Vehicle control system, vehicle control method, and program

Abstract

The purpose of the present invention is to estimate driving performance of a target vehicle. This vehicle control system comprises: an identification means that identifies a target vehicle that is traveling in the vicinity of a host vehicle and whose driving performance is to be estimated; a control means that controls the host vehicle such that the target vehicle performs a predetermined operation by the operation of the host vehicle, or issues a control instruction to at least one of a traffic infrastructure provided on a road on which the target vehicle travels and a moving body that moves in the vicinity of the target vehicle such that the target vehicle performs the predetermined operation by the operation of at least one of the traffic infrastructure and the moving body; an operation detection means that detects the operation of the host vehicle or the predetermined operation of the target vehicle corresponding to the operation of at least one of the traffic infrastructure and the moving body; and a driving performance estimation means that estimates the driving performance of the target vehicle on the basis of the predetermined operation of the target vehicle detected by the operation detection means.

Description

Vehicle control system, vehicle control method, and program

[0001] The present disclosure relates to a vehicle control system, a vehicle control method, and a program.

[0002] A system that monitors an autonomous driving target vehicle existing in the surroundings and acquires information related to the autonomous driving of the target vehicle is known (see, for example, Patent Document 1).

[0003] International Publication No. 2023 / 032276

[0004] For example, when the above system cannot communicate with the autonomous driving target vehicle, it cannot acquire information on the autonomous driving of the target vehicle. Therefore, the above system cannot specify the version of the autonomous driving program installed in the target vehicle only by external features such as the vehicle type and license plate of the target vehicle, and there is a risk that it may be difficult to estimate the driving performance of the target vehicle.

[0005] An object of the present disclosure is to provide a vehicle control system, a vehicle control method, and a program that solve the above-described problems.

[0006] One aspect of the present disclosure for achieving the above objective is a vehicle control system comprising: identification means for identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; control means for controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or for issuing control instructions to at least one of the traffic infrastructure and moving bodies so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and moving bodies that move around the vehicle itself; action detection means for detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself or the actions of at least one of the traffic infrastructure and moving bodies; and driving performance estimation means for estimating the driving performance of the target vehicle based on the predetermined action of the target vehicle detected by the action detection means. One aspect of the present disclosure for achieving the above objective is a vehicle control method comprising: identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or giving a control instruction to at least one of the traffic infrastructure and / or a moving object so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and / or a moving object that moves around the vehicle itself; detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself or the actions of at least one of the traffic infrastructure and / or the moving object; and estimating the driving performance of the target vehicle based on the detected predetermined action of the target vehicle.One aspect of this disclosure for achieving the above objective is a program that causes a computer to perform the following steps: a process of identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; a process of controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or a process of issuing a control instruction to at least one of the traffic infrastructure and a moving body so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and the moving body; a step of detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself or the actions of at least one of the traffic infrastructure and the moving body; and a process of estimating the driving performance of the target vehicle based on the detected predetermined action of the target vehicle.

[0007] This disclosure provides a vehicle control system, a vehicle control method, and a program that solve any of the above-mentioned problems.

[0008] This is a block diagram showing the approximate hardware configuration of the vehicle control system related to this disclosure. This is a block diagram showing the approximate system configuration of the vehicle control system related to this disclosure. This is a flowchart showing an example of the flow of the vehicle control method related to this disclosure. This is a block diagram showing the approximate system configuration of the vehicle control system related to this disclosure. This is a block diagram showing the approximate system configuration of the vehicle control system related to this disclosure. This is a block diagram showing the approximate system configuration of the vehicle control system related to this disclosure.

[0009] Embodiment 1 The vehicle control system according to the present disclosure is implemented in the vehicle itself. When estimating the driving performance of a target vehicle traveling around the vehicle itself, the vehicle control system controls the vehicle itself or gives active control instructions to at least one of the following: traffic infrastructure and / or a moving object moving around the target vehicle.

[0010] As a result, the target vehicle performs the actions necessary for the estimation, allowing the vehicle control system to reliably detect these actions and, based on the detected actions, more accurately estimate the driving performance of the target vehicle.

[0011] Furthermore, even with the same vehicle model and program, differences in the vehicle's driving performance can occur depending on factors such as tire wear, the number of passengers, and the amount of cargo loaded. In response to this, the vehicle control system can more accurately estimate the vehicle's driving performance based on the detected actions.

[0012] Figure 1 is a block diagram illustrating the schematic hardware configuration of a vehicle control system according to the present disclosure. The vehicle control system 1 according to the present disclosure has a hardware configuration similar to that of a normal computer, as shown in Figure 1, for example, comprising a processor 11 such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), internal memory 12 such as RAM (Random Access Memory) or ROM (Read Only Memory), storage devices 13 such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), an input / output I / F 14 for connecting peripheral devices such as a display, and a communication I / F 15 for communicating with devices outside the device.

