Action planning device, vehicle control system, and action plan generation method

Abstract

To provide an action plan device, a vehicle control system, and an action plan generation method for reducing obstruction to the progression of other traffic participants by determining whether or not to stop immediately after detecting abnormality.SOLUTION: The action plan device comprises: a stoppage request determination unit that determines the occurrence of abnormality on the basis of acquired obstacle information, self-position information, road information, and vehicle state information, and outputs an emergency stoppage request or a stoppage request; and an action plan generation unit that generates an action plan that prompts to stop immediately when an emergency stoppage request is outputted, and generates an action plan that prompts to avoid stopping in an area where the moving vehicle hinders the progression of other traffic participants when a stoppage request is outputted.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This application relates to a driving plan device, a vehicle control system, and a driving plan generation method.

Background Art

[0002] In recent years, the development of autonomous driving technology for automobiles has been actively carried out. Not only driving assistance for users but also technology for autonomous driving without the intervention of users' operations has been in the spotlight. When an event occurs where safe driving is impossible, such as a part of the sensors for detecting the surrounding environment of the host vehicle fails during autonomous driving, it is required to stop in a situation where there is no interference from other traffic participants and the accident risk is low.

[0003] For example, in Patent Document 1, when a failure occurs in a recognition device or the like and information on the outside world cannot be obtained, a driving trajectory is generated based on past outside world recognition information, and a shift to a failure response action is made.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Patent Document 1, when an abnormality occurs in the vehicle system during the shift to a failure response action, there is a possibility of interrupting the shift to the failure response action. When the shift to the failure response action is interrupted in an area where roads intersect, such as within an intersection, it may interfere with the progress of other traffic participants, which is a problem in the advancement of autonomous driving.

[0006] This application discloses technology to solve the above-mentioned problems, and aims to provide an action planning device, a vehicle control system, and an action plan generation method that reduce obstruction to the progress of other traffic participants by determining whether or not to stop immediately when an abnormality is detected. [Means for solving the problem]

[0007] The action planning device disclosed herein is Obstacle information around the moving object acquired by the obstacle information acquisition unit, The position information of the moving body acquired by the self-position acquisition unit, Road information around the moving object acquired by the road information acquisition unit, Obstacle information around the roadside acquired by the roadside information acquisition unit, and An action planning device into which vehicle status information, including the control status of the moving body acquired by the vehicle status information acquisition unit, is input, A stop request determination unit determines whether or not to output an emergency stop request for the mobile body when it is determined that an abnormality has occurred in at least one of the following: obstacle information around the mobile body acquired by the obstacle information acquisition unit, position information of the mobile body acquired by the self-position acquisition unit, road information acquired by the road information acquisition unit, obstacle information around the roadside acquired by the roadside information acquisition unit, and vehicle status information acquired by the vehicle status information acquisition unit. The system includes an action plan generation unit that generates an action plan for the moving body, The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, If the moving object continues to move, it cannot be avoided that it will stop in an area that obstructs the progress of other traffic participants, The aforementioned emergency stop request is output, Even if the moving body continues to travel, it is possible to avoid stopping within the area. In that case, a stop request will be output. The aforementioned action plan generation unit, If the emergency stop request is output from the stop request determination unit, an action plan to stop immediately is generated. If the stop request is output from the stop request determination unit, the moving body Within the aforementioned region Generate an action plan to avoid stopping at [the specified location]. It is.

Advantages of the Invention

[0008] According to the present application, by determining whether to immediately stop at the time when an abnormality is detected, it is possible to generate an action plan for reducing the obstruction of the progress of other traffic participants.

Brief Description of the Drawings

[0009] [Figure 1] It is a functional block diagram showing the configuration of the action plan device and the vehicle control system according to Embodiment 1. [Figure 2] It is a diagram showing an example of the detection range of an obstacle by an obstacle information detection unit mounted on a vehicle. [Figure 3] It is a diagram for explaining the operation of the action plan device according to Embodiment 1. [Figure 4] It is a flowchart showing the operation in the action plan device according to Embodiment 1. [Figure 5A] It is a flowchart showing the operation in the action plan device according to Embodiment 2. [Figure 5B] It is a flowchart showing the operation in the action plan device according to Embodiment 2. [Figure 6] It is a diagram for explaining the operation of the action plan device according to Embodiment 3. [Figure 7A] It is a flowchart showing the operation in the action plan device according to Embodiment 3. [Figure 7B] It is a flowchart showing the operation in the action plan device according to Embodiment 3. [Figure 8] It is a diagram showing the hardware configuration of the vehicle control system according to Embodiments 1 to 3. [Figure 9] It is a diagram showing another example of the hardware configuration of the vehicle control system according to Embodiments 1 to 3.

Modes for Carrying Out the Invention

[0010] Hereinafter, embodiments of the action planning device, vehicle control system, and action planning generation method disclosed in the present application will be described with reference to the drawings. In the following embodiments, an automobile is taken as an example of the moving body to which the action planning device and the vehicle control system are applied, and an example of generating an action plan for the host vehicle is shown. The moving body is assumed to be capable of automated driving equivalent to Level 3 or Level 4 defined by, for example, the Society of Automotive Engineers (SAE International). The moving body is assumed to have acquired in advance a driving route to the destination and to be driving along it. Also, in each figure, the same reference numerals denote the same or corresponding parts. Therefore, detailed descriptions thereof may be omitted to avoid duplication.

[0011] The drawings are schematically shown, and for convenience of explanation, components may be omitted or simplified as appropriate. Also, the mutual relationships of the sizes and positions of the components shown in different drawings are not necessarily accurately described and may be changed as appropriate. Also, in drawings such as plan views that are not cross-sectional views, hatching may be added to facilitate understanding of the content of the embodiments.

[0012] Embodiment 1. Hereinafter, the action planning device, vehicle control system, and action planning generation method according to Embodiment 1 will be described with reference to the drawings. <Device Configuration> Figure 1 is a functional block diagram showing the configuration of the action planning device and vehicle control system according to Embodiment 1. In Figure 1, the vehicle control system 1000 includes an action planning device 100. The action planning device 100 is a device that plans the actions of the vehicle and includes a stop request determination unit 120 and an action plan generation unit 140 that calculates actions to reduce the impact on the surroundings. The vehicle control system 1000 includes an information acquisition unit 300 that acquires information necessary for generating the action plan of the vehicle in the action planning device 100 and acquires information on obstacles around the vehicle. The information acquisition unit 300 includes an obstacle information acquisition unit 10, a road information acquisition unit 20, a self-position acquisition unit 30 that acquires the position information of the vehicle, a vehicle state information acquisition unit 40 that acquires information on the state of the vehicle from various sensors mounted on the vehicle, and a roadside information acquisition unit 50 that acquires information from roadside units RU. Furthermore, the vehicle control system 1000 includes a vehicle control unit 200 that controls various actuators that drive the vehicle, such as brakes and steering wheels, based on the action plan generated by the action planning device 100.

