Vehicle control system and vehicle control method

Abstract

To secure travel safety of a vehicle in light of a vehicle travel control device even when an automatic operation control device prohibits execution of travel support control through the vehicle travel control device.SOLUTION: A vehicle control system comprises: an automatic operation control device; and a vehicle travel control device which performs vehicle travel control and vehicle travel support control. The vehicle travel control device estimates evaluation level of the automatic operation control device by the vehicle travel control device, and determines, when a vehicle approaches object points where attention should be paid during traveling, whether or not there is a record that the vehicle has passed through the object points in a state where the vehicle travel control device received an execution prohibition command of the vehicle travel support control. When the vehicle travel control device received the execution prohibition command, and when the vehicle travel control device determines there is no record of the vehicle having passed through the object point, the vehicle travel control device changes execution mode of the vehicle travel support control for easy execution of the vehicle travel support control based on the evaluation level.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a system and method for controlling an autonomously driving vehicle. [Background technology]

[0002] Patent Document 1 discloses a technology in which a vehicle control device automatically performs a driving assistance operation that has been authorized by the driver out of multiple driving assistance operations. This technology suggests to the driver how to switch between driving assistance operations to perform automatic driving suited to the situation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6772527 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in recent years, autonomous driving has involved "vehicle driving control" that causes the vehicle to follow a target trajectory. The target trajectory is generated, for example, by a management device that manages autonomous driving, and vehicle driving control is executed by a control device that controls the driving of the vehicle. Hereinafter, the control device that manages autonomous driving will be referred to as the "autonomous driving management device," and the control device that controls the driving of the vehicle will be referred to as the "vehicle driving control device."

[0005] Consider a case where a device with a function equivalent to the target trajectory generation function of the automatic driving management device is installed in the vehicle in place of the automatic driving management device. In this case, the vehicle driving control device will perform vehicle driving control according to the target trajectory generated by the replaced automatic driving management device.

[0006] The problem here is that it is possible that the target trajectory generated by the replaced automated driving management device may not be appropriate from the perspective of vehicle driving safety. Therefore, it is conceivable that the vehicle driving control device will appropriately execute various driving assistance controls that were set before the replacement. However, it is also conceivable that the replaced automated driving management device will separately output a command to the vehicle driving control device to prohibit the execution of such driving assistance controls in order to ensure compliance with the target trajectory it generated. In this case, the vehicle driving control device will not be able to intervene in the automated driving at all, posing a problem that it will be difficult to ensure the vehicle's driving safety from the perspective of the vehicle driving control device.

[0007] One objective of the present disclosure is to provide technology that can ensure the driving safety of a vehicle from the perspective of a vehicle driving control device even in situations where the execution of driving assistance control by the vehicle driving control device is prohibited by an automatic driving management device. [Means for solving the problem]

[0008] The first aspect relates to a vehicle control system including an automatic driving management device that generates a target trajectory for a vehicle, and a vehicle driving control device that performs vehicle driving control of the vehicle in accordance with the target trajectory and vehicle driving assistance control. The vehicle driving control device further estimates an evaluation level of the automatic driving management device by the vehicle driving control device. Furthermore, when the vehicle is approaching a target point indicating a location where caution is required when driving, the vehicle driving control device determines whether there is a history of the vehicle passing through the target point while receiving a command to prohibit the execution of driving assistance control. Furthermore, when the vehicle driving control device receives an execution prohibition command and it is determined that there is no history of passing through the target point, the vehicle driving control device changes the execution mode of the driving support control so that the driving support control is more easily executed based on the evaluation level.

[0009] The second aspect has the following characteristics in addition to the first aspect. When the vehicle driving control device receives an execution prohibition command and determines that there is a history of passing through the target point, the vehicle driving control device changes the execution mode so that driving assistance control becomes more difficult to execute based on the evaluation level.

[0010] The third aspect has the following characteristics in addition to the first or second aspect. The execution mode includes the execution content of the driving support control and the execution timing of the driving support control.

[0011] The fourth aspect has the following characteristics in addition to the third aspect. The execution includes an alarm to notify the occupants that the vehicle is approaching the target point, and at least one of vehicle operations including steering, accelerating, and decelerating the vehicle before the target point as the vehicle passes the target point.