[0013] Figure 2 is a block diagram showing a schematic system configuration of the vehicle control system according to the present disclosure. The vehicle control system 1 according to the present disclosure includes a vehicle identification unit 2 that identifies a target vehicle, a vehicle control unit 3 that controls its own vehicle, an operation detection unit 4 that detects the operation of the target vehicle, and a driving performance estimation unit 5 that estimates the driving performance of the target vehicle.

[0014] As shown in Figure 2, the vehicle identification unit 2, vehicle control unit 3, motion detection unit 4, and driving performance estimation unit 5 are configured to be installed in the vehicle itself, but this configuration is not limited to that. At least one of the vehicle identification unit 2, vehicle control unit 3, motion detection unit 4, and driving performance estimation unit 5 may be installed, for example, in traffic infrastructure. The vehicle itself and the traffic infrastructure may transmit and receive information via vehicle-to-infrastructure communication.

[0015] The vehicle identification unit 2 is one specific example of an identification means. The vehicle identification unit 2 identifies a target vehicle that is traveling in the vicinity of the vehicle and whose driving performance is to be estimated. The vehicle identification unit 2 identifies a target vehicle that is in autonomous driving or manual driving mode, for example, based on an image of the target vehicle acquired by the vehicle's camera.

[0016] The vehicle control unit 3 is one specific example of a control means. The vehicle control unit 3 performs acceleration / deceleration control and left / right turning control of the vehicle by integrally controlling the drive unit such as the vehicle's motor, braking unit such as the brake device, and steering unit such as the steering device.

[0017] The vehicle control unit 3 controls its own vehicle so that the target vehicle performs a predetermined action by having the vehicle perform an active action toward the target vehicle. The vehicle control unit 3 controls its own vehicle so that it performs an active action, for example, that has been set in advance or selected by the user.

[0018] The above-mentioned proactive actions of one's own vehicle toward the target vehicle include, for example, cutting in front of the target vehicle, slowing down in front of the target vehicle, moving closer to the target vehicle from the side, and closing or widening the distance between one's vehicle and the target vehicle.

[0019] Furthermore, these actions must be such that the target vehicle can react with sufficient margin. The specified actions of the target vehicle include, for example, acceleration and deceleration, lane changes, and maintaining a safe distance between vehicles.

[0020] For example, the vehicle control unit 3 may control its own vehicle so that the target vehicle slows down by cutting in front of it. Alternatively, the vehicle control unit 3 may control its own vehicle so that the target vehicle behind it slows down by slowing down itself.

[0021] The vehicle control unit 3 may control its own vehicle so that it reduces the distance between itself and the target vehicle behind it, causing the target vehicle behind it to decelerate. The vehicle control unit 3 may also control its own vehicle so that it moves closer to the target vehicle to its side, causing the target vehicle to take evasive action (change lanes, swerve to the side).

[0022] Alternatively, instead of controlling the active operation of its own vehicle, the vehicle control unit 3 may issue control instructions to at least one of the traffic infrastructure installed on the road on which the vehicle is traveling, or a moving object moving around the vehicle, to perform an active operation toward the vehicle.

[0023] In other words, the vehicle control unit 3 may issue control instructions to at least one of the traffic infrastructure and the mobile body so that the target vehicle performs a predetermined action when at least one of the traffic infrastructure and the mobile body takes an active action toward the target vehicle. The vehicle control unit 3 may also issue control instructions to at least one of the traffic infrastructure and the mobile body via vehicle-to-vehicle communication, vehicle-to-infrastructure communication, etc.

[0024] The above-mentioned traffic infrastructure includes, for example, traffic lights, ETC (Electronic Toll Collection) gates, and toll gates. Mobile entities include vehicles moving around the target vehicle (in front, behind, to the side, etc.), mobile robots, and drones. Drones include ground-based mobile drones and flying mobile drones.

[0025] For example, the vehicle control unit 3 may issue control instructions to the target vehicle via vehicle-to-vehicle communication or the like, so that the target vehicle slows down when surrounding vehicles cut in front of it.

[0026] Furthermore, the vehicle control unit 3 may issue control instructions to the traffic light, via vehicle-to-infrastructure communication or the like, so that the target vehicle slows down when the traffic light displays a red light. Note that the display of the red light (red illumination) by this traffic light is, for example, a momentary display (about 1 second) that allows an autonomous vehicle to react instantaneously.