[0013] In Figure 1, the obstacle information acquisition unit 10, road information acquisition unit 20, self-position acquisition unit 30, vehicle status information acquisition unit 40, and roadside information acquisition unit 50 may also be provided in the action planning device 100.

[0014] The obstacle information acquisition unit 10 acquires information about obstacles present around the vehicle that have been detected by the obstacle information detection unit 12.

[0015] The obstacle information detection unit 12 detects obstacle information. Obstacles are, for example, other vehicles, pedestrians, bicycles, motorcycles, and other traffic participants present around the vehicle. The obstacle information detection unit 12 is, for example, at least one of the following installed on the vehicle: a camera, radar, LiDAR (Light Detection And Ranging), and sonar sensor (ultrasonic sensor). The obstacle information detection unit 12 may output obstacle information to the obstacle information acquisition unit 10, linking the obstacles present around the vehicle to the type of traffic participant classified as other vehicles, pedestrians, bicycles, or motorcycles.

[0016] The cameras are positioned to capture images of the front, sides, and rear of the vehicle. From the captured images, information about the vehicle's environment, such as the lane ahead and any obstacles, is obtained.

[0017] The radar system emits radar beams in front of the vehicle and detects the reflected waves to measure the relative distance and relative speed of obstacles in front of the vehicle, and outputs the measurement results.

[0018] LiDAR detects the position of an object by shining a laser around the vehicle and detecting the time difference between the laser beam reflecting off surrounding objects and returning.

[0019] Sonar sensors detect the location and distance of objects by emitting ultrasonic waves around the vehicle and detecting the time difference between the time it takes for the waves to reflect back from surrounding objects.

[0020] Figure 2 shows an example of arranging multiple obstacle information detection units 12 in a vehicle, illustrating the detection range of each unit. In Figure 2, seven obstacle information detection units 12, from 12a to 12g, are mounted on the vehicle OV, with three units 12a, 12b, and 12g positioned at the front, two units 12c and 12f positioned at the sides, and two units 12d and 12e positioned at the rear. The detection range of each obstacle information detection unit 12 is shown by a dashed fan shape. The vehicle OV can detect obstacles in the areas of detection ranges SN1, SN2, and SN7 at the front, detection ranges SN3 and SN6 at the sides, and detection ranges SN4 and SN5 at the rear. While not limited to seven obstacle information detection units 12, it is desirable to be able to set the obstacle detection range to cover the area around the vehicle OV.

[0021] The road information acquisition unit 20 acquires road information around the vehicle from the road information detection unit (not shown). The road information acquisition unit 20 is equipped with a map information acquisition unit that has previously acquired map data of the vehicle's planned route, and acquires road information around the vehicle based on the vehicle's position information detected by the self-position detection unit 32.

[0022] Here, the map data includes road information such as the centerline of the lane the vehicle is traveling in, lane width information, intersection stop line information, information on the number of branches at intersections such as T-junctions and crossroads, intersection stop line information, and information on the starting position of lane splitting. Furthermore, road information included in the map data may be obtained from the surrounding structure detection results obtained from at least one of the cameras, radar, LiDAR, and sonar sensors that constitute the obstacle information detection unit 12 installed in the vehicle.

[0023] The vehicle is equipped with a GNSS (Global Navigation Satellite System) sensor as a self-position detection unit 32 to determine its own position. A GNSS antenna is connected to the GNSS sensor, which receives positioning signals from positioning satellites orbiting in satellite orbit. The GNSS antenna analyzes the received positioning signals and outputs information about the phase center of the GNSS antenna (latitude, longitude, altitude, and azimuth, etc.) to the self-position acquisition unit 30.

[0024] Furthermore, the vehicle's own position information may be obtained not only using a GNSS sensor, but also by SLAM (Simulataneous Localization and Mapping) technology, which uses the results of detecting surrounding structures obtained from at least one of the following sensors: a camera, radar, LiDAR, and sonar.

[0025] For example, an obstacle information detection device (hereinafter referred to as a roadside device) installed on the roadside is equipped with at least one of a camera, radar, LiDAR, and sonar sensor. The roadside information acquisition unit 50 acquires the information about the roadside area detected by the roadside device RU as obstacle information via wireless communication. Note that the roadside device may be installed not only on the roadside, but also on the roadway, shoulder, sidewalk, etc., or on buildings, utility poles, etc., near the road. Furthermore, information about the roadside area may be acquired from a remote control system, etc.

[0026] The vehicle status information acquisition unit 40 acquires the vehicle status from the vehicle status of the vehicle detected by the vehicle status detection unit 42 and from abnormality detections from the vehicle abnormality detection unit 41. The vehicle status detection unit 42 detects the vehicle status from various sensors mounted on the vehicle, such as a vehicle speed sensor, gyro sensor, steering angle sensor, and acceleration sensor. Here, the vehicle abnormality detection unit 41 detects abnormalities that would hinder the vehicle's operation, such as abnormalities in the vehicle's steering, brakes, drive motors and other actuators, as well as abnormalities in the power supply system.

[0027] In Figure 1, the obstacle information acquisition unit 10, road information acquisition unit 20, self-position acquisition unit 30, vehicle status information acquisition unit 40, and roadside information acquisition unit 50 are shown not to be included in the action planning device 100. This configuration is suitable for remote control of the vehicle by control. As an example, the components consisting of the stop request determination unit 120 and the action plan generation unit 140 are provided separately from the components consisting of the obstacle information acquisition unit 10, road information acquisition unit 20, self-position acquisition unit 30, vehicle status information acquisition unit 40, and roadside information acquisition unit 50. Specifically, the obstacle information acquisition unit 10, road information acquisition unit 20, self-position acquisition unit 30, vehicle status information acquisition unit 40, and roadside information acquisition unit 50 are provided inside the vehicle, and the stop request determination unit 120 and action plan generation unit 140 are provided on the control side as the action planning device 100. This is not limited to this, and for example, the reverse may also be the case.

[0028] <Functions of the Action Planning Device 100> The stop request determination unit 120 detects abnormalities based on obstacle information acquired from the obstacle information acquisition unit 10, obstacle information acquired from the roadside information acquisition unit 50, self-position information acquired from the self-position acquisition unit 30, and the vehicle's own status information acquired from the vehicle status information acquisition unit 40. If an abnormality is detected, it outputs an emergency stop request or a stop request at a location that will have minimal impact on the surroundings.

