JP6781335B2 - Vehicle control system, server device, vehicle control method, and vehicle control program - Google Patents

Description

The present invention relates to a vehicle control system, a server device, a vehicle control method, and a vehicle control program.

Conventionally, a search route device that searches a database based on the current position and displays nearby facility information on a display device has been disclosed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-209175

In the conventional technique, the traveling route of a vehicle is not determined in consideration of the traveling route of a peripheral vehicle.

The present invention has been made in consideration of such circumstances, and is a vehicle control system, a server device, a vehicle control method, and a vehicle capable of realizing smooth running by coordinating action plans between vehicles. One of the purposes is to provide a control program.

The embodiment (1) includes an action plan generation unit (123) that generates information about the action plan of the own vehicle, an action plan acquisition unit (160) that acquires information about the action plan of vehicles around the own vehicle, and the above. Based on the information about the action plan generated by the action plan generation unit, the automatic operation control unit (120, 140) for executing the automatic operation of the own vehicle is provided, and the action plan generation unit is the own vehicle. Based on the degree of relevance between the information on the action plan and the information on the action plan of the peripheral vehicle acquired by the action plan acquisition unit, the action plan of the own vehicle is changed and the action generated by the action plan generation unit is changed. The information about the plan and the action plan acquired by the action plan acquisition unit includes the target trajectory and the number of candidates for the target trajectory, and the action plan generation unit includes the number of candidates for the target trajectory of the own vehicle and the target number. It is a vehicle control system that compares the number of candidates for a target track of a peripheral vehicle and changes the action plan of the own vehicle when the number of candidates for the target track of the own vehicle is larger than the target track of the peripheral vehicle .

The embodiment (2) is generated by an action plan generation unit that generates information about the action plan of the own vehicle, an action plan acquisition unit that acquires information about the action plan of vehicles around the own vehicle, and the action plan generation unit. An automatic driving control unit that executes automatic driving of the own vehicle based on the information about the action plan is provided, and the action plan generation unit includes information about the action plan of the own vehicle and the action plan acquisition unit. Based on the degree of relevance to the information on the action plan of the peripheral vehicle acquired by, the action plan of the own vehicle is changed, and the action plan generated by the action plan generation unit and acquired by the action plan acquisition unit. The information about the action plan includes the target trajectory and the margin for the processing load due to the change of the action plan, and the action plan generation unit has the margin for the processing load due to the change of the action plan of the own vehicle. Comparing with the margin for the processing load due to the change in the action plan of the peripheral vehicle, the margin for the processing load due to the change in the action plan of the own vehicle is the margin for the processing load due to the change in the action plan of the peripheral vehicle. It is a vehicle control system that changes the action plan of the own vehicle when it is larger than the degree.

The embodiment (3) is the vehicle control system according to the embodiment (1) or (2), and the degree of relevance is the target trajectory included in the information regarding the action plan generated by the action plan generation unit. , The degree of interference with the target track included in the information regarding the action plan of the peripheral vehicle acquired by the action plan acquisition unit is included.

The embodiment (4) is the vehicle control system according to the embodiment (1) or (2) , and the action plan generation unit relates to information on the action plan of the own vehicle and the action plan of the peripheral vehicle. When the degree of relevance to the information is equal to or higher than the standard, it is determined whether or not to change the action plan of the own vehicle based on the information on the action plan of the own vehicle and the information on the action plan of the peripheral vehicle. , The action plan of the own vehicle is changed based on the determined result.

The embodiment (5) is the vehicle control system according to any one of the embodiments (1) to (4) , and the action plan acquisition unit is the own vehicle proposed by the peripheral vehicle. The action plan is acquired, and the action plan generation unit changes the action plan generated by the action plan generation unit based on the action plan of the own vehicle acquired by the action plan acquisition unit.

The embodiment (6) is the vehicle control system according to any one of the embodiments (1) to (5) , and the action plan generation unit generates an action plan for changing the peripheral vehicle. Then, the generated action plan for change is proposed to the peripheral vehicles.

The embodiment (7) is the vehicle control system according to the embodiment (6) , and the action plan generation unit gives a predetermined point to the action plan for change, and gives an action plan to the peripheral vehicle. Requests a change in.