[0012] A fifth aspect has the same features as any one of the first to fourth aspects, and further has the following characteristics. The evaluation level is estimated based on at least one of the reception frequency of the execution prohibition command, the stability of the vehicle traveling along the target trajectory, and the safety of the vehicle traveling along the target trajectory.

[0013] The sixth aspect relates to a vehicle control system including an automatic driving management device that generates a target trajectory for a vehicle, and a vehicle driving control device that performs vehicle driving control of the vehicle in accordance with the target trajectory and vehicle driving assistance control. The vehicle driving control device determines whether the evaluation level of the vehicle driving control device for the automatic driving management device is less than a threshold value. When the vehicle is approaching a target point indicating a point where caution is required when driving, the vehicle driving control device changes the execution mode of driving support control so that driving support control is more easily executed when it determines that the evaluation level is less than a threshold value.

[0014] The seventh aspect has the following features in addition to the sixth aspect. When the vehicle is approaching a point where caution is required in driving, the vehicle driving control device changes the execution mode of driving support control so that the driving support control becomes more difficult to execute when it is determined that the evaluation level is equal to or higher than a threshold value.

[0015] The eighth aspect has the same features as the sixth or seventh aspect, as well as the following. The execution mode includes the execution content of the driving support control and the execution timing of the driving support control.

[0016] The ninth aspect has the same features as the eighth aspect, as well as the following. The execution includes an alarm to notify the occupants that the vehicle is approaching the target point, and at least one of vehicle operations including steering, accelerating, and decelerating the vehicle before the target point as the vehicle passes the target point.

[0017] A tenth aspect has the same features as any one of the sixth to ninth aspects, and further includes the following features. The evaluation level is estimated based on at least one of the stability of the vehicle traveling along the target trajectory and the safety of the vehicle traveling along the target trajectory.

[0018] An eleventh aspect relates to a vehicle control method for performing vehicle driving control of a vehicle according to a target trajectory of the vehicle and vehicle driving assistance control. A step of estimating an evaluation level for an automatic driving management device that generates a target trajectory; When the vehicle is approaching a target point indicating a point where caution is required in driving, determining whether or not there is a history of the vehicle having passed through the target point while receiving a command to prohibit execution of driving support control from the automatic driving management device; When the vehicle driving control device receives the execution prohibition command and it is determined that there is no history of passing the target point, changing the execution mode of the driving support control based on the evaluation level so that the driving support control is more likely to be executed; A vehicle control method comprising:

[0019] A twelfth aspect relates to a vehicle control method for performing vehicle driving control of a vehicle according to a target trajectory of the vehicle and vehicle driving assistance control. A step of determining whether an evaluation level for the automatic driving management device that generates the target trajectory is less than a threshold value; changing an execution mode of driving support control so that driving support control is more easily executed when it is determined that the evaluation level is less than a threshold value when the vehicle is approaching a target point indicating a point where caution is required in driving; A vehicle control method comprising: [Effects of the Invention]

[0020] According to the first aspect, when the vehicle driving control device receives an execution prohibition command and determines that there is no history of passing the target point, the execution mode of driving support control is changed based on the evaluation level so that driving support control is more likely to be executed. This makes it possible to ensure the driving safety of the vehicle from the perspective of the vehicle driving control device even in a situation where the execution of driving support control by the vehicle driving control device is prohibited by the automatic driving management device.

[0021] According to the second aspect, when the vehicle driving control device receives an execution prohibition command and determines that there is a history of passing the target point, the execution mode is changed based on the evaluation level so that execution of driving assistance control becomes more difficult. This makes it possible to ensure the driving safety of the vehicle from the perspective of the vehicle driving control device even in a situation where the execution of driving assistance control by the vehicle driving control device is prohibited by the automatic driving management device.

[0022] According to the third aspect, it is possible to change the execution content and execution timing of driving support control.

[0023] According to the fourth aspect, it is possible to determine the execution content of driving support control.

[0024] According to the fifth aspect, it becomes possible to estimate the evaluation level.

[0025] According to a sixth aspect, when it is determined that the evaluation level is less than a threshold, the execution mode of driving assistance control is changed so that driving assistance control is more easily executed. This makes it possible to ensure the driving safety of the vehicle as seen from the vehicle driving control device, based on the evaluation level of the automatic driving management device by the vehicle driving control device.