[0029] Here, we will explain an example of a method for detecting anomalies in obstacle information. First, let's explain an example of an anomaly in the obstacle information acquired from the roadside information acquisition unit 50. One anomaly in the obstacle information acquired from the roadside information acquisition unit 50 is a communication interruption, and the presence or absence of this communication interruption can be determined by providing the roadside information acquisition unit 50 with a signal that counts up at regular intervals from the roadside unit. If an event is detected in which the regular-interval count-up does not occur, it can be rephrased as a communication interruption from the roadside unit RU to the roadside information acquisition unit 50. Based on the above, the stop request determination unit 120 determines the communication interruption based on the obstacle information acquired from the roadside information acquisition unit 50 and performs an anomaly detection.

[0030] Similarly, with respect to abnormalities in obstacle information acquired from the obstacle information detection unit 12 installed in the vehicle, abnormalities in self-position information acquired from the self-position acquisition unit 30, and abnormalities in the vehicle's status information acquired from the vehicle status information acquisition unit 40, it is possible to determine communication interruptions and detect abnormalities by using a signal that counts up at regular intervals. Furthermore, a reduction in the detection range of the obstacle information detection unit 12 is also anticipated. Whether or not the detection range has decreased can be determined by checking whether snow or other debris is attached near the sensor, which is the obstacle information detection unit 12, and whether the measurement distance has been continuously detected as below a predetermined threshold for a predetermined time. In other words, if snow or other debris is attached in a way that covers part of the sensor, the detection range will decrease compared to normal, making it possible to detect an anomaly. In addition, if part of the camera's image sensor is missing, and some pixels in the camera image lack color or do not change color for a predetermined time, the detection range will decrease, making it possible to detect an anomaly.

[0031] Next, we will explain the conditions under which an emergency stop request or a stop request at a location with minimal impact on the surroundings will be issued. First, in the event of an abnormality, if the conditions for outputting an emergency stop request are not met, a stop request (hereinafter referred to as "stop request") will be output for a location with minimal impact on the surroundings.

[0032] The conditions for issuing an emergency stop request are as follows: (1) The first case is when, in the event of an abnormality, it is unavoidable that the vehicle will stop in an area that would have a significant impact on other road users, even if autonomous driving continues. in particular, (1a) If the vehicle abnormality detection unit 41 detects an abnormality that prevents the vehicle itself from being controlled, (1b) If the obstacle information detection unit 12 and the roadside unit RU sensors cannot detect an obstacle ahead of the vehicle, and the obstacle information cannot be acquired by the obstacle information acquisition unit 10 and the roadside information acquisition unit 50, (1c) If bad weather is detected, (1d) If there is an obstacle ahead and it is not possible to pass (for example, if there is an obstacle in or at the exit of an intersection), And so on. Weather information can be obtained from the obstacle information detection unit 12, the roadside unit RU, or a remote control system that communicates with the mobile unit. Additionally, a weather sensor may be installed on the vehicle.

[0033] (2) The second case is when an abnormality occurs in a location other than the road information acquisition unit 20 and the self-position acquisition unit 30, and stopping the vehicle on the spot would have little impact on other road users. in particular, (2a) If it is determined that the vehicle is within the permitted stopping area obtained from the road information acquisition unit 20, (2b) In areas where the risk of collision with vehicles traveling on intersecting roads is low (for example, near the entrance or exit of an intersection), (2c) When the road is within an area with sufficient width (for example, an area wide enough for other vehicles to overtake).

[0034] Here, an area that has a significant impact on other traffic participants refers to an area where stopping at that location would obstruct the progress of other traffic participants. Specifically, this includes the area inside the stop line at an intersection and the point where traffic diverges on expressways begin, and is essentially an "area where roads intersect." Hereafter, "an area that has a significant impact on other traffic participants" will be read as "an area that obstructs the progress of other traffic participants" and used as synonymous. Similarly, "an area that has little impact on other traffic participants" will be read as "an area that does not obstruct the progress of other traffic participants" and used as synonymous.

[0035] The action plan generation unit 140 generates an action plan that the vehicle should execute in response to an emergency stop request or stop request output from the stop request determination unit 120. If an emergency stop request is received from the stop request determination unit 120, an action plan for stopping immediately is generated. When a stop request is entered, the system generates an action plan to avoid the vehicle stopping in an area that would obstruct the progress of other traffic participants, based on the obstacle information output from the obstacle information acquisition unit 10, the road information output from the road information acquisition unit 20, the vehicle's own position output from the vehicle position acquisition unit 30, and the obstacle information output from the roadside information acquisition unit 50.

[0036] The action plan generated by the action plan generation unit 140 specifically includes the target route, target speed, and target position when the vehicle is following a target vehicle. It may also include information representing the upper and lower limits of acceleration when the vehicle is driving, and the steering angle required to follow the target route.

[0037] Next, we will explain how the stopping position of the vehicle is calculated in order for the action plan generation unit 140 to execute an action plan that avoids the vehicle stopping in an area that obstructs the progress of other traffic participants.

[0038] Here, possible methods for calculating the stopping position include using the current position as the stopping position, or using the deceleration that the vehicle can achieve when stopping from its current speed to calculate the stopping position.

[0039] Whether or not the calculated stopping position of the vehicle is within an area that would obstruct the progress of other traffic participants is determined based on the road information acquired by the road information acquisition unit 20.

[0040] Next, an example of a method for determining whether or not to stop in an area that has a high impact on other traffic participants will be explained using Figure 3. Figure 3 is a diagram for explaining the operation of the action planning device 100 according to Embodiment 1. In Figure 3, the state in which the vehicle OV traveling on the left side is approaching an intersection is shown, and the rectangular area shown by the dashed lines connecting the stop lines SL1, SL2, SL3, and SL4 of each lane forming the intersection is the intersection area CNF. Here, the area inside the stop lines SL1, SL2, SL3, and SL4 of the intersection, i.e., within area CNF, is defined as an area that has a high impact on other traffic participants, i.e., an area that obstructs the progress of other traffic participants. The roadside device RU installed on the roadside can detect obstacles within the area RUA shown by the dotted sector.

[0041] First, the position information of the stop lines SL1, SL2, SL3, and SL4 that form the intersection is input from the road information acquisition unit 20 to the action plan generation unit 140. By connecting the position information of these stop lines SL1, SL2, SL3, and SL4, a region CNF represented by a rectangle CNF can be generated. If the stopping position of the vehicle OV is located inside the region CNF, it is determined that the vehicle OV has stopped in a region that obstructs the progress of other traffic participants.

[0042] Next, the stopping position of the vehicle's OV is calculated. The road information acquisition unit 20 acquires information about the centerline of the lane in which the vehicle is traveling. If this information is used as the straight-ahead path STR of the target route that the vehicle should follow, the stopping position of the vehicle OV is represented by the stopping position SP on the straight-ahead path STR in Figure 3. The stopping position SP of the vehicle OV is calculated using the deceleration of the vehicle OV on the straight-ahead path STR.