[0027] The vehicle control unit 3 may issue control instructions to traffic infrastructure (such as a traffic gate) via vehicle-to-infrastructure communication or the like, so that the vehicle changes lanes when the lane in which the vehicle is traveling changes from usable to unusable.

[0028] The motion detection unit 4 is a specific example of a motion detection means. The motion detection unit 4 detects a predetermined motion of the target vehicle in response to the active motion of the vehicle itself, or the active motion of at least one of the traffic infrastructure and the moving object.

[0029] The motion detection unit 4, for example, captures a predetermined action of the target vehicle using the vehicle's own camera or a roadside camera, and detects the captured image as the predetermined action of the target vehicle. The motion detection unit 4 may also detect sensor values ​​detected by the target vehicle's sensors at the time of the predetermined action of the target vehicle as the predetermined action of the target vehicle.

[0030] The driving performance estimation unit 5 is a specific example of a driving performance estimation means. The driving performance estimation unit 5 estimates the driving performance of the target vehicle based on predetermined actions of the target vehicle detected by the action detection unit 4.

[0031] The driving performance estimation unit 5 estimates the speed and type of reaction of the target vehicle when it performs a predetermined action, based on images of the target vehicle's predetermined actions detected by the action detection unit 4. The types of reactions include, for example, maintaining a constant distance between vehicles, overtaking a vehicle in front, changing lanes, accelerating or decelerating, etc.

[0032] The driving performance estimation unit 5 estimates the driving performance of the target vehicle based on the estimated reaction speed and type of reaction of the target vehicle. The driving performance estimation unit 5 estimates, for example, the version of the target vehicle's autonomous driving program, a responsiveness score indicating reaction performance, and a responsiveness sensitivity score indicating responsiveness performance as part of the driving performance of the target vehicle.

[0033] Reaction scores and reaction sensitivity scores can be expressed as level values, for example, increasing as the reaction performance and reaction sensitivity improve. Reaction sensitivity includes, for example, the degree of precision with which the distance between vehicles can be kept constant (in units of XX mm, XX cm, etc.).

[0034] Next, an example of a vehicle control method using the vehicle control system related to this disclosure will be described. Figure 3 is a flowchart showing an example of the flow of the vehicle control method related to this disclosure.

[0035] The vehicle identification unit 2 identifies a target vehicle that is traveling in the vicinity of its own vehicle and whose driving performance is to be estimated (step S101).

[0036] The vehicle control unit 3 controls its own vehicle so that it takes an active action toward the target vehicle, or issues a control instruction to at least one of the traffic infrastructure and the mobile body so that at least one of them takes an active action toward the target vehicle (step S102).

[0037] The motion detection unit 4 detects a predetermined motion of the target vehicle in response to an active motion of the vehicle itself, or an active motion of at least one of the traffic infrastructure and the moving object (step S103).

[0038] The driving performance estimation unit 5 estimates the driving performance of the target vehicle based on the predetermined actions of the target vehicle detected by the action detection unit 4 (step S104).

[0039] As described above, according to the vehicle control system 1 of this disclosure, the target vehicle performs actions necessary for estimating its driving performance in response to the active actions of its own vehicle or the active actions of at least one of the traffic infrastructure and the moving object. As a result, the vehicle control system 1 can reliably detect the actions necessary for estimating its driving performance and estimate the driving performance of the target vehicle more accurately based on the detected actions.

[0040] Embodiment 2 In this embodiment, the vehicle control unit 3 determines the control method for the host vehicle based on the result of comparing the driving performance of the target vehicle estimated by the driving performance estimation unit 5 with the driving performance of the host vehicle. The vehicle control unit 3 controls the host vehicle according to the determined control method.

[0041] For example, the vehicle control unit 3 compares the driving performance of the target vehicle ahead estimated by the driving performance estimation unit 5 with the driving performance of the host vehicle behind. The vehicle control unit 3 determines that the version of the automatic driving program of the target vehicle is higher than the version of the automatic driving program of the host vehicle and the driving performance of the target vehicle is higher than the driving performance of the host vehicle.

[0042] Thus, when the vehicle control unit 3 determines that the driving performance of the target vehicle is higher than the driving performance of the host vehicle, it may perform control to make the host vehicle follow the target vehicle ahead based on the result of the determination. By making the host vehicle follow a target vehicle with higher driving performance, the host vehicle can run more stably.

[0043] On the other hand, the vehicle control unit 3 determines that the version of the automatic driving program of the target vehicle is lower than the version of the automatic driving program of the host vehicle and the driving performance of the target vehicle is lower than the driving performance of the host vehicle. In this case, when the vehicle control unit 3 determines that the driving performance of the target vehicle is lower than the driving performance of the host vehicle, it may not perform control to make the host vehicle follow the target vehicle ahead based on the result of the determination.