[0026] According to the seventh aspect, when it is determined that the evaluation level is equal to or higher than a threshold, the execution mode of driving support control is changed so that it becomes more difficult to execute driving support control. This makes it possible to ensure the driving safety of the vehicle as seen from the vehicle driving control device, based on the evaluation level of the automatic driving management device by the vehicle driving control device.

[0027] According to the eighth aspect, the same effect as that of the third aspect can be obtained.

[0028] According to the ninth aspect, the same effect as that of the fourth aspect can be obtained.

[0029] According to the tenth aspect, the same effect as that of the fifth aspect can be obtained.

[0030] According to the eleventh aspect, the same effect as that of the first aspect can be obtained.

[0031] According to the twelfth aspect, the same effect as that of the sixth aspect can be obtained. [Brief explanation of the drawings]

[0032] [Figure 1] 1 is a conceptual diagram illustrating an overview of a vehicle control system according to a first embodiment. [Figure 2] 1 is a block diagram schematically showing the configuration of a vehicle control system according to a first embodiment. [Figure 3] FIG. 2 is a conceptual diagram illustrating an example of driving support control according to the first embodiment. [Figure 4] FIG. 2 is a conceptual diagram illustrating an example of driving support control according to the first embodiment. [Figure 5]1 is a block diagram showing an example of the configuration of a vehicle travel control device according to a first embodiment. [Figure 6] 1 is a block diagram showing an example of functions of a vehicle driving control device according to a first embodiment. [Figure 7] 4 is a flowchart showing an example of processing performed by the vehicle driving control device according to the first embodiment. [Figure 8] 5 is a diagram showing an example of a processing result of the vehicle driving control device according to the first embodiment. FIG. [Figure 9] FIG. 10 is a block diagram showing an example of the configuration of a vehicle driving control device according to a second embodiment. [Figure 10] FIG. 10 is a block diagram showing an example of functions of a vehicle driving control device according to a second embodiment. [Figure 11] 10 is a flowchart showing an example of processing by a vehicle driving control device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0033] A vehicle control system and a vehicle control method according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. The vehicle control method according to the embodiment is realized by computer processing of the vehicle control system according to the embodiment.

[0034] Embodiment 1 1. Overview FIG. 1 is a conceptual diagram for explaining an overview of a vehicle control system 10 according to this embodiment. The vehicle control system 10 controls a vehicle 1. Typically, the vehicle control system 10 is mounted on the vehicle 1. At least a part of the vehicle control system 10 may be disposed in an external device outside the vehicle 1, or the vehicle 1 may be controlled remotely. In other words, the vehicle control system 10 may be disposed in a distributed manner between the vehicle 1 and the external device.

[0035] Vehicle 1 is an autonomous vehicle capable of autonomous driving. The autonomous driving here is assumed to be based on the premise that the driver does not necessarily have to concentrate 100% on driving (for example, so-called level 3 or higher autonomous driving).

[0036] The vehicle control system 10 manages the automatic driving of the vehicle 1. The vehicle control system 10 also performs "vehicle driving control" that controls the steering, acceleration, and deceleration of the vehicle 1. In particular, during automatic driving, the vehicle control system 10 performs vehicle driving control so that the vehicle 1 follows a target trajectory TR.

[0037] The target trajectory TR includes at least a set of target positions [Xi, Yi] of the vehicle 1 within the lane on which the vehicle 1 is traveling. In the example shown in FIG. 1, the X direction is the forward direction of the vehicle 1, and the Y direction is a planar direction perpendicular to the X direction. However, the coordinate system (X, Y) is not limited to the example shown in FIG. 1. The target trajectory TR may further include a target speed [VXi, VYi] for each target position [Xi, Yi]. In order to make the vehicle 1 follow such a target trajectory TR, the vehicle control system 10 calculates the deviation (e.g., lateral deviation, yaw angle deviation, and speed deviation) between the vehicle 1 and the target trajectory TR, and performs vehicle driving control so as to reduce the deviation.

[0038] 2 is a block diagram that schematically shows the configuration of a vehicle control system 10 according to this embodiment. The vehicle control system 10 includes an automatic driving management device 20 and a vehicle driving control device 30. The automatic driving management device 20 and the vehicle driving control device 30 may be physically separate devices or may be the same device. When the automatic driving management device 20 and the vehicle driving control device 30 are physically separate devices, they exchange necessary information via communication.