[0043] In Figure 3, the center of gravity of the vehicle OV when stopped is represented by position SP. If this position is within the intersection area CNF, it is determined that the vehicle OV enters an area where it has a high impact on other traffic participants when stopped. The stopping position SP can be any position that allows the vehicle's OV to be identified, such as the front or rear end of the vehicle's OV. Furthermore, whether or not it is located within the area CNF can be determined by generating a rectangle (simulating the vehicle's outline) that takes into account the size of the vehicle's OV from that position (stopping position), and if a part of that rectangle lies inside the intersection area CNF, it can be determined that the vehicle's OV will enter an area that has a high impact on other traffic participants when it stops.

[0044] In the above explanation, a method was shown for generating a region CNF as an intersection region based on the position information of the stop line at the intersection input from the road information acquisition unit 20, as an area that obstructs the progress of other traffic participants. However, this is not the only method. A region CNF may also be directly input to the action plan generation unit 140 based on intersection information etc. held by the road information acquisition unit 20 as an area that has a high impact on other traffic participants. Furthermore, by using the diversion start position information provided by the road information acquisition unit 20, an area including the diversion start position can be used as a region CNF, and a region CNF that is not limited to intersection regions can be set.

[0045] <Operation of the vehicle control system 1000 and the action planning device 100> Next, the operation of the vehicle control system 1000 and the action planning device 100 according to Embodiment 1 will be explained using the flowchart in Figure 4. Note that the processes in the flowchart in Figure 4 are repeatedly executed while the vehicle is in motion. Each step in Figure 4 will be explained in correspondence with the functional unit shown in the functional block diagram in Figure 1.

[0046] First, in step S101, the obstacle information acquisition unit 10 acquires information about obstacles present around the vehicle, which is output from the obstacle information detection unit 12. In step S102, the self-position acquisition unit 30 acquires its own position output from the self-position detection unit 32.

[0047] In step S103, the road information acquisition unit 20 acquires road information output from the road information detection unit (not shown) or road information from the map information acquisition unit. In step S104, the roadside information acquisition unit 50 acquires information about obstacles around the roadside that is output from the roadside unit RU.

[0048] In step S105, the vehicle status information acquisition unit 40 acquires information regarding the vehicle status from each sensor mounted on the vehicle and abnormality detection information from the vehicle abnormality detection unit 41.

[0049] In step S106, the stop request determination unit 120 detects whether an abnormality has occurred in any of the information based on the obstacle information around the vehicle output from the obstacle information acquisition unit 10, the obstacle information around the roadside output from the roadside information acquisition unit 50, the road information acquired from the road information acquisition unit 20, the self-position information which is the position information of the moving object acquired from the self-position acquisition unit 30, and the vehicle status information acquired from the vehicle status information acquisition unit 40. If an abnormality is detected, it outputs an emergency stop request or a stop request. If an abnormality is detected (Yes in step S106), the process proceeds to step S107. If no abnormality is detected, no emergency stop request or stop request is output (step S106 Then proceed to step S110.

[0050] If the process proceeds to step S107, the stop request determination unit 120 determines whether the conditions for outputting an emergency stop request have been met. If the conditions for outputting an emergency stop request have been met (Yes in step S107), the emergency stop request is output and the process proceeds to step S107. S108 The process will proceed to the next step. If the conditions for outputting an emergency stop request are not met (step S107 In this case, if No), a stop request is output and the process proceeds to step S109.

[0051] If the process proceeds to step S108, the action plan generation unit 140 outputs a command to stop immediately because the vehicle is unable to continue autonomous driving, or because the vehicle's stopping position is in an area that does not obstruct the progress of other traffic participants.

[0052] If the process proceeds to step S109, the action plan generation unit 140 generates an action plan that avoids the vehicle stopping in an area that would obstruct the progress of other traffic participants.

[0053] If the system proceeds to step S110, the action plan generation unit 140 outputs a command to continue following the route currently being traveled by the vehicle. Based on steps S108 to S110, the output of the action plan generation unit 140 is input to the vehicle control unit 200, which controls the various actuators (not shown) that drive the vehicle, such as brakes and steering wheels.

[0054] As described above, the action planning device 100 generates an action plan to stop immediately if it determines that an emergency stop is necessary in the event of an abnormality, and to avoid stopping in an area that would obstruct the progress of other traffic participants in other cases. Furthermore, if no abnormality has occurred, it generates an action plan to continue following the currently traveled route.

[0055] As described above, according to Embodiment 1, the action planning device comprises a stop request determination unit and an action plan generation unit. The stop request determination unit detects abnormalities based on the acquired information, and if an abnormality is detected, it determines whether the conditions for outputting an emergency stop request are met, and outputs an emergency stop request or a stop request to an area that does not obstruct the progress of other traffic participants to the action plan generation unit. If an emergency stop request is output, the action plan generation unit creates an action plan to stop immediately, and if a stop request is output, it generates an action plan to stop in an area that does not obstruct the progress of other traffic participants. Then, based on the generated action plan, the vehicle control unit of the vehicle control system drives each actuator. This makes it possible to prevent the escape action from being interrupted by making a decision to stop immediately if it is unavoidable that the vehicle will stop in an area that obstructs the progress of other traffic participants even if autonomous driving continues, or if stopping in that location would not obstruct the progress of other traffic participants, or if the vehicle is in an area that does not obstruct the progress of other traffic participants. Otherwise, it is possible to make a decision to move to an area that does not obstruct the progress of other traffic participants and stop.

[0056] Embodiment 2. The action planning device, vehicle control system, and action plan generation method according to Embodiment 2 will be described below with reference to the figures. The configuration of the action planning device and vehicle control system according to Embodiment 2 is the same as that shown in Figure 1 of Embodiment 1, and therefore its description is omitted.

[0057] Figures 5A and 5B are flowcharts showing the operation of the vehicle control system 1000 and the action planning device 100 according to Embodiment 2. The processes in the flowcharts of Figures 5A and 5B are repeatedly executed while the vehicle is in motion. Each step in Figures 5A and 5B will be explained in correspondence with the respective functional units shown in the functional block diagram of Figure 1. Furthermore, the processes from step S201 to step S205 are the same as the processes from step S101 to step S105 in Figure 4 of Embodiment 1, so their explanation will be omitted.