[0044] Also, when the vehicle control unit 3 determines that the driving performance of the target vehicle is lower than the driving performance of the host vehicle behind it, it may perform control to increase the distance between the target vehicle and the host vehicle behind it. In this case, since the driving performance of the target vehicle ahead is low, by increasing the distance between the target vehicle and the host vehicle, the host vehicle can run more stably.

[0045] On the other hand, when the vehicle control unit 3 determines that the driving performance of the target vehicle is higher than the driving performance of the host vehicle behind it, it may perform control to reduce the distance between the target vehicle and the host vehicle behind it.

[0046] In this case, since the driving performance of the target vehicle ahead is high, by reducing the distance between the target vehicle and the host vehicle, the host vehicle can be made to follow the target vehicle with high driving performance while getting closer, and the host vehicle can be made to run more efficiently.

[0047] Furthermore, when the vehicle control unit 3 determines that the driving performance of a target vehicle traveling near the host vehicle is lower than that of the host vehicle, the vehicle control unit 3 may control the traveling position of the host vehicle so that the distance between the host vehicle and the target vehicle increases.

[0048] For example, when the host vehicle and the target vehicle are traveling on the same lane, the vehicle control unit 3 may perform control to change lanes and make the host vehicle travel on a lane different from the target vehicle, or may perform control to increase the distance between the host vehicle and the target vehicle.

[0049] In this case, since the driving performance of the target vehicle ahead is low, there is a possibility that the target vehicle may perform unexpected driving. Therefore, the vehicle control unit 3 preferably controls the traveling position of the host vehicle so that the distance between the host vehicle and the target vehicle increases.

[0050] Note that the control method described above is an example and is not limited thereto. The vehicle control unit 3 may perform control in an arbitrary combination of the above-described controls.

[0051] Embodiment 3 FIG. 4 is a block diagram showing a schematic system configuration of a vehicle control system according to the present disclosure. In addition to the above configuration, the vehicle control system 20 according to the present disclosure further includes a traffic state detection unit 6 that detects the traffic state around the target vehicle.

[0052] The traffic state detection unit 6 is a specific example of traffic state detection means. The traffic state detection unit 6 detects the traffic state around the target vehicle. The traffic state detection unit 6 may acquire information such as image information of a road photographed by a camera and VICS (registered trademark) (Vehicle Information and Communication System) information via vehicle-to-vehicle communication or road-to-vehicle communication, for example.

[0053] Based on the acquired information, the traffic condition detection unit 6 can detect traffic conditions around the target vehicle, such as whether or not there is congestion around the target vehicle, the number of other vehicles around the target vehicle, and whether or not there are emergency vehicles (ambulances, fire trucks, police cars, etc.) approaching the target vehicle.

[0054] The vehicle control unit 3 determines the timing for its own vehicle to take an active action toward the target vehicle, or for at least one of the traffic infrastructure and / or a mobile object to take an active action toward the target vehicle, based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 6.

[0055] For example, if the traffic condition detection unit 6 does not detect congestion around the target vehicle, the vehicle control unit 3 will control the vehicle to take proactive action toward the target vehicle. On the other hand, if the traffic condition detection unit 6 detects congestion around the target vehicle, the vehicle control unit 3 will not control the vehicle to take proactive action toward the target vehicle.

[0056] Furthermore, the area surrounding the target vehicle may be defined as the area within a predetermined distance (for example, 100m) from the target vehicle.

[0057] This is because, if the target vehicle performs a predetermined action in response to the active control of the vehicle by the vehicle control unit 3, the congestion around the target vehicle may be affected and worsened by the predetermined action of the target vehicle. Therefore, as described above, the vehicle control unit 3 confirms that there is no congestion around the target vehicle before performing active control of the vehicle.

[0058] Furthermore, if the number of other vehicles around the target vehicle detected by the traffic condition detection unit 6 is less than a predetermined number (for example, 2 vehicles), the vehicle control unit 3 controls the vehicle to take proactive action toward the target vehicle.

[0059] On the other hand, if the number of other vehicles around the target vehicle detected by the traffic condition detection unit 6 is greater than a predetermined number, the vehicle control unit 3 will not perform any control of its own vehicle to take proactive action toward the target vehicle.

[0060] This is to ensure that when a target vehicle performs a predetermined action in response to the active control of the vehicle control unit 3, many other vehicles in the vicinity of that target vehicle are not affected by that predetermined action. Therefore, as described above, the vehicle control unit 3 confirms that there are few other vehicles in the vicinity of the target vehicle before performing active control of the vehicle.

