Vehicle Control System

Abstract

To improve accuracy of a vehicle speed to be acquired in a vehicle control system.SOLUTION: A control device 10 executes travel control of a vehicle on the basis of at least either one of first to third vehicle speeds V1 to V3 when each of a first difference D1, a second difference D2 and a third difference D3 is equal to or lower than a determination value H. The control device 10 prohibits execution of the travel control on the basis of the first vehicle speed V1 when each of the first difference D1 and the third difference D3 is larger than the determination value H and the second difference D2 is equal to or lower than the determination value H. The control device 10 prohibits execution of the travel control on the basis of the second vehicle speed V2 when each of the first difference D1 and the second difference D2 is larger than the determination value H and the third difference D3 is equal to or lower than the determination value. The vehicle control device 10 prohibits execution of the travel control on the basis of the third vehicle speed V3 when the first difference D1 is equal to or lower than the determination value H and each of the second difference D2 and the third difference D3 is larger than the determination value H.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle control system. [Background technology]

[0002] In recent years, efforts to provide sustainable transportation systems that take into consideration vulnerable traffic participants have become more active. In this effort, the applicant intends to further improve traffic safety and convenience through research and development of preventive safety technology. Technology for accurately acquiring vehicle speed is important for controlling automatic driving of automobiles. For example, as disclosed in Patent Document 1, a vehicle control system acquires vehicle speed based on signals from wheel speed sensors that detect the rotational speed of the wheels. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-121049 Summary of the Invention [Problem to be solved by the invention]

[0004] When the tires are slipping or locked, the wheel speed sensor cannot obtain an accurate vehicle speed. To address this issue, it is possible to add a sensor other than the wheel speed sensor to create a redundant system for obtaining vehicle speed. However, if the vehicle speed obtained from one sensor deviates by a degree that is not determined to be abnormal, it is not possible to identify which sensor is outputting the correct vehicle speed.

[0005] In view of the above background, an object of the present invention is to improve the accuracy of vehicle speed acquired in a vehicle control system. Another object of the present invention is to contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, one aspect of the present invention is a vehicle control system (1) comprising: first vehicle speed acquisition means (26), second vehicle speed acquisition means (27), and third vehicle speed acquisition means (21, 22, 23, 31) capable of acquiring information regarding vehicle speed; and a control device (10) that calculates the vehicle speed as a first vehicle speed based on a signal from the first vehicle speed acquisition means, calculates the vehicle speed as a second vehicle speed based on a signal from the second vehicle speed acquisition means, and calculates the vehicle speed as a third vehicle speed based on a signal from the third vehicle speed acquisition means, and controls the vehicle based on at least one of the first vehicle speed, the second vehicle speed, and the third vehicle speed, and the control device controls the vehicle based on at least one of the first vehicle speed, the second vehicle speed, and the third vehicle speed when a difference between the first vehicle speed and the second vehicle speed is equal to or less than a predetermined judgment value, and when a difference between the second vehicle speed and the third vehicle speed is equal to or less than the judgment value, and when a difference between the third vehicle speed and the first vehicle speed is equal to or less than the judgment value, and prohibits the execution of the driving control based on the second vehicle speed when the difference between the first vehicle speed and the second vehicle speed is greater than the determination value, and the difference between the second vehicle speed and the third vehicle speed is equal to or less than the determination value, and the difference between the third vehicle speed and the first vehicle speed is greater than the determination value; prohibits the execution of the driving control based on the second vehicle speed when the difference between the first vehicle speed and the second vehicle speed is greater than the determination value, and the difference between the second vehicle speed and the third vehicle speed is greater than the determination value, and the difference between the third vehicle speed and the first vehicle speed is equal to or less than the determination value; and prohibits the execution of the driving control based on the third vehicle speed when the difference between the first vehicle speed and the second vehicle speed is equal to or less than the determination value, and the difference between the second vehicle speed and the third vehicle speed is greater than the determination value, and the difference between the third vehicle speed and the first vehicle speed is greater than the determination value.

[0007] According to this aspect, if there is a discrepancy in the vehicle speed acquired by one sensor, the sensor causing the discrepancy can be identified by comparing it with the vehicle speeds acquired by the other two sensors, thereby enabling the vehicle control system to improve the accuracy of the acquired vehicle speed.