[0058] In steps S201 to S205, the vehicle control system 1000 acquires the following information. In step S206, the stop request determination unit 120 determines whether the vehicle is approaching an intersection based on the vehicle's own position output from the self-position acquisition unit 30 and the road information output from the road information acquisition unit 20. If it is determined that the vehicle is approaching an intersection (Yes in step S206), the process proceeds to step S207; if it is determined that the vehicle is not approaching an intersection (No in step S206), the process proceeds to step S208. To determine if a vehicle is "approaching" an intersection, one can compare its distance to a predetermined threshold, such as checking if the distance between the vehicle and the stop line on the entry side of the intersection is less than or equal to a predetermined distance.

[0059] In step S207, the stop request determination unit 120 determines whether it has obtained the information necessary to generate an action plan to avoid the vehicle stopping in an area that obstructs the progress of other traffic participants. Specifically, it determines whether it has obtained the vehicle's own position, vehicle status information, road information, and obstacle information necessary to plan the vehicle's actions outside the area that obstructs the progress of other traffic participants. If the necessary information has been obtained (Yes in step S207), the process proceeds to step S208; if it has not been obtained (No in step S207), the process proceeds to step S213.

[0060] In step S208, the stop request determination unit 120 determines whether an abnormality has occurred in any of the information based on the obstacle information around the vehicle output from the obstacle information acquisition unit 10, the obstacle information around the roadside output from the roadside information acquisition unit 50, the road information acquired from the road information acquisition unit 20, the vehicle's own position information acquired from the self-position acquisition unit 30, and the vehicle status information acquired from the vehicle status information acquisition unit 40. If an abnormality has occurred (Yes in step S208), the process proceeds to step S209. If no abnormality has occurred (No in step S208), the process proceeds to step S212.

[0061] In step S209, the stop request determination unit 120 determines whether the output conditions for an emergency stop request are met. If the output conditions for an emergency stop request are met (Yes in step S209), the process proceeds to step S210; otherwise, the process proceeds to step S211.

[0062] If the process proceeds to step S210, the action plan generation unit 140 outputs a command to stop immediately because the vehicle is unable to continue autonomous driving, or because the vehicle's stopping position is not in an area that would obstruct the progress of other traffic participants.

[0063] If the process proceeds to step S211, the action plan generation unit 140 generates and outputs an action plan that avoids the vehicle stopping in an area that would obstruct the progress of other traffic participants.

[0064] If the system proceeds to step S212, the action plan generation unit 140 outputs a command to continue following the route currently being traveled by the vehicle.

[0065] If the process proceeds to step S213, the stop request determination unit 120 outputs a command to make an emergency stop before entering the intersection, and the action plan generation unit 140 outputs an action plan to ensure that the vehicle stops before entering the intersection. In other words, the action planning device 100 determines whether it has acquired information to take action to avoid stopping in an area that would have a high impact on other traffic participants before entering an intersection, and if it has not acquired such information, it generates an action plan to stop before entering the intersection.

[0066] Furthermore, the output of the action plan generation unit 140 based on steps S210 to S213 is input to the vehicle control unit 200, which controls the various actuators (not shown) that drive the vehicle, such as brakes and steering wheels.

[0067] As described above, Embodiment 2 provides the same effects as Embodiment 1. Specifically, it provides an action planning device and vehicle control system that can prevent the evasive action from being interrupted when an abnormality is detected based on obstacle information, and that can reduce obstruction of the progress of other traffic participants. Furthermore, before entering an intersection, the system determines whether it has the necessary information to avoid stopping in an area that would obstruct the progress of other traffic participants. If the necessary information is not available, the system stops before entering the intersection. This prevents the evasive action from being interrupted within the intersection and results in an action planning device and vehicle control system that can reduce obstruction of other traffic participants' progress at the intersection.

[0068] Embodiment 3. The action planning device, vehicle control system, and action plan generation method according to Embodiment 3 will be described below with reference to the figures. The configuration of the action planning device and vehicle control system according to Embodiment 3 is the same as that shown in Figure 1 of Embodiment 1, and therefore its description is omitted.

[0069] Figure 6 is a diagram illustrating the operation of the action planning device 100 according to Embodiment 3. In Figure 6, the vehicle OV traveling on the left side of the road is shown approaching an intersection. The roadside device RU, installed on the roadside, can detect obstacles within the area RUA indicated by the dotted sector. Therefore, it can detect road information and obstacle information within the intersection.

[0070] Figures 7A and 7B are flowcharts showing the operation of the vehicle control system 1000 and the action planning device 100 according to Embodiment 3. The processes in the flowcharts of Figures 7A and 7B are repeatedly executed while the vehicle is in motion. Each step in Figures 7A and 7B will be explained in correspondence with each functional unit shown in the functional block diagram of Figure 1. Furthermore, the processes of steps S301, S302, and S305 are the same as the processes of steps S101, S102, and S105 in Figure 4 of Embodiment 1. In addition, steps S306, S308, S309, S310, S311, S312, and S313 are the same as the processes of steps S206, S208, S209, S210, S211, S212, and S213 in Embodiment 2, respectively. Therefore, the explanation will be simplified below.

[0071] First, in step S301, the obstacle information acquisition unit 10 acquires information about obstacles present around the vehicle. In step S302, the self-position acquisition unit 30 acquires its own position.

[0072] In step S303, the road information acquisition unit 20 acquires road information output from the road information detection unit (not shown) or road information from the map information acquisition unit. Furthermore, near an intersection, it acquires additional intersection road information, including road information for the intersection distributed from a roadside unit RU or remote control system installed near the intersection, such as information on whether the road is passable, construction information, drivable area information, and information on evacuation actions in case of an anomaly calculated by the roadside unit RU or remote control system.

[0073] In step S304, the roadside information acquisition unit 50 acquires information about obstacles around the roadside output from the roadside unit RU or remote control system. In addition, near intersections, it acquires intersection obstacle information, including information about obstacles near the intersection distributed from the roadside unit RU or remote control system installed near the intersection, such as obstacles on intersecting roads and obstacles that are in the blind spot from the vehicle's perspective.

[0074] In step S305, the vehicle status information acquisition unit 40 acquires abnormality detection information for the vehicle.

[0075] In step S306, the stop request determination unit 120 determines whether the vehicle is approaching an intersection based on the vehicle's own position output from the self-position acquisition unit 30 and the road information output from the road information acquisition unit 20. If it is determined that the vehicle is approaching an intersection (Yes in step S306), the process proceeds to step S307; if it is determined that the vehicle is not approaching an intersection (No in step S306), the process proceeds to step S308.

[0076] In step S307, it is determined whether intersection road information was obtained in step S303 and whether intersection obstacle information was obtained in step S304. If both are obtained (Yes in step S307), the process proceeds to step S308. If both are not obtained (No in step S307), the process proceeds to step S313. The process also proceeds to step S313 if only one of the pieces of information is obtained.