[0061] If the traffic condition detection unit 6 does not detect an emergency vehicle approaching the target vehicle, the vehicle control unit 3 controls the vehicle to take proactive action toward the target vehicle. On the other hand, if the traffic condition detection unit 6 detects an emergency vehicle approaching the target vehicle, the vehicle control unit 3 does not control the vehicle to take proactive action toward the target vehicle.

[0062] This is because, if the target vehicle performs a predetermined action in response to the active control of its own vehicle by the vehicle control unit 3, that predetermined action of the target vehicle may obstruct the movement of an emergency vehicle. Therefore, as described above, the vehicle control unit 3 confirms that there are no emergency vehicles approaching the target vehicle before performing active control of its own vehicle.

[0063] The vehicle control unit 3 may determine the type of proactive action to be taken when its own vehicle takes proactive action toward the target vehicle, or when at least one of the traffic infrastructure and the moving object takes proactive action toward the target vehicle, based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 6.

[0064] For example, if there are not many other vehicles around the vehicle in question, then whatever predetermined action the vehicle takes in response to its own active actions will have little impact on the surrounding traffic.

[0065] Therefore, if the vehicle control unit 3 determines, based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 6, that the number of other vehicles around the target vehicle is less than a predetermined number, it may control the vehicle to perform an arbitrarily selected active action.

[0066] On the other hand, if the vehicle control unit 3 determines, based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 6, that the number of other vehicles around the target vehicle is greater than a predetermined number, it may control the vehicle to perform proactive actions that have little impact on other vehicles in the vicinity, such as smooth and gentle acceleration or deceleration of the vehicle itself.

[0067] Furthermore, based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 6, the vehicle control unit 3 determines that the target vehicle is traveling behind it and performs proactive actions toward the target vehicle, such as slowing down its own vehicle.

[0068] On the other hand, the vehicle control unit 3, based on the traffic conditions around the target vehicle detected by the traffic condition detection unit 6, determines that the target vehicle is driving alongside its own vehicle, and controls the vehicle to take proactive action toward the target vehicle, such as moving its own vehicle closer to the target vehicle. In this way, the type of proactive action taken by the vehicle may be easily determined by considering only the positional relationship between the vehicle and the target vehicle.

[0069] Embodiment 4 Figure 5 is a block diagram showing a schematic system configuration of the vehicle control system according to the present disclosure. In addition to the above configuration, the vehicle control system 30 according to the present disclosure further includes an environmental information detection unit 7 that detects environmental information around the road on which the target vehicle is traveling.

[0070] The environmental information detection unit 7 is a specific example of an environmental information detection means. The environmental information detection unit 7 detects environmental information around the road on which the target vehicle is traveling. The environmental information around the road on which the target vehicle is traveling includes environmental information about intersections, pedestrian crossings, parks, schools, amusement facilities, and other places on the road where children tend to run out into the road.

[0071] The environmental information detection unit 7 can detect environmental information around the road on which the target vehicle is traveling, based on, for example, information from the vehicle's navigation system, map information, GPS (Global Positioning System) information, and images of the road surroundings acquired by cameras on the vehicle or the roadside.

[0072] The vehicle control unit 3 determines the timing for its own vehicle to take an active action toward the target vehicle, or for at least one of the traffic infrastructure and / or a mobile object to take an active action toward the target vehicle, based on the environmental information of the road surrounding the road on which the target vehicle is traveling, as detected by the environmental information detection unit 7.

[0073] For example, if the vehicle control unit 3 does not detect any intersections or pedestrian crossings where people tend to suddenly appear in the vicinity of the road the target vehicle is traveling on, the vehicle control unit 3 will control the vehicle to take proactive action toward the target vehicle.

[0074] On the other hand, if the vehicle control unit 3 detects an intersection or pedestrian crossing where people tend to suddenly appear in the vicinity of the road the target vehicle is traveling on, based on the environmental information detection unit 7, the vehicle control unit 3 will not take any proactive action toward the target vehicle.

[0075] In this way, the vehicle control unit 3 improves safety by proactively controlling its own vehicle after confirming that there are no intersections or pedestrian crossings in the vicinity of the road on which the target vehicle is traveling, for example, where pedestrians tend to suddenly run out into the road.

[0076] Embodiment 5 In this embodiment, the vehicle control unit 3 determines the type of active action to be taken by the vehicle based on the environmental information of the road surroundings detected by the environmental information detection unit 7.