In the embodiment (8) , the action plan acquisition unit (620) that acquires information on the action plans of a plurality of vehicles and the degree of relevance of the information on the action plans of the plurality of vehicles acquired by the action plan acquisition unit are derived. When the degree of relevance derived from the relevance degree derivation unit (630) and the degree of relevance derived from the relevance degree derivation unit are equal to or higher than the standard, adjustments are made to change at least one of the action plans of the plurality of vehicles. The information regarding the action plans of the plurality of vehicles acquired by the action plan acquisition unit, including the coordinating unit (640) , includes the target track and the number of candidates for the target track, and the plurality of vehicles are the first. The adjusting unit includes one vehicle and peripheral vehicles of the first vehicle, and the adjusting unit compares the number of candidates for the target track of the first vehicle with the number of candidates for the target track of the peripheral vehicle, and the first vehicle. This is a server device that makes adjustments for changing the action plan of the first vehicle when the number of candidates for the target track is larger than the target track of the peripheral vehicle .
In the embodiment (9), the action plan acquisition unit that acquires information on the action plans of a plurality of vehicles and the relevance degree that derives the relevance degree of the information on the action plans of the plurality of vehicles acquired by the action plan acquisition unit. It includes a derivation unit and an adjustment unit that makes adjustments to change at least one of the action plans of the plurality of vehicles when the degree of relevance derived from the derivation unit is equal to or higher than the standard. The information on the action plans of the plurality of vehicles acquired by the action plan acquisition unit includes the target trajectory and the margin for the processing load due to the change of the action plan, and the plurality of vehicles are the first vehicle. , The coordinating unit includes the margin for the processing load due to the change in the action plan of the first vehicle and the margin for the processing load due to the change in the action plan of the peripheral vehicle. When the margin for the processing load due to the change in the action plan of the first vehicle is larger than the margin for the processing load due to the change in the action plan of the peripheral vehicle, the action plan for the first vehicle is determined. A server device that makes adjustments to make changes.

The embodiment (10) is the server device according to the embodiment (8) or (9), and is a point management unit (which gives points to a vehicle whose action plan has been changed by a change instruction by the adjustment unit). 650) is further provided.

In the embodiment (11) , the in-vehicle computer generates information about the action plan of the own vehicle, acquires information about the action plan of vehicles around the own vehicle, and acquires the generated information about the action plan of the own vehicle. The action plan of the own vehicle is changed based on the degree of relevance to the information regarding the action plan of the peripheral vehicle, and the automatic operation of the own vehicle is executed based on the changed action plan of the own vehicle . The information regarding the action plan of the own vehicle and the action plan of the peripheral vehicle includes the target track and the number of candidates for the target track, and the number of candidates for the target track of the own vehicle and the candidate for the target track of the peripheral vehicle. It is a vehicle control method that changes the action plan of the own vehicle when the number of candidates for the target track of the own vehicle is larger than the target track of the peripheral vehicle by comparing with the number .
In the embodiment (12), the in-vehicle computer generates information on the action plan of the own vehicle, acquires information on the action plan of vehicles around the own vehicle, and acquires the generated information on the action plan of the own vehicle. The action plan of the own vehicle is changed based on the degree of relevance to the information regarding the action plan of the peripheral vehicle, and the automatic operation of the own vehicle is executed based on the changed action plan of the own vehicle. The information regarding the action plan of the own vehicle and the action plan of the peripheral vehicles includes the target trajectory and the margin for the processing load due to the change of the action plan, and the processing load due to the change of the action plan of the own vehicle. The margin is compared with the margin for the processing load due to the change in the action plan of the peripheral vehicle, and the margin for the processing load due to the change in the action plan of the own vehicle is due to the change in the action plan of the peripheral vehicle. This is a vehicle control method that changes the action plan of the own vehicle when it is larger than the margin for the processing load.

In the embodiment (13) , an in-vehicle computer is made to generate information about the action plan of the own vehicle, acquire information about the action plan of vehicles around the own vehicle, and generate information about the action plan of the own vehicle and the generated information. The action plan of the own vehicle is changed based on the degree of relevance with the acquired information on the action plan of the peripheral vehicle, and the automatic operation of the own vehicle is executed based on the changed action plan of the own vehicle. The information regarding the action plan of the own vehicle and the action plan of the peripheral vehicle includes the target track and the number of candidates for the target track, and the number of candidates for the target track of the own vehicle and the target track of the peripheral vehicle. This is a vehicle control program that compares the number of candidates with the target track of the own vehicle and changes the action plan of the own vehicle when the number of candidates for the target track of the own vehicle is larger than the target track of the peripheral vehicle .
In the embodiment (14), an in-vehicle computer is made to generate information on the action plan of the own vehicle, acquire information on the action plan of vehicles around the own vehicle, and generate information on the action plan of the own vehicle and the generated information. The action plan of the own vehicle is changed based on the degree of relevance with the acquired information on the action plan of the peripheral vehicle, and the automatic operation of the own vehicle is executed based on the changed action plan of the own vehicle. The information about the action plan of the own vehicle and the action plan of the peripheral vehicle includes the target trajectory and the margin for the processing load due to the change of the action plan, and the processing accompanying the change of the action plan of the own vehicle. The margin for the load is compared with the margin for the processing load due to the change in the action plan of the peripheral vehicle, and the margin for the processing load due to the change in the action plan of the own vehicle is the change in the action plan for the peripheral vehicle. It is a vehicle control program that changes the action plan of the own vehicle when it is larger than the margin for the processing load associated with the above.