[0077] As shown in Figure 6, it is ideal if intersection road information and intersection obstacle information can be obtained from the roadside unit RU, which is positioned as a detection area RUA for intersections. However, as shown in Figure 3, if only a part of the intersection is provided as a detection area, or if there is no roadside unit RU near the intersection, it may not be possible to obtain both intersection road information and intersection obstacle information. Therefore, if both cannot be obtained in step S307 (No in step S307), the process proceeds to step S313.

[0078] If the process proceeds to step S313, the stop request determination unit 120 issues an emergency stop request before the vehicle enters the intersection, and the action plan generation unit 140 outputs an action plan to ensure the vehicle stops before entering the intersection. In other words, when approaching an intersection, the action planning device 100 acquires additional intersection road information and intersection obstacle information from the time of normal driving, and if both cannot be acquired, it generates an action plan to stop before entering the intersection.

[0079] As described above, this third embodiment provides the same effects as the first embodiment. Furthermore, when approaching an intersection, the system acquires intersection road information and intersection obstacle information from a roadside unit or remote control system installed near the intersection. If neither intersection road information nor intersection obstacle information is available, the system stops before entering the intersection. This prevents the evacuation action from being interrupted within the intersection and provides an action planning device and vehicle control system that reduces obstruction of other traffic participants at the intersection. In addition, since information is acquired from a roadside unit, it is possible to simplify the sensors and computing devices on the vehicle side.

[0080] Each functional unit of the action planning device 100 in the above-described embodiments 1 to 3 may be implemented as a vehicle control system 1000 comprising the hardware configuration of the vehicle control system 1000 illustrated in Figure 8, that is, a storage device 1002 including an arithmetic processing circuit 1001, a ROM (Read Only Memory) that stores programs for executing the functions of each functional unit, and a RAM (Random Access Memory) that stores data of the execution results of each functional unit, which are the calculation results by the program, and an input / output circuit 1003. The input / output circuit 1003 receives output results regarding obstacle information from the obstacle information detection unit 12, which is an obstacle detection sensor provided on the vehicle, self-position information detected by the self-position detection unit 32, and output results regarding obstacle information from the roadside unit RU, and outputs control signals such as the vehicle's speed and handling from the input / output circuit 1003 to the drive system device 2000, which is each actuator that drives the vehicle, such as brakes and steering.

[0081] The arithmetic processing circuit 1001 may be a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). Alternatively, dedicated hardware may be used for the arithmetic processing circuit 1001. If the arithmetic processing circuit 1001 is dedicated hardware, it may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0082] Furthermore, the action planning device 100 and the vehicle control system 1000 may be implemented with each functional part being implemented by a separate arithmetic processing circuit, or they may be implemented together by a single arithmetic processing circuit. Furthermore, the various functional units of the action planning device 100 and the vehicle control system 1000 can implement the aforementioned functions by using hardware, software, or a combination thereof. For example, some functions may be implemented using arithmetic processing circuits as dedicated hardware, while other functions may be implemented using software.

[0083] Figure 9 shows another example of the hardware configuration of the vehicle control system 1000. It further includes a communication circuit 1004 in addition to the configuration of Figure 8. The communication circuit 1004 comprises a wide-area communication unit and a narrow-area communication unit as a communication module. The wide-area communication unit uses a predetermined wide-area wireless communication standard, such as LTE (Long Term Evolution) or 4G / 5G (5th Generation; 5th generation mobile communication system). The narrow-area communication unit uses, for example, DSRC (Dedicated Short Range Communications), and although not described in the above embodiment, it can be used for communication with other vehicles to obtain information about other vehicles in the vicinity of the vehicle. A certain communication speed is guaranteed for these communications.

[0084] For example, in Embodiment 3, intersection road information and intersection obstacle information may be acquired via narrow-range communication from other vehicles via vehicle-to-vehicle communication, or acquired via narrow-range communication from other information devices installed near the intersection.

[0085] Obstacle information from the roadside unit RU or remote control system is received via communication with the vehicle control system 1000. For example, LTE or 5G communication is used.

[0086] Each sensor in the obstacle information detection unit 12, the GNSS sensor in the self-position detection unit 32, and each sensor in the vehicle state detection unit 42 are mounted on the vehicle, and information is output from each sensor to the information acquisition unit 300 via a communication line, and they are connected using, for example, CAN (Control Area Network: registered trademark).

[0087] Furthermore, even when a part of the vehicle control system 1000 is located outside the vehicle, such as in a control center, and an emergency stop is activated, signals are exchanged via the communication circuit 1004.

[0088] <Other embodiments> In the above description, the action planning device 100 and vehicle control system 1000 were described using a vehicle, specifically an automobile, as an example of a mobile body to which they are applied. However, the application is not limited to automobiles, and they can be applied to various other types of mobile bodies. The action planning device 100 can be used as a device for planning the actions of mobile bodies such as building-based mobile robots that inspect buildings, line inspection robots, and personal mobility devices. When the mobile body is not an automobile, the road information detection unit can also acquire the drivable area of ​​the route the mobile body travels as road information. The obstacle information acquired by the roadside unit RU can be, for example, information from obstacle information detection units installed inside buildings, on lines, or within the range in which personal mobility devices operate.

[0089] In the embodiments described above, the dimensions, shapes, relative arrangements, and conditions of implementation of each component may also be described, but these are all examples and are not limited to those described in this specification. They can be applied individually or in various combinations to the embodiments. Accordingly, countless variations and equivalents not shown are conceivable within the scope of the art disclosed herein. These include, for example, modifications, additions, or omissions of at least one component, as well as the extraction of at least one component from at least one embodiment and its combination with components from other embodiments.

[0090] Furthermore, unless contradictory, any component described as being provided as "one" in the embodiments described above may be provided as "one or more". Furthermore, each component in the embodiments described above is a conceptual unit, and the scope of the technology disclosed in this specification includes cases where one component consists of multiple structures, where one component corresponds to a part of a structure, and where multiple components are provided in a single structure.

[0091] Furthermore, each component in the embodiments described above shall include structures having other structures or shapes, as long as they perform the same function. Furthermore, the descriptions in this specification are referenced for all purposes relating to the present technology and are not considered to be prior art.

[0092] Furthermore, each component described in the embodiments described above can be envisioned as software or firmware, or as corresponding hardware, and in both concepts, each component is referred to as a "part" or "processing circuit," etc.

[0093] The various aspects of this disclosure are summarized below as an appendix.

