, If the cooperative driving class to be executed with the target vehicle of the cooperative driving is a second class that requires more cooperation than the first class, If the security status of the vehicle to be involved in the cooperative driving is the second status, the cooperative driving is determined to be carried out in the first class; If the security status of the target vehicle of the cooperative driving is the third status, it is decided to give up the cooperative driving, If the security status of the vehicle in cooperative driving is the fourth status, the cooperative driving is abandoned and caution driving is decided.

6. The cooperative driving control method according to claim 5.

7. In the determining step, If the cooperative driving class to be executed with the target vehicle of the cooperative driving is a third class that requires more cooperation than the second class, If the security status of the vehicle to be involved in the cooperative driving is the first status, the cooperative driving is determined to be carried out by a third class; If the security status of the vehicle to be involved in the cooperative driving is the second status, the cooperative driving is determined to be carried out in the first class; If the security status of the target vehicle of the cooperative driving is the third status, it is decided to give up the cooperative driving, If the security status of the vehicle in cooperative driving is the fourth status, the cooperative driving is abandoned and caution driving is decided.

5. The cooperative driving control method according to claim 4.

8. In the determining step, If the vehicle to be involved in the cooperative driving and the cooperative driving class to be executed are the fourth class that requires cooperation with instructions from an emergency vehicle, If the security status of the vehicle in cooperative driving is the fourth status, which is the worst, the cooperative driving is abandoned and caution driving is decided. If the security status of the target vehicle for cooperative driving is not the fourth status, cooperative driving according to the fourth class is determined.

5. The cooperative driving control method according to claim 4.

9. a communication unit that communicates with a target vehicle in cooperative driving; a control unit that grasps the security status of vehicles involved in cooperative driving with respect to intrusion into the vehicle network, determines a cooperative driving strategy according to the grasped security status, and controls driving according to the determined cooperative driving strategy; Including, The control unit changes the class of the cooperative driving to be performed according to the security status of the target vehicle of the cooperative driving. A cooperative driving control system characterized by:

10. The cooperative driving control system transmitting a security status regarding an intrusion into the vehicle's in-vehicle network to a target vehicle in the cooperative driving; A step of determining the security status of a vehicle that is a target of cooperative driving; determining a cooperative driving strategy according to the grasped security status; A cooperative driving control method for executing the above, In the determining step, Change the class of the cooperative driving to be performed depending on the security status of the target vehicle in the cooperative driving. A cooperative driving control method characterized by the above.

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