[0039] Among the functions of the vehicle control system 10, the autonomous driving management device 20 is responsible for managing the autonomous driving of the vehicle 1. In particular, the autonomous driving management device 20 generates a target trajectory TR for the autonomous driving of the vehicle 1. For example, the autonomous driving management device 20 uses sensors to detect (recognize) the situation around the vehicle 1. Then, the autonomous driving management device 20 generates a driving plan for the vehicle 1 during autonomous driving based on the situation around the vehicle 1 and the destination. The driving plan includes maintaining the current driving lane, changing lanes, and avoiding obstacles. Then, the autonomous driving management device 20 generates a target trajectory TR required for the vehicle 1 to drive in accordance with the driving plan. The autonomous driving management device 20 outputs the generated target trajectory TR to the vehicle driving control device 30.

[0040] On the other hand, the vehicle driving control device 30 is responsible for vehicle driving control among the functions of the vehicle control system 10. That is, the vehicle driving control device 30 controls the steering, acceleration, and deceleration of the vehicle 1. In particular, the vehicle driving control device 30 controls the steering, acceleration, and deceleration of the vehicle 1 so that the vehicle 1 follows the target trajectory TR. In order to make the vehicle 1 follow the target trajectory TR, the vehicle driving control device 30 calculates the deviation (for example, lateral deviation, yaw angle deviation, and speed deviation) between the vehicle 1 and the target trajectory TR, and performs vehicle driving control so as to reduce the deviation.

[0041] During the automatic driving of the vehicle 1, the vehicle driving control device 30 receives a target trajectory TR from the automatic driving management device 20. Basically, the vehicle driving control device 30 performs vehicle driving control so that the vehicle 1 follows the target trajectory TR.

[0042] The vehicle driving control device 30 further has a "driving support control" function (driving support control function GD) that supports the driving of the vehicle 1. In driving support control, in order to improve the driving safety of the vehicle 1, an alarm is issued to notify the occupants that the vehicle 1 is approaching a point where caution is required when driving (hereinafter referred to as a "target point"), and when the vehicle 1 passes the target point, at least one of steering, accelerating, and decelerating the vehicle 1 is performed before the target point. Examples of target points include intersections with poor visibility, points where accidents frequently occur, points where sudden braking frequently occurs, etc.

[0043] When the vehicle driving control device 30 executes driving assistance control, the vehicle driving control device 30 switches from vehicle driving control to vehicle operation using driving assistance control. However, it is assumed that the automatic driving management device 20 will separately output a command to the vehicle driving control device 30 to prohibit the execution of such driving assistance control (hereinafter referred to as an "execution prohibition command") in order to ensure compliance with the target trajectory TR generated by the automatic driving management device 20. In this case, the vehicle driving control device 30 cannot switch to vehicle operation using driving assistance control, and vehicle driving control takes priority.

[0044] FIG. 3 is a conceptual diagram illustrating an example of driving assistance control according to this embodiment. Here, an example of driving assistance control when passing through a target point is given. Specifically, consider a case where a vehicle 1 traveling while following a target trajectory TR when the vehicle driving control device 30 has a history of passing through the target point while receiving a command to prohibit driving assistance control. In this case, considering that the vehicle driving control device 30 has a history of passing through the target point while receiving a command to prohibit driving assistance control, there is a possibility that the automatic driving management device 20 will output an execution prohibition command to the vehicle driving control device 30 when passing through the same location again. If the automatic driving management device 20 outputs an execution prohibition command to the vehicle driving control device 30, the vehicle driving control device 30 will not be able to switch to vehicle operation using driving assistance control, and vehicle driving control will take priority.

[0045] On the other hand, FIG. 4 shows an example in which the vehicle 1 traveling along the target trajectory TR passes a target point when the vehicle driving control device 30 has received a command to prohibit the execution of driving assistance control, but there is no history of the vehicle passing the target point. Considering that the vehicle driving control device 30 has received a command to prohibit the execution of driving assistance control and has no history of the vehicle passing the target point, it is unlikely that the automatic driving management device 20 will output an execution prohibition command to the vehicle driving control device 30 when the vehicle passes the same location again. If the automatic driving management device 20 does not output an execution prohibition command to the vehicle driving control device 30, the vehicle driving control device 30 can switch to vehicle operation using driving assistance control. The execution of driving assistance control shown in FIG. 4 is an example in which the vehicle 1 issues a warning to the occupants before the target point that the vehicle 1 is approaching the target point.