[0094] (Note 1) Obstacle information around the moving object acquired by the obstacle information acquisition unit, The position information of the moving body acquired by the self-position acquisition unit, Road information around the moving object acquired by the road information acquisition unit, Obstacle information around the roadside acquired by the roadside information acquisition unit, and An action planning device into which vehicle status information, including the control status of the moving body acquired by the vehicle status information acquisition unit, is input, A stop request determination unit determines whether or not to output an emergency stop request for the mobile body when it is determined that an abnormality has occurred in at least one of the following: obstacle information around the mobile body acquired by the obstacle information acquisition unit, position information of the mobile body acquired by the self-position acquisition unit, road information acquired by the road information acquisition unit, obstacle information around the roadside acquired by the roadside information acquisition unit, and vehicle status information acquired by the vehicle status information acquisition unit. The system includes an action plan generation unit that generates an action plan for the moving body, The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, Pre-configured The aforementioned If the conditions for outputting an emergency stop request are met, The aforementioned An emergency stop request is issued. If the above output conditions are not met, a stop request will be output. The aforementioned action plan generation unit, From the stop request determination unit The aforementioned If an emergency stop request is issued, an action plan to immediately stop will be generated. From the stop request determination unit The aforementioned An action planning device that, when a stop request is issued, generates an action plan to avoid the moving object stopping in an area that would obstruct the progress of other traffic participants. (Note 2) The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, If the moving body continues to travel, it cannot be avoided that it will stop within the area. The aforementioned Output an emergency stop request. Note The action planning device described in 1. (Note 3) The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, If the location where the moving object makes an emergency stop is within the permitted stopping area included in the road information, The aforementioned An action planning device as described in Appendix 1 or Appendix 2, which outputs an emergency stop request. (Note 4) The stop request determination unit, Furthermore, it is determined whether the moving object is approaching an intersection. If it is determined that the moving object is approaching the intersection, If any one of the following is not acquired by the obstacle information acquisition unit: the obstacle information around the moving body, the location information of the moving body, the road information, the obstacle information around the roadside acquired by the roadside information acquisition unit, and the vehicle status information, The aforementioned An emergency stop request is issued. The aforementioned action plan generation unit, An action planning device according to any one of the appendices 1 to 3, which generates an action plan to stop the moving object before it enters the intersection. (Note 5) The stop request determination unit, Furthermore, it is determined whether the moving object is approaching an intersection. If it is determined that the moving object is approaching the intersection, the unit further acquires intersection road information from the road information acquisition unit and intersection obstacle information from the roadside information acquisition unit. If it is not possible to obtain both the aforementioned intersection road information and the aforementioned intersection obstacle information, The aforementioned An emergency stop request is issued. The aforementioned action plan generation unit, An action planning device according to any one of the appendices 1 to 3, which generates an action plan to stop the moving object before it enters the intersection. (Note 6) The vehicle is equipped with the aforementioned obstacle information acquisition unit, self-position acquisition unit, road information acquisition unit, roadside information acquisition unit, and vehicle status information acquisition unit. Note An action planning device as described in any one of items 1 to 5. (Note 7) An action planning device described in any one of the items 1 to 6 of the appendix, The aforementioned A vehicle control system comprising a vehicle control unit for controlling a moving object. (Note 8) A method for generating an action plan, which is performed using an action planning device, Steps include acquiring information about obstacles around the moving object, The steps include: acquiring the location information of the moving object, The steps include: acquiring road information around the aforementioned moving object, Steps include acquiring information about obstacles around the roadside, The steps include: acquiring vehicle state information including the control state of the moving body; The steps include determining whether an abnormality has occurred in at least one of the acquired obstacle information around the mobile body, location information of the mobile body, road information, obstacle information around the roadside, and vehicle status information, When it is determined that the aforementioned abnormality has occurred, If the pre-configured conditions for outputting an emergency stop request are met, The aforementioned An emergency stop request is issued. If the above output conditions are not met, the step is to output a stop request, If the aforementioned emergency stop request is issued, the steps include: planning an action to stop immediately; A method for generating an action plan, comprising the step of generating an action plan to avoid the moving object stopping in an area that would obstruct the progress of other traffic participants when the aforementioned stop request is issued. (Note 9) In advance configured The aforementioned The conditions for issuing an emergency stop request are when it is unavoidable for the moving object to stop within the area if it continues to travel. When it is determined that the aforementioned abnormality has occurred, If the moving body continues to travel, it cannot be avoided that it will stop within the area. The aforementioned The method for generating an action plan as described in Appendix 8, which outputs an emergency stop request. (Note 10) Before the step of determining whether or not the aforementioned abnormality has occurred, The steps include determining whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, if any one of the following information cannot be obtained: information on obstacles around the moving object, the position information of the moving object, the road information, information on obstacles around the roadside, and the vehicle status information, The aforementioned The steps include: outputting an emergency stop request and generating an action plan to stop the moving object before it enters the intersection; The method for generating an action plan as described in Appendix 8 or 9, further comprising the above. (Note 11) Before the step of determining whether or not the aforementioned abnormality has occurred, The steps include determining whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, the steps include obtaining intersection road information from the road information and intersection obstacle information from the obstacle information around the roadside, If it is not possible to obtain both the aforementioned intersection road information and the aforementioned intersection obstacle information, The aforementioned The steps include: outputting an emergency stop request and generating an action plan to stop the moving object before it enters the intersection; The method for generating an action plan as described in Appendix 8 or 9, further comprising the above. [Explanation of Symbols]

[0095] 10: Obstacle information acquisition unit, 12, 12a, 12b, 12c, 12d, 12e, 12f, 12g: Obstacle information detection unit, 20: Road information acquisition unit, 30: Self-position acquisition unit, 32: Self-position detection unit, 40: Vehicle status information acquisition unit, 41: Vehicle abnormality detection unit, 42: Vehicle status detection unit, 50: Roadside information acquisition unit, 100: Action planning device, 120: Stop request determination unit, 140: Action plan generation unit, 200: Vehicle control unit, 300: Information acquisition unit, 1000: Vehicle control system, 1001: Arithmetic processing circuit, 1002: Memory device, 1003: Input / output circuit, 1004: Communication circuit, 2000: Drive system device, OV: Own vehicle, RU: Roadside unit, RUA: Area, CNF: Area, SN1, SN2, SN3, SN4, SN5, SN6, SN7: Detection range; SL1, SL2, SL3, SL4: Stop line; SP: Stop position; STR: Straight path.