According to the above-described embodiments (1) to (14) , the vehicle control system can realize smooth running by coordinating the action plans between the vehicles.

According to the above embodiments (1), (2), (4), and (11) to (14) , the vehicle control system appropriately determines whether or not the action plan of the own vehicle needs to be changed. Can be done.

According to the above embodiment (3) , the vehicle control system can suppress interference of the traveling path of the vehicle that may occur in the future based on the target trajectory.

According to the above embodiment (7) , it is possible to add value by changing the action plan. This allows the vehicle control system to motivate the occupants to change their action plans.

According to the above-described embodiments (8) and (9) , the server device can realize smooth running by coordinating action plans between vehicles.

According to the above embodiment (10) , it is possible to add value by changing the action plan. As a result, the server device can increase the motivation of the occupant to change.

It is a block diagram of the vehicle system 1 including the automatic driving control unit 100 of 1st Embodiment. It is a figure which shows how the own vehicle position recognition unit 122 recognizes the relative position and posture of the own vehicle M with respect to the traveling lane L1. It is a figure which shows how the target trajectory is generated based on a recommended lane. It is a figure for demonstrating the degree of relevance of information about an action plan. It is a figure for demonstrating how the action plan of own vehicle M was changed. It is a figure which shows an example of the action plan change confirmation screen 31A. It is a figure which shows an example of the action plan proposal confirmation screen 31C. It is a figure for demonstrating the state that the peripheral vehicle ma-3 changed the action plan. It is a flowchart which shows an example of the action plan change processing of 1st Embodiment. It is a figure which shows an example of the structure of the traffic information sharing system 400. It is a figure which shows an example of the point DB 660. It is a flowchart which shows an example of the action plan change processing of 2nd Embodiment.

Hereinafter, the vehicle control system, the server device, the vehicle control method, and the vehicle control program of the embodiment will be described with reference to the drawings. In the embodiment, it is assumed that the vehicle control system is applied to the autonomous driving vehicle.

<First Embodiment>
[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 including the automatic driving control unit 100 of the first embodiment. The vehicle on which the vehicle system 1 is mounted (hereinafter referred to as "own vehicle M") is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine. An electric motor or a combination thereof. The electric motor operates by using the power generated by the generator connected to the internal combustion engine or the discharge power of the secondary battery or the fuel cell.

The vehicle system 1 includes, for example, a camera (imaging unit) 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a navigation device 50, and an MPU. (Micro-Processing Unit) 60, vehicle sensor 70, driving controller 80, vehicle interior camera 90, automatic driving control unit 100, traveling driving force output device 200, braking device 210, steering device 220. To be equipped. These devices and devices are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, and the like. The configuration shown in FIG. 1 is merely an example, and a part of the configuration may be omitted or another configuration may be added. The "vehicle control system" includes, for example, a communication device 20, an HMI 30, and an automatic driving control unit 100. Further, a part or all of the navigation device 50 and the own vehicle position recognition unit 122, which will be described later, is an example of the “position information acquisition unit”. Further, a part or all of the HMI 30 and the interface control unit 150 described later are examples of the "interface unit".

The camera 10 is, for example, a digital camera that uses a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or a plurality of cameras 10 are attached to an arbitrary position of a vehicle (hereinafter, referred to as "own vehicle M") on which the vehicle system 1 is mounted. When photographing the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, and the like. When photographing the rear, the camera 10 is attached to the upper part of the rear windshield, the back door, or the like. When taking a side image, the camera 10 is attached to a door mirror or the like. The camera 10 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 10 may be a stereo camera. Further, the camera 10 may be an omnidirectional camera capable of photographing in all directions (360 °) with respect to the horizontal direction of the own vehicle M.

