Vehicle control method, vehicle control device, and vehicle control system

Abstract

The present invention is a vehicle control method for meeting with a relief vehicle when an abnormality has occurred in a vehicle, the vehicle control method comprising: acquiring road information about a road on which the vehicle travels; determining whether or not an abnormality has occurred in the vehicle; if an abnormality has occurred in the vehicle, identifying an abnormal portion of the vehicle; determining a self-travelable section on a route to a destination of the vehicle on the basis of the road information and the abnormal portion; identifying, within the self-travelable section, at least one possible meeting location where the vehicle can meet the relief vehicle; and setting the location with the smallest difference in arrival time between the vehicle and the relief vehicle from among the possible meeting locations as a meeting location.

Description

Vehicle control method, vehicle control device, and vehicle control system

[0001] The present invention relates to a vehicle control method, a vehicle control device, and a vehicle control system.

[0002] Patent Document 1 discloses a control device that controls a vehicle according to a failure level when the vehicle fails.

[0003] Japanese Patent Application Laid-Open No. 2020-082918

[0004] However, the above control device does not disclose a method for moving passengers to the destination when the vehicle fails and cannot reach the destination. In this case, it is conceivable to transfer the passengers of the failed vehicle to a rescue vehicle and move them to the destination. However, even in this case, it is desirable to move the passengers to the destination as soon as possible. The present invention has been made to solve the above problems, and an object thereof is to provide a vehicle control method, a vehicle control device, and a vehicle control system for moving passengers to the destination as soon as possible when the vehicle cannot move to the destination due to a failure.

[0005] The present invention is a vehicle control method for merging with a rescue vehicle when an abnormality occurs in a vehicle, the method including obtaining road information on which the vehicle travels, determining whether an abnormality has occurred in the vehicle, and when an abnormality has occurred in the vehicle, identifying an abnormal part of the vehicle, determining a self-drivable section on a route to the destination of the vehicle based on the road information and the abnormal part, identifying at least one mergable position among the self-drivable sections where the vehicle can merge with the rescue vehicle, and setting a position where the difference in arrival times between the vehicle and the rescue vehicle is the smallest among the mergable positions as a merging position.

[0006] According to the present invention, when the vehicle cannot move to the destination due to a failure, the passengers can be moved to the destination as soon as possible.

[0007] This is a schematic configuration of a vehicle control system according to one embodiment of the present invention. This is a block diagram showing the hardware configuration of the server. This is a block diagram showing the hardware configuration of the vehicle. This is a block diagram showing the hardware configuration of the user terminal. This is a block diagram showing the software configuration of the server and vehicle. This is a diagram illustrating the overview of rescue by a rescue vehicle. This is a diagram illustrating the overview of rescue by a rescue vehicle. This is a flowchart showing the operation of the vehicle control system. This is a flowchart showing the operation of the vehicle control system.

[0008] The following describes a vehicle control system according to one embodiment of the present invention, with reference to the drawings. This vehicle control system is designed to allow a vehicle to merge with a rescue vehicle when an abnormality occurs in the vehicle itself.

[0009] As shown in Figure 1, this vehicle control system comprises a server 1, a vehicle 2 (sometimes referred to as the user vehicle) that can communicate with the server 1, at least one rescue vehicle 3, and a user terminal 4. In the following, information is transmitted and received via communication through the server 1, but depending on the content of the information, it can also be transmitted between, for example, vehicle 2, rescue vehicle 3, and user terminal 4. This will be explained in detail below.

[0010] <1. Server Hardware Configuration> Figure 2 is a block diagram showing the server hardware configuration. Server 1 comprises a control unit 11, a storage unit 12, and a transmitting / receiving unit 13, and is composed of a computer that communicates with vehicle 2, rescue vehicle 3, and user terminal 4, as will be described later.

[0011] The control unit 11 includes, for example, a CPU, RAM, ROM, etc., and performs various processes described later by executing programs stored in the storage unit 12. The storage unit 12 is composed of an auxiliary storage device such as an HDD or SSD, and stores data for performing various processes. Specifically, it stores the aforementioned programs, map data, location information of the vehicle and rescue vehicle, and the results of processing on the vehicle and rescue vehicle.