[0008] In the above aspect, the control device may prohibit the execution of the cruise control based on the first vehicle speed when the first vehicle speed is outside a first range. Also, the control device may prohibit the execution of the cruise control based on the second vehicle speed when the second vehicle speed is outside a second range. The control device may prohibit the execution of the cruise control based on the third vehicle speed when the third vehicle speed is outside a third range.

[0009] According to these aspects, when the vehicle speed output from each sensor is outside a predetermined range, the vehicle speed is not compared with the vehicle speeds output from other sensors, and driving control is prohibited, thereby simplifying the calculation procedure of the vehicle control system.

[0010] In the above aspect, the first vehicle speed acquisition means may be a wheel speed sensor that acquires a wheel speed, the second vehicle speed acquisition means may be an acceleration sensor, and the third vehicle speed acquisition means may be selected from a camera, a radar, a lidar, and a GNSS receiver. [Effects of the Invention]

[0011] According to the above configuration, the accuracy of the vehicle speed obtained in the vehicle control system can be improved. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is an explanatory diagram of a vehicle control system according to an embodiment; [Figure 2] Flow diagram showing the procedure of vehicle speed acquisition processing [Figure 3] A map showing an example of the relationship between the difference in vehicle speed and the flag [Figure 4] Graph showing an example of vehicle speeds acquired by each sensor when a wheel slips [Figure 5] Graph showing an example of vehicle speed obtained by each sensor when the wheels are locked [Figure 6] Graph showing an example of vehicle speeds acquired by each sensor when an abnormality occurs in the acceleration sensor [Figure 7] Graph showing the relationship between the output voltage of the acceleration sensor and the abnormality determination value DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a vehicle control system according to the present invention will be described with reference to the drawings.

[0014] 1, a vehicle control system 1 mounted on a vehicle includes a propulsion device 2, a braking device 3, a steering device 4, an external sensor 5, a vehicle sensor 6, a navigation device 7, a driving operation device 8, an HMI (Human Machine Interface) 9, and a control device 10. Each component of the vehicle control system 1 is connected to one another via a communication means such as a CAN (Controller Area Network) so as to be able to transmit signals.

[0015] The propulsion device 2 is a device that applies driving force to the vehicle and includes, for example, a power source and a transmission. The power source has at least one of an internal combustion engine such as a gasoline engine or a diesel engine and an electric motor. The brake device 3 is a device that applies braking force to the vehicle and includes, for example, a brake caliper that presses a pad against a brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper. The brake device 3 may also include a parking brake device that restricts wheel rotation using a wire cable. The steering device 4 is a device for changing the steering angle of the wheels and includes, for example, a rack-and-pinion mechanism that steers the wheels and an electric motor that drives the rack-and-pinion mechanism. The propulsion device 2, the brake device 3, and the steering device 4 are controlled by a control device 10.

[0016] The external sensor 5 is a sensor that captures electromagnetic waves and light from around the vehicle to detect objects outside the vehicle. The external sensor 5 includes, for example, a radar 21, a lidar 22 (LIDAR), and an outside camera 23. The external sensor 5 outputs the detection results to the control device 10.

[0017] The radar 21 emits radio waves such as millimeter waves around the vehicle and detects the position (distance and direction) of an object by capturing the reflected waves. At least one radar 21 is attached to any location on the vehicle. The radar 21 preferably includes at least a front radar that emits radio waves toward the front of the vehicle, a rear radar that emits radio waves toward the rear of the vehicle, and a pair of left and right side radars that emit radio waves toward the sides of the vehicle.

[0018] The lidar 22 detects the position (distance and direction) of an object by irradiating the surroundings of the vehicle with light such as infrared rays and capturing the reflected light. At least one lidar 22 is provided at any location on the vehicle.

[0019] The exterior camera 23 captures images of the vehicle's surroundings, including objects around the vehicle (e.g., nearby vehicles and pedestrians), guardrails, curbs, walls, median strips, the shape of the road, road markings painted on the road, etc. The exterior camera 23 may be, for example, a digital camera using a solid-state image sensor such as a CCD or CMOS. At least one exterior camera 23 is provided at any location on the vehicle. The exterior camera 23 may include at least a front camera that captures images in front of the vehicle, and may further include a rear camera that captures images behind the vehicle and a pair of side cameras that capture images on the left and right sides of the vehicle. The exterior camera 23 may be, for example, a stereo camera.