[0077] For example, if the environment around a road is such that there is a park nearby or that children frequently run out into the road, it is preferable from a safety standpoint that the predetermined action of the target vehicle be an action that slows down and stops the vehicle. For this reason, if the vehicle control unit 3 determines, based on the environmental information of the road surrounding the vehicle detected by the environmental information detection unit 7, that there is a predetermined location such as a park where people frequently run out into the road around the road the target vehicle is traveling on, the vehicle control unit 3 may take an active action toward the target vehicle to control the vehicle so that the target vehicle slows down and stops.

[0078] For example, the vehicle control unit 3 may control its own vehicle so that the target vehicle slows down and stops when the vehicle slows down relative to the target vehicle behind it. Alternatively, the vehicle control unit 3 may issue a control instruction to a traffic light, such as via vehicle-to-infrastructure communication, so that the target vehicle slows down and stops when the traffic light displays a red light.

[0079] In this case, the vehicle control unit 3 does not perform any control or control instructions for its own vehicle, such as accelerating the target vehicle, closing the distance between itself and the target vehicle from behind, or swerving towards it.

[0080] This disclosure can also be implemented, for example, by having a processor execute a computer program, as shown in Figure 3.

[0081] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable medium. Non-transitory computer-readable medium includes various types of tangible storage medium. Examples of non-transitory computer-readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0082] Programs may be supplied to a computer by various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable medium can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0083] Each component of the vehicle control system according to the above-described embodiment can be implemented not only by program, but also, in whole or in part, by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

[0084] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0085] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.

[0086] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A vehicle control system comprising: identification means for identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; control means for controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or for issuing control instructions to at least one of the traffic infrastructure and moving bodies so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and moving bodies that move around the vehicle itself; action detection means for detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself, or the actions of at least one of the traffic infrastructure and moving bodies; and driving performance estimation means for estimating the driving performance of the target vehicle based on the predetermined action of the target vehicle detected by the action detection means. (Note 2) A vehicle control system as described in Note 1, wherein the control means determines a control method for the vehicle based on the result of comparing the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the vehicle itself, and controls the vehicle itself using the determined control method. (Note 3) A vehicle control system as described in Note 2, wherein the control means compares the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the vehicle itself, and if it is determined that the driving performance of the target vehicle is higher than the driving performance of the vehicle itself, it controls the vehicle itself to follow the target vehicle ahead. (Note 4) A vehicle control system as described in Note 2, wherein the control means compares the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the own vehicle, and if it is determined that the driving performance of the target vehicle is lower than the driving performance of the own vehicle, it performs control to widen the distance between the target vehicle and the own vehicle behind it.(Note 5) A vehicle control system as described in Note 2, wherein the control means compares the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the own vehicle, and if it is determined that the driving performance of the target vehicle traveling near the own vehicle is lower than the driving performance of the own vehicle, the control means controls the driving position of the own vehicle so that the distance between the own vehicle and the target vehicle increases. (Note 6) A vehicle control system as described in Note 1, further comprising a traffic state detection means for detecting the traffic state around the target vehicle, wherein the control means determines the timing for the own vehicle to take an active action toward the target vehicle, or for at least one of the traffic infrastructure and the moving body to take an active action toward the target vehicle, based on the traffic state around the target vehicle detected by the traffic state detection means. (Note 7) A vehicle control system according to Note 6, wherein the traffic state detection means detects at least one of the following as traffic conditions around the target vehicle: whether or not there is congestion around the target vehicle, the number of other vehicles around the target vehicle, and whether or not there is an emergency vehicle approaching the target vehicle. (Note 8) A vehicle control system according to Note 6, wherein, if the traffic state detection means does not detect congestion around the target vehicle, the control means controls the vehicle itself, or issues a control instruction for at least one of the traffic infrastructure and the mobile body to take an active action towards the target vehicle. (Note 9) A vehicle control system as described in Note 6, wherein the control means, when the number of other vehicles around the target vehicle detected by the traffic state detection means is less than a predetermined number, the vehicle itself takes an active action toward the target vehicle, controls the vehicle itself, or at least one of the traffic infrastructure and the mobile body takes an active action toward the target vehicle, or issues the control instruction.(Note 10) A vehicle control system as described in Note 6, wherein the control means, when the traffic state detection means does not detect an emergency vehicle approaching the target vehicle, controls the vehicle itself, or issues a control instruction for at least one of the traffic infrastructure and the mobile body to perform an active action toward the target vehicle. (Note 11) A vehicle control system as described in Note 1, further comprising a traffic state detection means for detecting the traffic state around the target vehicle, wherein the control means determines the type of active action when the vehicle itself performs an active action toward the target vehicle, or when at least one of the traffic infrastructure and the mobile body performs an active action toward the target vehicle, based on the traffic state around the target vehicle detected by the traffic state detection means. (Note 12) A vehicle control system as described in Note 11, wherein the control means controls the vehicle to perform an arbitrary active action toward the target vehicle, or instructs at least one of the traffic infrastructure and the moving object to perform an arbitrary active action toward the target vehicle, based on the traffic conditions around the target vehicle detected by the traffic conditions detection means, if it is determined that the number of other vehicles around the target vehicle is less than a predetermined number. (Note 13) A vehicle control system as described in Note 11, wherein the control means controls the vehicle to decelerate if it is determined that the target vehicle is traveling behind the vehicle, based on the traffic conditions around the target vehicle detected by the traffic conditions detection means, and controls the vehicle to move closer to the target vehicle if it is determined that the target vehicle is traveling alongside the vehicle to the side.(Note 14) A vehicle control system according to Note 1, further comprising environmental information detection means for detecting environmental information around the road on which the target vehicle is traveling, wherein the control means determines the timing for the vehicle to take an active action toward the target vehicle, or for at least one of the traffic infrastructure and the moving body to take an active action toward the target vehicle, based on the environmental information around the road detected by the environmental information detection means. (Note 15) A vehicle control system according to Note 1, wherein the control means determines the type of the active action based on the environmental information around the road detected by the environmental information detection means. (Note 16) A vehicle control system according to Note 15, wherein the control means, based on the environmental information around the road detected by the environmental information detection means, determines that there is a predetermined location around the road on which the target vehicle is traveling, and controls the vehicle to take an active action toward the target vehicle so that the target vehicle decelerates and stops. (Note 17) A vehicle control method comprising: identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or giving a control instruction to at least one of the traffic infrastructure and / or moving objects so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and / or moving objects that move around the vehicle itself; detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself or the actions of at least one of the traffic infrastructure and / or moving objects; and estimating the driving performance of the target vehicle based on the detected predetermined action of the target vehicle.(Note 18) A program that causes a computer to perform the following steps: a process of identifying a target vehicle that is traveling around the vehicle and whose driving performance is to be estimated; a process of controlling the vehicle so that the target vehicle performs a predetermined action based on the actions of the vehicle, or a process of issuing a control instruction to at least one of the traffic infrastructure and a moving object so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and the moving object; a step of detecting a predetermined action of the target vehicle in response to the actions of the vehicle, or the actions of at least one of the traffic infrastructure and the moving object; and a process of estimating the driving performance of the target vehicle based on the detected predetermined action of the target vehicle.