[0012] The transmitting / receiving unit 13 transmits and receives various information and signals between the vehicle 2, the rescue vehicle 3, and the user terminal 4. The transmitting / receiving unit 13 includes, for example, a wireless device which is an interface such as a wireless LAN. The wireless device includes, for example, a wireless module such as Wi-Fi® or Bluetooth®. As a result, the server 1 is connected to a network such as a wireless LAN, a public network such as the Internet, or a wireless network such as a mobile phone network including a communication base station.

[0013] <2. Vehicle Hardware Configuration> Figure 3 is a block diagram showing the vehicle hardware configuration. Vehicle 2 is a vehicle capable of autonomous driving, and for example, one of the following two automobiles can be used. The first is an automobile that is equipped with a navigation system and has a function to automatically control driving control (speed control and steering control), and is driven by a person. The second is an automobile that is equipped with a navigation system and has an automatic driving control function, and is driven unmanned.

[0014] As shown in Figure 3, the vehicle 2 includes an external environment acquisition unit 21, a vehicle control unit (vehicle control device) 22, a storage unit 23, a drive unit 24, and a transmitting / receiving unit 25.

[0015] The external environment acquisition unit 21 includes at least an imaging unit 211, a distance detection unit 212, a position detection unit 213, a direction detection unit 214, and an object detection unit 215, and acquires information regarding the position and orientation of the vehicle 2, an image of the area around the vehicle 2, and obstacles around the vehicle 2.

[0016] The imaging unit 211 captures images of the area in front of and around the vehicle 2 and outputs them as image data. For example, it is a CCD camera, a CMOS camera, or an HD camera. The imaging unit 211 continuously captures images of the area around the vehicle 2 and outputs the captured images as real-time video showing the area around the vehicle 2 to the vehicle control unit 22 and the transmitting / receiving unit 25. The transmitting / receiving unit 25 then transmits the captured video to the server 1 and the user terminal 4.

[0017] The distance detection unit 212 measures the distance to objects in front of and around the vehicle 2, and can use various sensors such as a laser rangefinder or an ultrasonic sensor. Examples of objects to be detected include pedestrians, bicycles, motorcycles, automobiles, and road obstacles (construction sites, traffic control materials, median strips, traffic signals, commercial facilities, residential facilities, vegetation, etc.). The state of the objects to be detected is not particularly limited, and can be detected whether they are moving or stationary.

[0018] The position detection unit 213 detects the current position of the vehicle 2, and can use, for example, a GPS device. The information regarding the current position of the vehicle 2 detected by the position detection unit 213 is output to the vehicle control unit 22 and the transmitting / receiving unit 25.

[0019] The direction detection unit 214 detects the direction of travel of the vehicle 2 (the direction the vehicle is facing). For example, a gyro sensor can be used.

[0020] The object detection unit 215 detects moving and stationary objects around the vehicle (in front, to the side, and behind), and can use, for example, a camera, a light sensor, or an infrared sensor. Examples of objects to be detected include pedestrians, bicycles, motorcycles, automobiles, and road obstacles (construction sites, traffic control materials, median strips, traffic lights, commercial facilities, residential facilities, vegetation, etc.). The state of the object to be detected is not particularly limited, and it can detect objects that are moving or stationary. In addition, multiple object detection units 215 are provided to detect objects in front of, to the side of, and behind the vehicle 2.

[0021] The vehicle control unit 22 controls the movement of the vehicle 2 through automatic driving (also known as autonomous driving). For example, the vehicle control unit 22 controls the vehicle 2 to move along the input driving path based on various environmental information obtained by the external environment acquisition unit 21. The vehicle control unit 22 may be a unit controlled using electronic circuits such as an ECU (Electronic Control Unit).