[0020] The vehicle sensors 6 include a wheel speed sensor 26 that detects the rotation speed of the wheels, an acceleration sensor 27 that detects the acceleration of the vehicle, a yaw rate sensor 28 that detects the angular velocity around a vertical axis, etc. The yaw rate sensor 28 is, for example, a gyro sensor.

[0021] The navigation device 7 acquires the current position of the vehicle and provides route guidance to the destination. The navigation device 7 includes a GNSS receiver 31, a position identification unit 32, a map storage unit 33, a navigation interface 34, and a route determination unit 35. The GNSS receiver 31 identifies the position (latitude and longitude) of the vehicle based on signals received from artificial satellites (positioning satellites). The map storage unit 33 is configured with a known storage device such as a flash memory or a hard disk, and stores map information. The navigation interface 34 accepts input such as a destination from the occupant, and presents various information to the occupant by display or audio. The navigation interface 34 may include, for example, a touch panel display, a speaker, etc. In another embodiment, the navigation device 7 may be configured as part of the control device 10.

[0022] The driving operation device 8 receives input operations performed by the driver to control the vehicle. The driving operation device 8 includes, for example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and a parking brake lever.

[0023] The control device 10 is an electronic control unit (ECU) configured with a CPU, ROM, RAM, etc. The control device 10 executes various vehicle controls by executing arithmetic processing according to a program using the CPU. The control device 10 may be configured as a single piece of hardware, or may be configured as a unit consisting of multiple pieces of hardware. Furthermore, at least some of the functional units of the control device 10 may be realized by hardware such as an LSI, ASIC, or FPGA, or may be realized by a combination of software and hardware.

[0024] 1, the control device 10 includes an external environment recognition unit 41, a vehicle position recognition unit 42, a vehicle speed acquisition unit 43, an action planning unit 44, and a driving control unit 45. Based on the detection results of the external environment sensor 5, the external environment recognition unit 41 recognizes obstacles located around the vehicle, the shape of the road, the presence or absence of a sidewalk, and road markings.

[0025] The vehicle position recognition unit 42 recognizes the lane in which the vehicle is traveling, and the relative position and angle of the vehicle with respect to the lane in which the vehicle is traveling. The vehicle position recognition unit 42 may recognize the lane in which the vehicle is traveling, for example, based on map information stored in the map storage unit 33 and the vehicle position acquired by the GNSS receiving unit 31.

[0026] The vehicle speed acquisition unit 43 acquires the vehicle speed based on signals from various sensors. The vehicle speed acquisition unit 43 will be described in detail later.

[0027] The behavior planning unit 44 sequentially creates behavior plans for driving the vehicle along the route. The behavior planning unit 44 determines events for driving the vehicle along the target lane determined by the route determination unit 35 without coming into contact with obstacles. The events include a constant-speed driving event in which the vehicle drives in the same driving lane at a constant speed, a following event in which the vehicle follows a leading vehicle at a low speed (e.g., 60 km / h or less), a lane-change event in which the vehicle changes driving lane, an overtaking event in which the vehicle overtakes a leading vehicle, a merging event in which the vehicle merges at a road merging point, a branching event in which the vehicle drives in the desired direction at a road branching point, an autonomous driving termination event in which the autonomous driving is terminated and manual driving is initiated, and a stop event in which the vehicle stops if the driver does not respond to an intervention request (handover request). During the execution of these events, the behavior planning unit 44 may determine an avoidance event to avoid obstacles, etc., based on the vehicle's surrounding conditions (presence of surrounding vehicles or pedestrians, lane narrowing due to road construction, etc.). The behavior planning unit 44 generates a target trajectory that the vehicle should travel in the future based on the determined event.

[0028] The traveling control unit 45 controls the propulsion device 2, the braking device 3, and the steering device 4 so that the vehicle passes through the target trajectory generated by the behavior planning unit 44 at the scheduled time. This allows the vehicle to travel without being operated by the occupant.