[0087] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 16 that are dependent on Appendice 1 {e.g., device} may also be dependent on Appendices 17 {e.g., method} and 18 {e.g., program} in the same way as in Appendices 2 to 16. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.

[0088] 1 Vehicle control system 2 Vehicle identification unit 3 Vehicle control unit 4 Motion detection unit 5 Driving performance estimation unit 6 Traffic condition detection unit 7 Environmental information detection unit 11 Processor 12 Internal memory 13 Storage device 20 Vehicle control system 30 Vehicle control system

Claims

1. A vehicle control system comprising: identification means for identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; control means for controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or for issuing control instructions to at least one of the traffic infrastructure and moving objects so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and moving objects that move around the vehicle itself; action detection means for detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself or the actions of at least one of the traffic infrastructure and moving objects; and driving performance estimation means for estimating the driving performance of the target vehicle based on the predetermined action of the target vehicle detected by the action detection means.

2. A vehicle control system according to claim 1, wherein the control means determines a control method for the vehicle based on the result of comparing the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the vehicle itself, and controls the vehicle using the determined control method.

3. A vehicle control system according to claim 2, wherein the control means compares the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the own vehicle, and if it is determined that the driving performance of the target vehicle is higher than the driving performance of the own vehicle, it performs control to make the own vehicle follow the target vehicle ahead.

4. A vehicle control system according to claim 2, wherein the control means compares the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the own vehicle, and if it is determined that the driving performance of the target vehicle is lower than the driving performance of the own vehicle, it performs control to widen the distance between the target vehicle and the own vehicle behind it.

5. A vehicle control system according to claim 2, wherein the control means compares the driving performance of a target vehicle estimated by the driving performance estimation means with the driving performance of the own vehicle, and if it is determined that the driving performance of the target vehicle traveling near the own vehicle is lower than the driving performance of the own vehicle, the control means controls the driving position of the own vehicle so as to increase the distance between the own vehicle and the target vehicle.

6. A vehicle control system according to claim 1, further comprising traffic state detection means for detecting traffic conditions around a target vehicle, wherein the control means determines the timing for the vehicle to take an active action toward the target vehicle, or for at least one of the traffic infrastructure and the mobile body to take an active action toward the target vehicle, based on the traffic conditions around the target vehicle detected by the traffic state detection means.