[0046] From this, it can be said that when the vehicle 1 passes through a target point, the execution mode of whether or not to make it easier to execute driving assist control before the target point can be determined based on information on whether or not there is a history of the vehicle 1 having passed the target point while receiving a command to prohibit the execution of driving assist control, by the vehicle driving control device 30. However, it is expected that the frequency and timing at which the vehicle driving control device 30 receives a command to prohibit the execution of driving assist control will differ depending on the automatic driving management device 20 mounted on the vehicle 1. For this reason, if there is no history of the vehicle 1 having passed the target point while receiving a command to prohibit the execution of driving assist control, the vehicle driving control device 30 will set the execution mode of driving assist control to make it easier to execute driving assist control before the target point, based on the evaluation level of the automatic driving management device.

[0047] According to the first embodiment, when it is recognized that the vehicle 1 is approaching a target point according to the target trajectory TR, the vehicle driving control device 30 determines whether there is a history of the vehicle passing the target point while receiving a command to prohibit the execution of driving assistance control. When the vehicle driving control device 30 receives an execution prohibition command and determines that there is no history of the vehicle passing the target point, it estimates an evaluation level for the automatic driving management device 20. Based on the estimated evaluation level, the execution mode of driving assistance control is changed so that driving assistance control is more easily executed. This makes it possible to ensure the driving safety of the vehicle from the perspective of the vehicle driving control device 30, even in a situation where the execution of driving assistance control by the vehicle driving control device 30 is prohibited by the automatic driving management device 20.

[0048] The autonomous driving management device 20 and the vehicle driving control device 30 may be designed and developed separately. For example, the vehicle driving control device 30, which is responsible for vehicle driving control, is designed and developed by a developer (typically an automobile manufacturer) who is familiar with mechanics and vehicle dynamics characteristics. In this case, the driving assistance control of the vehicle driving control device 30 has an extremely high reliability. On the premise of using such highly reliable driving assistance control, autonomous driving service providers can design and develop software for the autonomous driving management device 20. In that sense, the vehicle driving control device 30 can be said to be a platform for autonomous driving services.

[0049] The vehicle driving control device 30 of the vehicle control system 10 according to this embodiment will be described in more detail below.

[0050] 2. Vehicle driving control device 30 2-1.Configuration example FIG. 5 is a block diagram showing an example of the configuration of a vehicle driving control device 30 according to this embodiment. The vehicle driving control device 30 performs various information processing. The vehicle driving control device 30 includes one or more processors 100 (hereinafter simply referred to as processors 100), one or more storage devices 110 (hereinafter simply referred to as storage devices 110), and a communication device capable of communicating with the automated driving management device 20. The processor 100 executes various processes. For example, the processor 100 may be a CPU, an ECU, or the like. The storage device 110 stores data on self-position information 120, data on target point information 130, data on execution prohibition command history information 140, and data on target trajectory information 150. Examples of the storage device 110 include volatile memory, non-volatile memory, HDD, SSD, and the like. The processor 100 executes a vehicle driving control program, which is a computer program, to realize the functions of the vehicle driving control device 30. The vehicle driving control program is stored in the storage device 110. The vehicle driving control program may be recorded on a computer-readable storage medium. The vehicle driving control program may be provided via a network.

[0051] The self-position information 120 includes information on the self-position of the vehicle obtained from a GPS sensor mounted on the vehicle. The target point information 130 includes information indicating points where caution is required when driving, obtained from a database or the like via a communication device. The execution prohibition command history information 140 includes information indicating points when an execution prohibition command for driving assistance control was received from the automatic driving management device 20 via a communication device. The target trajectory information 150 includes information on the target trajectory TR received from the automatic driving management device 20 via a communication device.

[0052] 2-2. Details of information processing The vehicle driving control device 30 changes the execution mode of driving assist control based on self-position information 120, target point information 130, execution prohibition command history information 140, and target trajectory information 150. The information processing according to this embodiment includes characteristic processing as described below.

[0053] 6 is a block diagram showing an example of functions of the vehicle driving control device 30 according to this embodiment. The vehicle driving control device 30 includes, as functional blocks, an information input unit 200, a driving support control function GD, and a processing result setting unit 400. These functional blocks are realized by the processor 100 executing a vehicle driving control program.