[0029] The configuration of the vehicle speed acquisition unit 43 will be described below. The vehicle control system 1 has first vehicle speed acquisition means, second vehicle speed acquisition means, and third vehicle speed acquisition means that are capable of acquiring information related to vehicle speed. The first to third vehicle speed acquisition means V1 to V3 may be selected from the group consisting of the wheel speed sensor 26, the acceleration sensor 27, the outside-vehicle camera 23, the radar 21, the lidar 22, and a GNSS signal receiver. In this embodiment, the first vehicle speed acquisition means is the wheel speed sensor 26, the second vehicle speed acquisition means is the acceleration sensor 27, and the third vehicle speed acquisition means is the outside-vehicle camera 23. In other embodiments, the third vehicle speed acquisition means may be one selected from the outside-vehicle camera 23, the radar 21, the lidar 22, and the GNSS receiver 31.

[0030] The vehicle speed acquisition unit 43 calculates the vehicle speed as a first vehicle speed V1 based on a signal from the first vehicle speed acquisition means, calculates the vehicle speed as a second vehicle speed V2 based on a signal from the second vehicle speed acquisition means, and calculates the vehicle speed as a third vehicle speed V3 based on a signal from the third vehicle speed acquisition means.

[0031] Specifically, the vehicle speed acquisition unit 43 acquires a first vehicle speed V1 based on the diameter of the wheels and a signal corresponding to the rotational speed of the wheels (wheel speed) output by the wheel speed sensor 26. The vehicle speed acquisition unit 43 also acquires the longitudinal vehicle speed of the vehicle as a second vehicle speed V2 by integrating the longitudinal acceleration of the vehicle acquired by the acceleration sensor 27.

[0032] The vehicle speed acquisition unit 43 acquires the vehicle speed based on images captured by the exterior camera 23. The vehicle speed acquisition unit 43 acquires the vehicle speed as a third vehicle speed V3 by tracking a fixed object included in two images captured by the exterior camera 23 at a predetermined imaging interval. The vehicle speed acquisition unit 43 acquires the movement distance of the fixed object relative to the vehicle based on the two images, and acquires the relative speed of the fixed object relative to the vehicle as the third vehicle speed V3 by dividing the movement distance by the imaging interval. The fixed object may be, for example, a road sign, a lane mark, or a guardrail on the road surface.

[0033] In another embodiment, the vehicle speed acquisition unit 43 may acquire the third vehicle speed V3 based on the position of the vehicle based on the GNSS signal. For example, the vehicle speed acquisition unit 43 may acquire the travel distance of the vehicle during a position acquisition interval based on two vehicle positions acquired at a predetermined position acquisition interval, and may acquire the third vehicle speed V3 by dividing the travel distance by the position acquisition interval. The vehicle speed acquisition unit 43 may also acquire the third vehicle speed V3 based on a signal from the radar 21 or the lidar 22. The frequency of the reflected wave detected by the radar 21 and the lidar 22 changes depending on the speed of the vehicle, as is known as the Doppler effect. Therefore, the vehicle speed can be acquired by detecting the frequency of the reflected wave.

[0034] The vehicle speed acquisition unit 43 acquires the vehicle speed based on the vehicle speed acquisition process of Fig. 2. First, the vehicle speed acquisition unit 43 acquires the first vehicle speed V1, the second vehicle speed V2, and the third vehicle speed V3 based on signals from the wheel speed sensor 26, the acceleration sensor 27, and the outside camera 23 (S1).

[0035] Next, the vehicle speed acquisition unit 43 determines whether the first vehicle speed V1 is within a first range, the second vehicle speed V2 is within a second range, and the third vehicle speed V3 is within a third range (S2). The first, second, and third ranges are set as ranges that the vehicle speed can normally take. For example, the first to third ranges may be set to -200 km / h to 200 km / h. The first to third ranges may be the same range or may be different from each other.

[0036] If the first vehicle speed V1 is within the first range, the second vehicle speed V2 is within the second range, and the third vehicle speed V3 is within the third range (the determination result in S2 is Yes), the vehicle speed acquisition unit 43 calculates the differences between the first to third vehicle speeds V1 to V3 (S3). Specifically, the vehicle speed acquisition unit 43 calculates the difference between the first vehicle speed V1 and the second vehicle speed V2 as a first difference D1, the difference between the second vehicle speed V2 and the third vehicle speed V3 as a second difference D2, and the difference between the third vehicle speed V3 and the first vehicle speed V1 as a third difference D3.