7. A vehicle control system according to claim 6, wherein the traffic state detection means detects at least one of the following as traffic conditions around the target vehicle: whether or not there is congestion around the target vehicle, the number of other vehicles around the target vehicle, and whether or not there is an emergency vehicle approaching the target vehicle.

8. A vehicle control system according to claim 6, wherein the control means, when the traffic state detection means does not detect congestion around the target vehicle, the vehicle itself performs an active action toward the target vehicle, controls the vehicle itself, or at least one of the traffic infrastructure and the moving body performs an active action toward the target vehicle, or issues the control instruction.

9. A vehicle control system according to claim 6, wherein the control means, when the number of other vehicles around the target vehicle detected by the traffic state detection means is less than a predetermined number, the vehicle itself performs an active action toward the target vehicle, controls the vehicle itself, or at least one of the traffic infrastructure and the mobile body performs an active action toward the target vehicle, or issues the control instruction.

10. A vehicle control system according to claim 6, wherein the control means, when the traffic state detection means does not detect an emergency vehicle approaching the target vehicle, performs an active action by the vehicle itself toward the target vehicle, controls the vehicle itself, or gives a control instruction to at least one of the traffic infrastructure and the mobile body to perform an active action toward the target vehicle.

11. A vehicle control system according to claim 1, further comprising traffic state detection means for detecting traffic conditions around the target vehicle, wherein the control means determines the type of active action to be performed when the vehicle itself performs an active action toward the target vehicle, or when at least one of the traffic infrastructure and the moving object performs an active action toward the target vehicle, based on the traffic conditions around the target vehicle detected by the traffic state detection means.

12. A vehicle control system according to claim 11, wherein the control means, based on the traffic conditions around the target vehicle detected by the traffic condition detection means, determines that the number of other vehicles around the target vehicle is less than a predetermined number, controls the vehicle to perform an arbitrary active action toward the target vehicle, or instructs at least one of the traffic infrastructure and the mobile body to perform an arbitrary active action toward the target vehicle.

13. A vehicle control system according to claim 11, wherein the control means controls the vehicle to decelerate if it determines, based on the traffic conditions around the target vehicle detected by the traffic condition detection means, that the target vehicle is traveling behind the vehicle, and controls the vehicle to move closer to the target vehicle if it determines that the target vehicle is traveling alongside the vehicle to the side.

14. A vehicle control system according to claim 1, further comprising environmental information detection means for detecting environmental information around a road on which the target vehicle is traveling, wherein the control means determines the timing for the vehicle to take an active action toward the target vehicle, or for at least one of the traffic infrastructure and the mobile body to take an active action toward the target vehicle, based on the environmental information around the road detected by the environmental information detection means.

15. A vehicle control system according to claim 1, further comprising environmental information detection means for detecting environmental information around the road on which the target vehicle is traveling, wherein the control means determines the type of active operation based on the environmental information around the road detected by the environmental information detection means.

16. A vehicle control system according to claim 15, wherein the control means, based on environmental information of the road surrounding detected by the environmental information detection means, determines that there is a predetermined location around the road on which the target vehicle is traveling, and controls the vehicle itself to perform an active action toward the target vehicle so that the target vehicle decelerates and stops.

17. A vehicle control method comprising: identifying a target vehicle whose driving performance is to be estimated while it is traveling around the vehicle itself; controlling the vehicle itself so that the target vehicle performs a predetermined action based on the actions of the vehicle itself, or giving a control instruction to at least one of the traffic infrastructure and / or a moving object so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and / or a moving object that moves around the vehicle itself; detecting a predetermined action of the target vehicle in response to the actions of the vehicle itself or the actions of at least one of the traffic infrastructure and / or the moving object; and estimating the driving performance of the target vehicle based on the detected predetermined action of the target vehicle.

18. A program that causes a computer to perform the following steps: a process of identifying a target vehicle that is traveling around the vehicle and whose driving performance is to be estimated; a process of controlling the vehicle so that the target vehicle performs a predetermined action based on the actions of the vehicle, or a process of issuing a control instruction to at least one of the traffic infrastructure and / or a moving object so that the target vehicle performs a predetermined action based on the actions of at least one of the traffic infrastructure and / or a moving object that moves around the vehicle; a step of detecting a predetermined action of the target vehicle in response to the actions of the vehicle, or the actions of at least one of the traffic infrastructure and / or the moving object; and a process of estimating the driving performance of the target vehicle based on the detected predetermined action of the target vehicle.

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