[0054] The information input unit 200 performs processing to input the self-position information 120, the target point information 130, the execution prohibition command history information 140, and the target trajectory information 150, which are recorded in the storage device 110. Thereafter, the input self-position information 120, the target point information 130, the execution prohibition command history information 140, and the target trajectory information 150 are output to the driving support control function GD.

[0055] The driving support control function GD further includes a target point determination unit 300, an execution prohibition command history determination unit 310, an evaluation level estimation unit 320, and an execution mode determination unit 340. The driving support control function GD changes the execution mode of driving support control based on input self-position information 120, target point information 130, execution prohibition command history information 140, and target trajectory information 150. Details of the processes of the target point determination unit 300, execution prohibition command history determination unit 310, evaluation level estimation unit 320, and execution mode determination unit 340 will be described later.

[0056] The target point determination unit 300 determines whether or not the self-position is approaching the target point based on the input self-position information 120 and target point information 130. If the self-position is approaching the target point, it is determined that the self-position is approaching the target point. The processing of the target point determination unit 300 will be described in detail later.

[0057] The execution prohibition command history determination unit 310 determines whether there is a history of the vehicle traveling control device 30 having passed the target point while receiving an execution prohibition command for driving assist control, based on the input target point information 130 and execution prohibition command history information 140. If it is determined that there is a history of the vehicle traveling control device 30 having passed the target point while receiving an execution prohibition command for driving assist control, the execution mode of driving assist control is changed so that it becomes more difficult to execute driving assist control. On the other hand, the case where it is determined that there is no history of the vehicle traveling control device 30 having passed the target point while receiving an execution prohibition command for driving assist control will be described in detail below.

[0058] When the execution prohibition command history determination unit 310 determines that the vehicle driving control device 30 has no history of passing the target point while receiving an execution prohibition command for driving assist control, the evaluation level estimation unit 320 performs processing to estimate an evaluation level indicating the evaluation of the automatic driving management device 20 as a level. The evaluation level is estimated based on at least one of the reception frequency of the execution prohibition command, the stability of the vehicle 1 traveling according to the target trajectory TR, and the safety of the vehicle 1 traveling according to the target trajectory TR. The reception frequency of the execution prohibition command is calculated based on the input execution prohibition command history information 140. The stability and safety are indicated as levels based on the deviation between the vehicle 1 and the target trajectory TR calculated using the input self-position information 120 and target trajectory information 150, etc.

[0059] The execution mode determination unit 340 determines to change the execution content and execution timing of the driving assist control based on the evaluation level estimated by the evaluation level estimation unit 320. Specifically, when the evaluation level is high, a decision is made to change the execution content to only issue an alert to the occupants of the vehicle 1 before the target point. When the evaluation level is low, a decision is made to change the execution content to include at least one vehicle operation selected from steering, accelerating, and decelerating the vehicle in addition to issuing an alert to the occupants of the vehicle 1 before the target point. A method for changing the execution content and execution timing may include, for example, storing list information of the execution content and execution timing associated with the driving evaluation level in a storage device, and comparing the estimated evaluation level with the driving evaluation level in the list information. Then, the execution content and execution timing may be changed to correspond to the driving evaluation level in the list information compared with the estimated evaluation level.

[0060] The processing result setting unit 400 generates various control command values ​​for executing driving support control based on the execution content and execution timing of the driving support determined as a result of processing by the driving support control function GD.

[0061] FIG. 7 is a flowchart showing an example of processing by the driving support control function GD of the vehicle driving control device 30 according to this embodiment.

[0062] In step S100, the driving support control function GD determines whether the vehicle's current position is approaching a target point.

[0063] If it is determined that the self-position is approaching the target point (step S100; Yes), the process proceeds to step S110. Otherwise (step S100; No), the process proceeds to step S140.

[0064] In step S110, the driving support control function GD determines whether or not there is a history of the vehicle passing through the target point in a state in which the vehicle driving control device 30 has received a command to prohibit the execution of driving support control.

[0065] If it is determined that the vehicle has not passed the target point in a state where the vehicle driving control device 30 has received a command to prohibit the execution of driving support control (step S110; Yes), the process proceeds to step S120. Otherwise (step S110; No), the process proceeds to step S140.

[0066] In step S120, the driving support control function GD estimates the evaluation level for the automatic driving management device 20. After that, the process proceeds to step S130.