[0037] Next, the vehicle speed acquisition unit 43 sets first to third flags F1 to F3 corresponding to each vehicle speed based on the first difference D1, the second difference D2, and the third difference D3 (S4). The first flag F1 represents the state of the first vehicle speed V1, the second flag F2 represents the state of the second vehicle speed V2, and the third flag F3 represents the state of the third vehicle speed V3. When each flag F1 to F3 is set to 1, each vehicle speed is estimated to be a normal value. When each flag F1 to F3 is set to 0, each vehicle speed is estimated to be an abnormal value. The vehicle speed acquisition unit 43 may set each flag by referring to a map based on the first difference D1, the second difference D2, and the third difference D3.

[0038] The map may be set, for example, as shown in Fig. 3. The first difference D1, the second difference D2, and the third difference D3 may be compared with a determination value H to set the respective flags F1 to F3. The determination value H is set to determine the magnitude of the differences among the first to third vehicle speeds V1 to V3. For example, if the first difference D1 is equal to or less than the determination value H, it is determined that the difference between the first vehicle speed V1 and the second vehicle speed V2 is acceptably small.

[0039] When the first difference D1, the second difference D2, and the third difference D3 are all equal to or less than the determination value H (pattern P1 in FIG. 3), the vehicle speed acquisition unit 43 sets the first flag F1 to 1, the second flag F2 to 1, and the third flag F3 to 1. When the first difference D1 is greater than the determination value H, the second difference D2 is equal to or less than the determination value H, and the third difference D3 is greater than the determination value H (pattern P2 in FIG. 3), the vehicle speed acquisition unit 43 sets the first flag F1 to 0, the second flag F2 to 1, and the third flag F3 to 1. When the first difference D1 is greater than the determination value H, the second difference D2 is greater than the determination value H, and the third difference D3 is equal to or less than the determination value H (pattern P3 in FIG. 3), the vehicle speed acquisition unit 43 sets the first flag F1 to 1, the second flag F2 to 0, and the third flag F3 to 1. If the first difference D1 is less than or equal to the first judgment, the second difference D2 is greater than the judgment value H, and the third difference D3 is greater than the judgment value H (pattern P4 in Figure 3), the vehicle speed acquisition unit 43 sets the first flag F1 to 1, the second flag F2 to 1, and the third flag F3 to 0.

[0040] The setting manner of the first to third flags F1 to F3 in patterns P6, P7, and P8 in FIG. 3 is an example, and in other embodiments, the first to third flags F1 to F3 may all be set to 1 in patterns P6, P7, and P8.

[0041] If the first vehicle speed V1 is outside the first range, or the second vehicle speed V2 is outside the second range, or the third vehicle speed V3 is outside the third range (if the determination result in step S2 is No), the vehicle speed acquisition unit 43 determines whether the first vehicle speed V1 is outside the first range (S5). If the first vehicle speed V1 is outside the first range (if the determination result in S5 is Yes), the vehicle speed acquisition unit 43 sets the first flag F1 to 0 (S6). On the other hand, if the first vehicle speed V1 is within the first range (if the determination result in S5 is No), the vehicle speed acquisition unit 43 sets the first flag F1 to 1 (S7).

[0042] After step S6 or step S7, the vehicle speed acquisition unit 43 determines whether the second vehicle speed V2 is outside the second range (S8). If the second vehicle speed V2 is outside the second range (if the determination result in S8 is Yes), the vehicle speed acquisition unit 43 sets the second flag F2 to 0 (S9). On the other hand, if the second vehicle speed V2 is within the second range (if the determination result in S8 is No), the vehicle speed acquisition unit 43 sets the second flag F2 to 1 (S10).

[0043] After step S9 or step S10, the vehicle speed acquisition unit 43 determines whether the third vehicle speed V3 is outside the third range (S11). If the third vehicle speed V3 is outside the third range (if the determination result in S11 is Yes), the vehicle speed acquisition unit 43 sets the third flag F3 to 0 (S12). On the other hand, if the third vehicle speed V3 is within the third range (if the determination result in S11 is No), the vehicle speed acquisition unit 43 sets the third flag F3 to 1 (S13).