[0022] The vehicle control unit 22 uses various information input from the imaging unit 211, distance detection unit 212, position detection unit 213, direction detection unit 214, and object detection unit 215 to control the drive unit 24 in accordance with traffic laws and the surrounding conditions of the vehicle 2, thereby driving the vehicle 2. Specific operations include, for example, braking, turning signal operation, accelerator operation, steering operation, and shift lever operation. The automatic driving functions provided by the vehicle control unit 22 are not particularly limited, and known automatic driving technologies can be appropriately utilized.

[0023] Furthermore, if the vehicle control unit 22 detects an abnormality, it can activate the Minimum Risk Maneuver (MRM) emergency stop control to perform emergency stop control of the vehicle 2. The MRM emergency stop control is a control that automatically stops the vehicle 2 when the vehicle's movement is not handed over from system control to driver operation. The vehicle control unit 22 may also be configured to automatically activate the MRM emergency stop control without any operation by the occupants if it determines that it is necessary to activate the MRM emergency stop control. Alternatively, the MRM emergency stop control may be activated when it receives input from the occupants, for example, by providing an emergency stop button.

[0024] The storage unit 23 is a storage medium for storing various types of information, and can be, for example, ROM, RAM, SRAM, HDD, SSD, or a combination thereof. The storage unit 23 stores various types of information necessary for the vehicle control unit 22 to perform various processes. For example, it stores control programs, map information, road information, and a self-driving section determination table. Map information may be provided by a navigation device (not shown), server 1, etc. Road information is created from map information by, for example, a navigation device, and includes road information from the vehicle 2's starting point to its destination. In addition to the route to the destination, the road information also includes detailed information about the route (road). For example, it includes the type of road such as a general road or expressway, the number of lanes, lane information indicating whether lane changes are permitted, and shoulder information regarding the shoulder adjacent to the road. The self-driving section determination table will be described later.

[0025] The drive unit 24 includes a drive mechanism such as an electric motor and / or an internal combustion engine that are the driving source for the vehicle, a power transmission device including a drive shaft and an automatic transmission that transmits the output from these driving sources to the drive wheels, and a braking device that brakes the wheels. Based on the control signals input from the vehicle control unit 22, the drive unit 24 generates control signals for each of these drive mechanisms and performs driving control, including acceleration and deceleration of the vehicle. The drive unit 24 may also include other equipment necessary for the vehicle 201 to run, such as headlights, turn signals, hazard lights, and wipers.

[0026] The transmitting / receiving unit 25 transmits and receives various information and signals to and from the server 1. The transmitting / receiving unit 25 can have the same configuration as, for example, the transmitting / receiving unit 13 of the server 1.

[0027] <3. Hardware Configuration of Rescue Vehicle> The hardware configuration of rescue vehicle 3 can be the same as that of vehicle 2. Rescue vehicle 3 transmits the location information of rescue vehicle 3, acquired by the location detection unit, to server 1 via the transmission / reception unit. At this time, rescue vehicle 3 may transmit the location information of rescue vehicle 3 to server 1 when it receives a request from server 1, or it may transmit the location information to server 1 at predetermined intervals.

[0028] <4. Hardware Configuration of User Terminal> The user terminal 4 is a portable, well-known computer such as a smartphone or tablet computer owned by the user of the vehicle 2 described above. The user terminal 4 comprises at least a control unit 41, a storage unit 42, a transmitting / receiving unit 43, an input unit 44, and a display unit 45.

[0029] The control unit 41 includes, for example, a CPU, RAM, ROM, etc., and performs various processes described later by executing programs stored in the storage unit 42. The storage unit 42 is composed of an auxiliary storage device such as an HDD or SSD, and stores data for performing various processes. Specifically, the programs mentioned above are stored there.

[0030] The transmitting / receiving unit 43 transmits and receives various information and signals with the server 1. Specifically, it can have the same configuration as the transmitting / receiving unit 13 of the server 1.

[0031] The input unit 44 is a device for inputting various types of information for processing described later, and can be composed of a touch panel, a physical keyboard, various physical buttons, etc. The display unit 45 can be formed from a liquid crystal display or the like, and may also be a touch panel display.