Claims

1. Obstacle information around the moving object acquired by the obstacle information acquisition unit, The position information of the moving body acquired by the self-position acquisition unit, Road information around the moving object acquired by the road information acquisition unit, Obstacle information around the roadside acquired by the roadside information acquisition unit, and An action planning device into which vehicle status information, including the control status of the moving body acquired by the vehicle status information acquisition unit, is input, A stop request determination unit determines whether or not to output an emergency stop request for the mobile body when it is determined that an abnormality has occurred in at least one of the following: obstacle information around the mobile body acquired by the obstacle information acquisition unit, position information of the mobile body acquired by the self-position acquisition unit, road information acquired by the road information acquisition unit, obstacle information around the roadside acquired by the roadside information acquisition unit, and vehicle status information acquired by the vehicle status information acquisition unit. The system includes an action plan generation unit that generates an action plan for the moving body, The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, If the moving object cannot avoid stopping in an area that would obstruct the progress of other traffic participants if it continues to move, the emergency stop request is output. If the moving body can avoid stopping within the area even if it continues to move, a stop request is output. The aforementioned action plan generation unit, If the emergency stop request is output from the stop request determination unit, an action plan to stop immediately is generated. An action planning device that, when the stop request determination unit outputs the stop request, generates an action plan to avoid the moving body stopping within the area.

2. Obstacle information around the moving object obtained by the obstacle information acquisition unit, The position information of the moving body acquired by the self-position acquisition unit, Road information around the moving object acquired by the road information acquisition unit, Obstacle information around the roadside acquired by the roadside information acquisition unit, and An action planning device into which vehicle status information, including the control status of the moving body acquired by the vehicle status information acquisition unit, is input, A stop request determination unit determines whether or not to output an emergency stop request for the mobile body when it is determined that an abnormality has occurred in at least one of the following: obstacle information around the mobile body acquired by the obstacle information acquisition unit, position information of the mobile body acquired by the self-position acquisition unit, road information acquired by the road information acquisition unit, obstacle information around the roadside acquired by the roadside information acquisition unit, and vehicle status information acquired by the vehicle status information acquisition unit. The system includes an action plan generation unit that generates an action plan for the moving body, The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, If the pre-set conditions for outputting the emergency stop request are met, the emergency stop request is output. If the above output conditions are not met, a stop request will be output. The aforementioned action plan generation unit, If the emergency stop request is output from the stop request determination unit, an action plan to stop immediately is generated. When the stop request determination unit outputs the stop request, it generates an action plan to avoid the moving object stopping in an area that would obstruct the progress of other traffic participants, The stop request determination unit, Furthermore, it is determined whether the moving object is approaching an intersection. If it is determined that the moving object is approaching the intersection, If any of the following information cannot be obtained from the obstacle information acquisition unit, the location information of the moving body, the road information, the roadside obstacle information acquired from the roadside information acquisition unit, and the vehicle status information, the emergency stop request is output. The aforementioned action plan generation unit, An action planning device that generates an action plan to stop the moving object before it enters the intersection.

3. Obstacle information around the moving object obtained by the obstacle information acquisition unit, The position information of the moving body acquired by the self-position acquisition unit, Road information around the moving object acquired by the road information acquisition unit, Obstacle information around the roadside acquired by the roadside information acquisition unit, and An action planning device into which vehicle status information, including the control status of the moving body acquired by the vehicle status information acquisition unit, is input, A stop request determination unit determines whether or not to output an emergency stop request for the mobile body when it is determined that an abnormality has occurred in at least one of the following: obstacle information around the mobile body acquired by the obstacle information acquisition unit, position information of the mobile body acquired by the self-position acquisition unit, road information acquired by the road information acquisition unit, obstacle information around the roadside acquired by the roadside information acquisition unit, and vehicle status information acquired by the vehicle status information acquisition unit. The system includes an action plan generation unit that generates an action plan for the moving body, The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, If the pre-set conditions for outputting the emergency stop request are met, the emergency stop request is output. If the above output conditions are not met, a stop request will be output. The aforementioned action plan generation unit, If the emergency stop request is output from the stop request determination unit, an action plan to stop immediately is generated. When the stop request determination unit outputs the stop request, it generates an action plan to avoid the moving object stopping in an area that would obstruct the progress of other traffic participants, The stop request determination unit, Furthermore, it is determined whether the moving object is approaching an intersection. If it is determined that the moving object is approaching the intersection, the unit further acquires intersection road information from the road information acquisition unit and intersection obstacle information from the roadside information acquisition unit. If neither the intersection road information nor the intersection obstacle information can be obtained, the emergency stop request is output. The aforementioned action plan generation unit, An action planning device that generates an action plan to stop the moving object before it enters the intersection.

4. The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, The action planning device according to claim 2 or 3, which outputs the emergency stop request if the moving body cannot avoid stopping within the area if it continues to move.

5. The stop request determination unit, When it is determined that the aforementioned abnormality has occurred, The action planning device according to any one of claims 1 to 3, wherein if the location where the moving body makes an emergency stop is within the permitted stopping area included in the road information, the device outputs the emergency stop request.

6. The action planning device according to any one of claims 1 to 3, comprising the obstacle information acquisition unit, the self-position acquisition unit, the road information acquisition unit, the roadside information acquisition unit, and the vehicle status information acquisition unit.

7. A vehicle control system comprising an action planning device according to any one of claims 1 to 3, and a vehicle control unit for controlling the moving body.

8. A method for generating an action plan, which is performed using an action planning device, Steps include acquiring information about obstacles around the moving object, The steps include: acquiring the location information of the moving object, The steps include: acquiring road information around the aforementioned moving object, Steps include acquiring information about obstacles around the roadside, The steps include: acquiring vehicle state information including the control state of the moving body; The steps include determining whether an abnormality has occurred in at least one of the acquired obstacle information around the mobile body, location information of the mobile body, road information, obstacle information around the roadside, and vehicle status information, When it is determined that the aforementioned abnormality has occurred, If the moving object cannot avoid stopping in an area that would obstruct the progress of other traffic participants if it continues to move, an emergency stop request will be issued. If the moving body can avoid stopping within the area even if it continues to move, the step of outputting a stop request, If the aforementioned emergency stop request is issued, the steps include: planning an action to stop immediately; A method for generating an action plan, comprising the step of generating an action plan to avoid the moving object stopping within the area when the aforementioned stop request is output.

9. Before the step of determining whether or not the aforementioned abnormality has occurred, The steps include determining whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, if any one of the following cannot be obtained, such as the obstacle information around the moving object, the position information of the moving object, the road information, the obstacle information around the roadside, and the vehicle status information, the emergency stop request is output, and an action plan is generated to stop the moving object before it enters the intersection. The method for generating an action plan according to claim 8, further comprising:

10. Before the step of determining whether or not the aforementioned abnormality has occurred, The steps include determining whether the moving object is approaching an intersection, When it is determined that the moving object is approaching the intersection, the steps include obtaining intersection road information from the road information and intersection obstacle information from the obstacle information around the roadside, If neither the aforementioned intersection road information nor the aforementioned intersection obstacle information can be obtained, the steps include outputting the emergency stop request and generating an action plan to stop the moving object before it enters the intersection, The method for generating an action plan according to claim 8, further comprising:

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