[0067] In step S130, the driving support control function GD determines whether to change the execution content of driving support control and the execution timing of driving support control based on the estimated evaluation level.

[0068] In step S140, the driving support control function GD determines not to change the execution content of driving support control and the execution timing of driving support control.

[0069] In step S150, the driving support control function GD outputs the determined result.

[0070] FIG. 8 is a diagram showing an example of a processing result of the vehicle driving control device 30 according to this embodiment. Here, an example is given of a case where driving support control is executed when the vehicle driving control device 30 receives a command to prohibit the execution of driving support control and determines that there is no history of passing the target point. Specifically, it shows that the execution content and execution timing of driving support control differ when the evaluation level of the automatic driving management device 20 is high and when the evaluation level of the automatic driving management device 20 is low. For example, when the evaluation level is high, driving support control is executed to issue a warning to the occupants of the vehicle 1 before the target point. On the other hand, when the evaluation level is low, driving support control is executed at an earlier timing to issue a warning to the occupants of the vehicle 1 before the target point than when the evaluation level is high. Furthermore, when the evaluation level is low, the execution content of driving support control includes a vehicle operation to decelerate the vehicle in addition to issuing a warning to the occupants.

[0071] Embodiment 2 1. Overview In the first embodiment, the execution prohibition command history information 140 is used to determine whether or not there is a history of the vehicle driving control device 30 having passed through the target point in a state in which the vehicle 1 received an execution prohibition command for driving assist control. In other words, the route is assumed to be one in which the vehicle 1 has passed through the target point in the past. The second embodiment differs from the first embodiment in that the execution mode of driving assist control is changed so that driving assist control is more easily executed, or so that driving assist control is more difficult to execute, without using the execution prohibition command history information 140. This makes it possible to change the execution mode of driving assist control even on a route in which the vehicle 1 has not passed through the target point in the past.

[0072] According to the second embodiment, the evaluation level for the automated driving management device 20 is estimated, and it is determined whether the estimated evaluation level is less than a threshold value. If it is determined that the evaluation level is less than the threshold value, the execution mode of driving assistance control is changed based on the evaluation level being less than the threshold value so that driving assistance control is more easily executed. This makes it possible to ensure the driving safety of the vehicle as viewed from the vehicle driving control device 30, even on a route where the vehicle 1 has not passed through a target point before.

[0073] The vehicle driving control device 30 of the vehicle control system 10 according to the second embodiment will be described in more detail below.

[0074] 2. Vehicle driving control device 30 9 is a block diagram showing an example of the configuration of a vehicle driving control device 30 according to this embodiment. The difference from embodiment 1 is the data stored in the storage device 110. The storage device 110 stores data of self-position information 120, data of target point information 130, and data of target trajectory information 150.

[0075] Fig. 10 is a block diagram showing an example of functions of a vehicle driving control device 30 according to this embodiment. The difference from embodiment 1 is the internal functions of a driving support control function GD. The driving support control function GD includes a target point determination unit 300, an evaluation level estimation unit 320, a threshold determination unit 330, and an execution mode determination unit 340. The driving support control function GD changes the execution mode of driving support control based on input self-position information 120, target point information 130, and target trajectory information 150. Details of the processes of the target point determination unit 300, the evaluation level estimation unit 320, the threshold determination unit 330, and the execution mode determination unit 340 will be described later.

[0076] The target point determination unit 300 determines whether or not the self-position is approaching the target point based on the input self-position information 120 and target point information 130. If the self-position is approaching the target point, it is determined that the self-position is approaching the target point. The processing of the target point determination unit 300 will be described in detail later.

[0077] The evaluation level estimation unit 320 performs processing to estimate an evaluation level that indicates, by a level, the evaluation of the automatic driving management device 20. The evaluation level is estimated based on at least one of the stability of the traveling of the vehicle 1 according to the target trajectory TR and the safety of the traveling of the vehicle 1 according to the target trajectory TR.

[0078] The threshold determination unit 330 performs processing to determine whether or not the evaluation level estimated by the evaluation level estimation unit 320 is less than a threshold. Note that the threshold set when performing threshold determination may be configured to be changeable based on the state of the evaluation level of the automated driving management device 20. The processing of the threshold determination unit 330 will be described in detail later.