[0032] <5. Vehicle Software Configuration> Figure 5 is a block diagram showing the software configuration of the server control unit and the vehicle control unit of the vehicle. The program loaded into RAM by the vehicle control unit 22 is interpreted and executed by the ECU, etc. As a result, as shown in Figure 5, the vehicle control unit 22 functions as a computer equipped with an abnormality detection unit 221, a self-driving section determination unit 222, a merging position detection unit 223, and a merging position setting unit 224.

[0033] The abnormality detection unit 221 detects whether or not an abnormality has occurred in any of the equipment of the vehicle 2. The self-driving section determination unit 222 determines the self-driving section from the point where the abnormality occurred to the destination, based on the abnormality that occurred and the road information described above. The self-driving section is determined based on the self-driving section determination table described above. An example of the self-driving section determination table is shown in Table 1.

[0034] As shown in Table 1, the autonomous driving section determination table indicates the function of the equipment where the malfunction occurred and the corresponding autonomous driving section. For example, if the position detection unit 213 malfunctions and the vehicle's position cannot be detected or estimated, it is determined that autonomous driving is impossible. Therefore, the vehicle stops at the point where the malfunction occurred.

[0035] Furthermore, for example, if the object detection unit 215 malfunctions and it is not possible to recognize an object to the side of the vehicle 2, the system determines that autonomous driving is possible up to a highway junction if the vehicle 2 is traveling on a highway (Case 1). On the other hand, if the vehicle 2 is traveling on a regular road, the system determines that autonomous driving is possible up to an intersection requiring a right or left turn, or to a public transportation boarding / alighting point such as a train station or bus stop (Case 2).

[0036] The self-driving section determination unit 222 then determines the section in which the vehicle 2 can drive under its own power, based on the self-driving section determination table and road information. For example, in the case of Case 1 above, the section from the point where the abnormality occurred to the next junction on the highway being traveled is the section in which the vehicle can drive under its own power.

[0037] The merging position detection unit 223 detects a position within the self-driving section determined as described above where merging with the rescue vehicle 3 is possible. For the vehicle 2 to merge with the rescue vehicle 3, at least enough space is needed for both the vehicle 2 and the rescue vehicle 3 to stop. At the merging point, space is also needed for the occupants of the vehicle 2 to transfer to the rescue vehicle 3, for example. Additionally, space is needed for the occupants of the rescue vehicle 3 to perform repairs on the vehicle 2. Based on road information, the merging position detection unit 223 detects one or more spaces within the self-driving section that satisfy the above requirements as merging positions. Such spaces can be selected from, for example, the shoulder of the road or a parking area adjacent to the road.

[0038] Furthermore, the merging position detection unit 223 also calculates the arrival time at each merging position, starting from the point where the anomaly occurred. The arrival time can be calculated, for example, using map information or a navigation device. However, when an anomaly occurs, the functions of the vehicle 2 may be limited, which may result in a limit on the vehicle speed. This point will be explained.

[0039] The merging position detection unit 223 determines whether or not there is a vehicle speed limit based, for example, on the vehicle speed limit table shown in Table 2 below.

[0040] According to Table 2, for example, if the powertrain output is limited or the handling stability deteriorates, the vehicle speed will be restricted. There is no particular upper limit on the vehicle speed, but depending on the abnormality that occurs, a speed can be set that prevents the vehicle from becoming immobile, at least to a point where it can merge. Also, according to Table 2, if visibility of the outside world decreases, the vehicle speed will be restricted according to the road being traveled on. For example, the vehicle speed can be set based on road congestion, weather conditions, etc.

[0041] In this way, based on the set upper limit of the vehicle speed, the mergeable position detection unit 232 calculates the arrival time at the mergeable position. The vehicle control unit 22 controls the drive unit 24 to travel at the set vehicle speed.

[0042] In this way, when the mergeable position is determined, the transceiver unit 25 transmits this to the server 1. In addition to the mergeable position, the transceiver unit 25 can also transmit, for example, the arrival time of the host vehicle 2 at the mergeable position, the position information where an abnormality has occurred, road information, and the like.