[0044] After step S4, step S12, or step S13, the vehicle speed acquisition unit 43 determines the vehicle speed V based on the first to third vehicle speeds V1 to V3 and the first to third flags F1 to F3. The vehicle speed acquisition unit 43 determines the vehicle speed V based on the first to third vehicle speeds V1 to V3 for which the flag F is 1. For example, when the first flag F1 is 0, the second flag F2 is 1, and the third flag F3 is 1, the vehicle speed V is determined based on the second vehicle speed V2 and the third vehicle speed V3. In this case, the vehicle speed V may be an average value of the second vehicle speed V2 and the third vehicle speed V3 for which the flag F is 1. Furthermore, when there are multiple flags F for 1 among the first to third vehicle speeds V1 to V3, an order in which the first to third vehicle speeds V1 to V3 are preferentially used may be set in advance. The set vehicle speed V is used when the cruise control unit 45 executes cruise control.

[0045] According to the above-described vehicle control system 1, the control device 10 executes cruise control of the vehicle based on at least one of the first vehicle speed V1, the second vehicle speed V2, and the third vehicle speed V3 when the difference (first difference D1) between the first vehicle speed V1 and the second vehicle speed V2 is equal to or less than the judgment value H, the difference (second difference D2) between the second vehicle speed V2 and the third vehicle speed V3 is equal to or less than the judgment value H, and the difference (third difference D3) between the third vehicle speed V3 and the first vehicle speed V1 is equal to or less than the judgment value H. Furthermore, the control device 10 prohibits the execution of cruise control based on the first vehicle speed V1 when the difference (first difference D1) between the first vehicle speed V1 and the second vehicle speed V2 is greater than the judgment value H, the difference (second difference D2) between the second vehicle speed V2 and the third vehicle speed V3 is equal to or less than the judgment value H, and the difference (third difference D3) between the third vehicle speed V3 and the first vehicle speed V1 is greater than the judgment value H. Furthermore, the control device 10 prohibits the execution of cruise control based on the second vehicle speed V2 when the difference (first difference D1) between the first vehicle speed V1 and the second vehicle speed V2 is greater than the judgment value H, the difference (second difference D2) between the second vehicle speed V2 and the third vehicle speed V3 is greater than the judgment value H, and the difference (third difference D3) between the third vehicle speed V3 and the first vehicle speed V1 is equal to or less than the judgment value H. Furthermore, the control device 10 prohibits the execution of cruise control based on the third vehicle speed V3 when the difference between the first vehicle speed V1 and the second vehicle speed V2 is equal to or less than the first judgment, the difference (second difference D2) between the second vehicle speed V2 and the third vehicle speed V3 is greater than the judgment value H, and the difference (third difference D3) between the third vehicle speed V3 and the first vehicle speed V1 is greater than the judgment value H.

[0046] Furthermore, the control device 10 prohibits the execution of cruise control based on the first vehicle speed V1 when the first vehicle speed V1 is outside the first range. Furthermore, the control device 10 prohibits the execution of cruise control based on the second vehicle speed V2 when the second vehicle speed V2 is outside the second range. Furthermore, the control device 10 prohibits the execution of cruise control based on the third vehicle speed V3 when the third vehicle speed V3 is outside the third range.

[0047] According to the above-described vehicle control system 1, if there is a discrepancy in the vehicle speed acquired by one sensor, the sensor causing the discrepancy can be identified by comparing it with the vehicle speeds acquired by the other two sensors. This allows the vehicle control system 1 to improve the accuracy of the acquired vehicle speed. Furthermore, if the vehicle speed output from each sensor is outside a predetermined range, driving control is prohibited without comparing it with the vehicle speeds output by the other sensors. This simplifies the calculation procedure of the vehicle control system 1.

[0048] As shown in Fig. 4, when a wheel slips, the vehicle speed acquired from the wheel speed sensor 26 fluctuates. Also, as shown in Fig. 5, when a wheel locks, the vehicle speed acquired from the wheel speed sensor 26 fluctuates. On the other hand, even when a wheel slips or locks, the vehicle speed acquired from the exterior camera 23, radar 21, and lidar 22 does not fluctuate. In such a case, the vehicle control system 1 sets the flag for the vehicle speed acquired from the exterior camera 23 to 0, and uses the vehicle speed acquired from the exterior camera 23, radar 21, and lidar 22 for driving control.