[0079] If the threshold determination unit 330 determines that the evaluation level is less than the threshold, the execution mode determination unit 340 determines to change the execution content of the driving assistance control and the execution timing of the driving assistance control based on the evaluation level that is less than the threshold.

[0080] FIG. 11 is a flowchart showing an example of processing by the driving support control function GD of the vehicle driving control device 30 according to this embodiment.

[0081] In step S200, the driving support control function GD determines whether the vehicle's current position is approaching a target point.

[0082] If it is determined that the self-position is approaching the target point (step S200; Yes), the process proceeds to step S210. Otherwise (step S200; No), the process proceeds to step S240.

[0083] In step S210, the driving support control function GD estimates the evaluation level for the automatic driving management device 20. After that, the process proceeds to step S220.

[0084] In step 220, the driving support control function GD determines whether the evaluation level is less than a threshold value.

[0085] If it is determined that the evaluation level is less than the threshold (step S220; Yes), the process proceeds to step S230. Otherwise (step S220; No), the process proceeds to step S240.

[0086] In step S230, the driving support control function GD determines whether to change the execution content of driving support control and the execution timing of driving support control based on the evaluation level that is less than the threshold value.

[0087] In step S240, the driving support control function GD determines not to change the execution content of driving support control and the execution timing of driving support control.

[0088] In step S250, the driving support control function GD outputs the determined result. [Explanation of symbols]

[0089] 1 vehicle 10 Vehicle Control System 20 Automatic driving management device 30 Vehicle driving control device 100 processors 110 Storage device 120 Self-location information 130 Information on target locations 140 History information of prohibited commands 150 Target trajectory information 200 Information input section 300 Target location determination unit 310 Execution prohibition command history determination unit 320 Evaluation Level Estimation Unit 330 Threshold judgment unit 340 Execution mode determination unit 400 Processing result setting section TR Target Trajectory GD Driving Assist Control Function

Claims

1. an automatic driving management device that generates a target trajectory for a vehicle; a vehicle driving control device that executes vehicle driving control of the vehicle according to the target trajectory and driving assistance control of the vehicle; Equipped with the automatic driving management device transmits a command to prohibit execution of the driving assistance control to the vehicle driving control device, The vehicle driving control device further includes: An evaluation level for the automatic driving management device is estimated, the evaluation level being calculated based on a reception history of the execution prohibition command for the driving support control received from the automatic driving management device, and the evaluation level increases as the reception frequency of the execution prohibition command increases; When the vehicle is approaching a target point indicating a point where caution is required in driving, the vehicle driving control device determines whether or not there is a history of the vehicle passing through the target point while receiving the execution prohibition command; When the vehicle driving control device receives the execution prohibition command and determines that there is no history of passing the target point, the execution mode of the driving support control is changed so that the driving support control is more likely to be executed as the evaluation level becomes lower. Vehicle control system.

2. 2. The vehicle control system according to claim 1, The vehicle driving control device includes: When the vehicle driving control device receives the execution prohibition command and determines that the vehicle has passed the target point, the execution mode is changed so that the higher the evaluation level, the more difficult it is to execute the driving support control. Vehicle control system.

3. 3. The vehicle control system according to claim 1 or 2, The execution mode includes an execution content of the driving support control and an execution timing of the driving support control. Vehicle control system.

4. 4. The vehicle control system according to claim 3, The execution content includes: an alarm that notifies a passenger that the vehicle is approaching the target point; and at least one vehicle operation among steering, accelerating, and decelerating the vehicle before the target point when the vehicle passes the target point. Vehicle control system.

5. A vehicle control method for executing vehicle driving control of a vehicle according to a target trajectory of the vehicle and driving assistance control of the vehicle, comprising: a step of estimating an evaluation level for the automatic driving management device that generates the target trajectory, the evaluation level being calculated based on a reception history of the execution prohibition command for the driving assist control received from the automatic driving management device, and increasing as the reception frequency of the execution prohibition command increases; When the vehicle is approaching a target point indicating a point where caution is required in driving, determining whether or not there is a history of the vehicle having passed through the target point while receiving the execution prohibition command from the automatic driving management device; a step of changing an execution mode of the driving support control so that the driving support control is more likely to be executed as the evaluation level becomes lower, when it is determined that there is no history of passing through the target point in a case where the vehicle driving control device that executes the vehicle driving control and the driving support control receives the execution prohibition command; A vehicle control method comprising:

Images