[0043] The merge position setting unit 224 acquires information about the rescue vehicle 3 from the server 1 via the transceiver unit 25. That is, when the server 1 receives the mergeable position from the vehicle 2, it calculates the arrival time of the rescue vehicle 3 at each mergeable position as described later and transmits it to the vehicle 2.

[0044] The merge position setting unit 224 compares the arrival time of the host vehicle 2 and the arrival time of the rescue vehicle 3 at each mergeable position, and sets the mergeable position with the smallest difference in arrival time as the merge position. For example, as in the example of FIG. 6, when three mergeable positions are detected, the mergeable position 2 with the smallest difference in arrival time is set as the merge position. In this way, when the merge position is set, the vehicle control unit 22 sets the route to the merge position, presents the merge position, the time required for the movement to the merge position, the arrival time, etc. to the user on the display of the vehicle 2, and then travels.

[0045] <6. Software Configuration of Server> As shown in FIG. 5, the program developed in the RAM by the control unit 11 of the server 1 is interpreted and executed by the CPU. Thereby, the control unit 11 functions as a computer including a rescue vehicle search unit 111 and a merge time calculation unit 112.

[0046] As described above, the rescue vehicle search unit 111 receives at least one mergeable position from the host vehicle 2. Then, it searches for rescue vehicles 3 located around the received mergeable positions. The merge time calculation unit 112 calculates the time when the rescue vehicle 3 arrives at each mergeable position from at least one mergeable position received from the host vehicle 2 and the position information of the rescue vehicle 3. The arrival time thus calculated is transmitted to the vehicle 2 by the transceiver 13.

[0047] In addition, when there are multiple mergeable positions and multiple rescue vehicles, the distances between each mergeable position and the rescue vehicle 3 may differ for each rescue vehicle 3. For example, as shown in FIG. 7, when there are mergeable positions 1 to 3, if the rescue vehicle 3A is the closest to the mergeable position 1 and the rescue vehicles 3B are the closest to the mergeable positions 2 and 3, the arrival times of the respective rescue vehicles 3A and 3B can be calculated.

[0048] Note that the arrival time can also be calculated by the rescue vehicle 3. In this case, the server 1 transmits the mergeable position to the rescue vehicle 3, and the rescue vehicle 3 transmits the arrival time calculated therein to the server 1.

[0049] Thus, when the arrival time of the rescue vehicle 3 is calculated, it is transmitted to the vehicle by the transceiver 13. As a result, as described above, the merge position is set in the vehicle 2.

[0050] Note that, as will be described later, when it is determined that the vehicle 2 cannot drive itself and there is a request for the rescue vehicle 3 from the vehicle 2, the rescue vehicle 3 around the vehicle 2 is searched for. And when the rescue vehicle 3 is found, a command is given to the rescue vehicle 3 to move to the stop position of the vehicle 2.

[0051] <7. Operation of the Vehicle Control System> Next, the operation of the vehicle control system configured as described above will be described while referring to the flowcharts of FIGS. 8 and 9.

[0052] As shown in Figure 8, when vehicle 2 detects an abnormality (step S101), it identifies the abnormal part (step S102). It also acquires the vehicle's path information (step S103) and determines the section between the abnormality location and the destination where the vehicle can be driven under its own power (step S104), as described above. If it is determined that vehicle 2 cannot be driven under its own power (YES in step S105), it executes the above-described MRM to stop vehicle 2 (step S106). Then, it requests a rescue vehicle 3 from server 1 (step S107). When rescue vehicle 3 arrives at the stopping location of vehicle 2, the driver transfers to rescue vehicle 3 and travels to the destination.

[0053] On the other hand, if it is determined that vehicle 2 can drive under its own power (NO in step S105), it is determined whether vehicle 2 can drive to the destination under its own power (step S108). If it is determined that vehicle 2 can drive to the destination under its own power (YES in step S108), vehicle 2 is moved to the destination (step S109). On the other hand, if it is determined that vehicle 2 cannot drive to the destination under its own power (NO in step S108), the merging position is set (step S110).