[0049] 6, if an abnormality occurs in acceleration sensor 27, the vehicle speed acquired by acceleration sensor 27 will differ from the vehicle speeds acquired by the other sensors. Therefore, by comparing the vehicle speeds acquired by each sensor, it is possible to identify the sensor in which the abnormality occurs.

[0050] Although the specific embodiment has been described above, the present invention is not limited to the above embodiment and can be widely modified and implemented. For example, in steps S5, S8, and S11, the abnormality of each sensor is determined by determining whether the vehicle speed is within a predetermined range. However, the abnormality of each sensor may be determined based on the signal output from each sensor instead of the vehicle speed. For example, as shown in FIG. 7, in the case of acceleration sensor 27, the abnormality of acceleration sensor 27 may be determined by detecting whether the voltage output from acceleration sensor 27 is between a low-voltage fault determination value and a high-voltage fault determination value. This eliminates the need to acquire the vehicle speed based on the output value of acceleration sensor 27. Furthermore, the abnormality determination of each sensor may be performed before acquiring the first to third vehicle speeds V1 to V23 in step S1.

[0051] Furthermore, failure determination for each sensor may be performed based on each of the flags F1 to F3. However, since the output value of the wheel speed sensor 26 often fluctuates due to wheel slippage or locking, it is preferable not to perform failure determination based on the flags F1 to F3. [Explanation of symbols]

[0052] 1: Vehicle control system 5: External sensor 6: Vehicle sensor 10: Control device 21: Radar 22: Rider 23: Outside vehicle camera 26: Wheel speed sensor 27: Acceleration sensor 31: GNSS receiver 43:Vehicle speed acquisition part 45: Driving control unit

Claims

1. A vehicle control system, a first vehicle speed acquisition means, a second vehicle speed acquisition means, and a third vehicle speed acquisition means capable of acquiring information relating to vehicle speed; a control device that calculates a vehicle speed as a first vehicle speed based on a signal from the first vehicle speed acquisition means, calculates a vehicle speed as a second vehicle speed based on a signal from the second vehicle speed acquisition means, and calculates a vehicle speed as a third vehicle speed based on a signal from the third vehicle speed acquisition means, and controls the vehicle based on at least one of the first vehicle speed, the second vehicle speed, and the third vehicle speed, the first vehicle speed acquisition means is a wheel speed sensor that acquires a wheel speed, the second vehicle speed acquisition means is an acceleration sensor, the third vehicle speed acquisition means is one selected from a camera, a radar, a lidar, and a GNSS receiving unit, The control device when a difference between the first vehicle speed and the second vehicle speed is equal to or less than a predetermined determination value, a difference between the second vehicle speed and the third vehicle speed is equal to or less than the determination value, and a difference between the third vehicle speed and the first vehicle speed is equal to or less than the determination value, executing vehicle travel control based on at least one of the first vehicle speed, the second vehicle speed, and the third vehicle speed; prohibiting execution of the travel control based on the first vehicle speed when the difference between the first vehicle speed and the second vehicle speed is greater than the determination value, the difference between the second vehicle speed and the third vehicle speed is equal to or less than the determination value, and the difference between the third vehicle speed and the first vehicle speed is greater than the determination value; prohibiting execution of the travel control based on the second vehicle speed when the difference between the first vehicle speed and the second vehicle speed is greater than the determination value, the difference between the second vehicle speed and the third vehicle speed is greater than the determination value, and the difference between the third vehicle speed and the first vehicle speed is equal to or less than the determination value; A vehicle control system that prohibits the execution of the driving control based on the third vehicle speed when the difference between the first vehicle speed and the second vehicle speed is equal to or less than the judgment value, the difference between the second vehicle speed and the third vehicle speed is greater than the judgment value, and the difference between the third vehicle speed and the first vehicle speed is greater than the judgment value.

2. The vehicle control system according to claim 1 , wherein the control device prohibits the execution of the cruise control based on the first vehicle speed when the first vehicle speed is outside a first range.

3. The vehicle control system according to claim 2 , wherein the control device prohibits the execution of the cruise control based on the second vehicle speed when the second vehicle speed is outside a second range.

4. The vehicle control system according to claim 3 , wherein the control device prohibits the execution of the cruise control based on the third vehicle speed when the third vehicle speed is outside a third range.

Images