[0054] The merging point is set as shown in the flowchart in Figure 9. First, the vehicle speed is set according to Table 2 (step S201). Next, the arrival time at each possible merging point is calculated according to the vehicle speed (step S202). Subsequently, when Server 1 receives a request from Vehicle 2 for Rescue Vehicle 3 (including information on each possible merging point), it obtains the location information of Rescue Vehicle 3 (step S203) and calculates the fastest arrival time for each Rescue Vehicle 3 to each possible merging point (step S204). When Server 1 transmits the arrival times of each possible merging point for the Rescue Vehicle to the vehicle, Vehicle 2 determines the merging point (step S205).

[0055] Returning to Figure 8, let's continue the explanation. As described above, once the merging point is determined, vehicle 2 presents the route to the merging point to its occupants and then moves to the merging point (step S111). After that, at the merging point, the occupants of vehicle 2 can transfer to rescue vehicle 3 and travel to their destination. Alternatively, the occupants of rescue vehicle 3 can repair vehicle 2, and then travel to the destination in the repaired vehicle 2.

[0056] The information displayed on the vehicle 2's screen can be viewed on the display unit 45 of the user terminal 4. For example, information regarding merging positions can be transmitted from the vehicle 2 to the user terminal 4 via the server 1. Alternatively, it can be transmitted directly from the vehicle 2 to the user terminal 4.

[0057] <8. Features> According to this embodiment, the following effects can be obtained. (1) In the vehicle control system according to this embodiment, when an abnormality occurs in the vehicle 2, if the vehicle 2 is able to drive under its own power, the system determines the section of road that can be driven under its own power to the destination and is configured to merge with the rescue vehicle 3 in that section of road. At that time, the system sets the merging position that requires the shortest time for the vehicle 2 to move before merging with the rescue vehicle 3, thereby reducing the waiting time for the occupants of the vehicle 2. Therefore, the arrival time at the destination can be made as early as possible.

[0058] (2) If an abnormality occurs in vehicle 2, the vehicle speed when moving to the merging point may be limited depending on the location and severity of the abnormality. Therefore, in this embodiment, the vehicle speed is limited according to the location and severity of the abnormality. Thus, it is possible to prevent the vehicle from becoming unable to move before reaching the merging point due to the abnormality that occurs. However, the vehicle speed limiting process is not mandatory and can be adopted as needed.

[0059] <9. Modifications> Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention. For example, the following modifications are possible. Furthermore, the gist of the following modifications can be combined with each other as appropriate, and can also be combined with the above embodiment.

[0060] (1) In the above embodiment, the vehicle 2 is configured to perform automatic driving, but the above-described vehicle control unit (vehicle control device) can also be applied to a vehicle that is driven by an occupant. Similarly, the rescue vehicle 3 does not have to be automatically driven and may be a vehicle that is driven by an occupant.

[0061] (2) In the above embodiment, the server 1 calculates the time when the rescue vehicle 3 will arrive at the merging point, but this can also be done by the rescue vehicle 3 or the vehicle 2 itself. For example, if information regarding the merging point is transmitted to the rescue vehicle 3 from the vehicle 2 via the server 1, or directly from the vehicle 2, the rescue vehicle 3 can calculate the time of arrival at the merging point. Alternatively, if the server 1 or the rescue vehicle 3 transmits location information of the rescue vehicle 3 to the vehicle 2, the vehicle 2 can calculate the time of arrival of the rescue vehicle 3 at the merging point.

[0062] (3) In the above embodiment, the merging position is set in vehicle 2, but this can also be done in server 1 or rescue vehicle 3. For example, if vehicle 2 transmits information regarding a merging position and the time when vehicle 2 will arrive at the merging position to rescue vehicle 3 via server 1 or directly from vehicle 2, rescue vehicle 3 can calculate the merging position. Alternatively, if server 1 or vehicle 2 transmits information regarding a merging position and the time when vehicle 2 will arrive at the merging position, rescue vehicle 3 can calculate the merging position.

[0063] (4) In the above embodiment, it is also possible to set a merging point other than the route to the initially set destination. That is, before an abnormality occurs, a route that can reach the destination in the shortest time is basically set, but depending on the position of the rescue vehicle 3, it is also possible to set a merging point other than the initial route. In this case, multiple self-driving sections are set, including those other than the initial route, and a merging point can be set in relation to the position of the rescue vehicle 3 from a merging point selected from among the multiple self-driving sections.

[0064] 1: Server 2: Vehicle 3: Rescue vehicle

Claims

1. A vehicle control method for merging with a rescue vehicle when a vehicle malfunction occurs, comprising: acquiring road information on which the vehicle is traveling; determining whether or not a malfunction has occurred in the vehicle; identifying the malfunctioning part of the vehicle if a malfunction has occurred; determining the self-driving section of the route to the vehicle's destination based on the road information and the malfunctioning part; identifying at least one merging position within the self-driving section where the vehicle can merge with the rescue vehicle; and setting the position among the merging positions where the difference in arrival times between the vehicle and the rescue vehicle is smallest as the merging position.

2. The vehicle control method according to claim 1, wherein the vehicle travels to the merging position by autonomous driving.

3. The vehicle control method according to claim 1, wherein the driver of the vehicle is notified of the merging position, and the vehicle travels to the merging position under the driving of the driver.

4. The vehicle control method according to claim 1, wherein at least one of the merging locations is located on a route other than the shortest path to the vehicle's destination.

5. The vehicle control method according to claim 1, wherein, if the abnormal part is an object recognition part on the side of the vehicle, the merging position is set between the current location and a branching point, an intersection requiring a right or left turn, or a boarding / alighting point in public transport.

6. If the abnormal part is a traffic light recognition part, the merging position is set between the current location and a highway exit, a parking area, a boarding / alighting point for public transport on a highway, an intersection with traffic lights, or a boarding / alighting point for public transport, according to claim 1.

7. The vehicle control method according to claim 1, wherein the vehicle's speed limit is set based on at least one of the abnormal part and the degree of the abnormality.

8. The vehicle control method according to claim 1, wherein the merging position is specified as a position where both the vehicle and the rescue vehicle can stop and where the occupants of the vehicle can transfer to the rescue vehicle, or where the occupants of the rescue vehicle can repair the vehicle.

9. The vehicle control method according to claim 1, wherein, before the vehicle arrives at the merging position, the merging position, and the time required to reach the merging position are notified to the occupants of the vehicle.

10. The vehicle control method according to claim 1, wherein the road information includes at least one of road type information and lane information such as the number of lanes and whether lane changes are permitted.

11. A vehicle control device installed in a vehicle for merging with a rescue vehicle when an abnormality occurs in the vehicle, comprising: acquiring road information on which the vehicle is traveling; determining whether or not an abnormality has occurred in the vehicle; identifying the abnormal part of the vehicle if an abnormality has occurred; determining the self-driving section of the route to the vehicle's destination based on the road information and the abnormal part; identifying at least one merging position within the self-driving section where the vehicle can merge with the rescue vehicle; and setting the position among the merging positions where the difference in arrival times between the vehicle and the rescue vehicle is smallest as the merging position.

12. A vehicle control system for merging a vehicle with a rescue vehicle when a vehicle malfunction occurs, comprising a server, the vehicle, and at least one rescue vehicle, wherein the vehicle acquires road information on which it is traveling, determines whether or not a malfunction has occurred in the vehicle, identifies the malfunctioning part of the vehicle if a malfunction has occurred, determines the self-driving section on the route to the vehicle's destination based on the road information and the malfunctioning part, identifies at least one merging location within the self-driving section where it can merge with the rescue vehicle, transmits the merging location to the server, receives from the server the time the rescue vehicle will arrive at the merging location, and sets the location among the merging locations where the difference in arrival times between the vehicle and the rescue vehicle is smallest as the merging location, wherein the server selects a rescue vehicle that can move to the merging location in response to a request from the vehicle. A vehicle control system configured to acquire the arrival time of the rescue vehicle at the merging point and transmit the arrival time to the vehicle, wherein the rescue vehicle is configured to move to the merging point upon acquiring the location information of the merging point.

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