The radar device 12 radiates radio waves such as millimeter waves around the own vehicle M, and detects radio waves (reflected waves) reflected by the object to at least detect the position (distance and orientation) of the object. One or a plurality of radar devices 12 are attached to arbitrary positions of the own vehicle M. The radar device 12 may detect the position and velocity of the object by the FM-CW (Frequency Modulated Continuous Wave) method.

The finder 14 is a lidar (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures scattered light with respect to the irradiation light and detects the distance to the target. One or a plurality of finder 14s may be attached to any position of the own vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic operation control unit 100.

The communication device 20 communicates with peripheral vehicles existing in the vicinity of the own vehicle M by using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. Communicates with various server devices via the base station.

The HMI 30 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. The HMI 30 includes, for example, a display device 31, a speaker 32, a microphone 33, and various operation switches 34.

The display device 31 is an LCD (Liquid Crystal Display), an organic EL (Electro Luminescence) display device, or the like. The display device 31 is, for example, a touch panel type display device having a function of displaying an image and a function of receiving an approach position of an operator's finger to a display surface and an operation content. The speaker 32 outputs, for example, a sound based on the content displayed on the display device 31, an alarm, or the like. The microphone 33 receives, for example, the voice of the occupant of the own vehicle M.

The various operation switches 34 are arranged at arbitrary positions in the own vehicle M. The various operation switches 34 include, for example, an automatic operation changeover switch. The automatic operation changeover switch is a switch for the occupant to instruct the start (or future start) and stop of automatic operation. The various operation switches 34 may be either GUI (Graphical User Interface) switches or mechanical switches.

The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a routing unit 53, and the first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holds. The GNSS receiver identifies the position of the own vehicle M based on the signal received from the GNSS satellite. The position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 70. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partially or wholly shared with the above-mentioned HMI 30. For example, the route determination unit 53 sets a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI 52. 1 Determined with reference to map information 54. The first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by the user. Further, the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire the route returned from the navigation server.

The MPU 60 functions as, for example, the recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 61 divides the route provided by the navigation device 50 into a plurality of blocks (for example, divides the route every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane. The recommended lane determination unit 61 determines which lane to drive from the left. The recommended lane determination unit 61 determines the recommended lane so that the own vehicle M can travel on a reasonable traveling route to proceed to the branch destination when there is a branching point, a merging point, or the like on the route.

The second map information 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as highways, toll roads, national roads, and prefectural roads, the number of lanes on the road, the area of the emergency parking zone, the width of each lane, the slope of the road, and the position of the road (longitudinal). , Latitude, three-dimensional coordinates including height), curvature of lane curves, positions of lane confluences and branch points, signs provided on roads, and the like. The second map information 62 may be updated at any time by accessing another device using the communication device 20.

The vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the own vehicle M, and the like. Further, the vehicle sensor 70 includes a brake failure detection sensor that detects deterioration of the brake actuator of the brake device 210, an air pressure sensor that detects whether or not the air pressure of the running tire is equal to or less than a threshold value, and the like.

The driving operator 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel and other operators. A sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation operator 80, and the detection result is the automatic operation control unit 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to one or both of 220.

The vehicle interior camera 90 images the upper body centering on the face of the occupant seated in the driver's seat. The captured image of the vehicle interior camera 90 is output to the automatic driving control unit 100.

[Automatic operation control unit]
The automatic operation control unit 100 includes, for example, a first control unit 120, a second control unit 140, an interface control unit 150, an action plan transmission / reception unit 160, and a storage unit 170. The first control unit 120, the second control unit 140, the interface control unit 150, and the action plan transmission / reception unit 160 are realized by executing a program (software) by a processor such as a CPU (Central Processing Unit), respectively. Will be done. In addition, some or all of the functional units of the first control unit 120, the second control unit 140, the interface control unit 150, and the action plan transmission / reception unit 160 described below are LSI (Large Scale Integration) or ASIC (ASC). It may be realized by hardware such as Application Specific Integrated Circuit) and FPGA (Field-Programmable Gate Array), or it may be realized by the cooperation of software and hardware.

Further, among the external world recognition unit 121 of the first control unit 120, the vehicle position recognition unit 122, the action plan generation unit 123, and the travel control unit 141 of the second control unit 140, which will be described later, some or all of them are included. , This is an example of "automatic operation control unit". The automatic driving control unit automatically controls at least one of acceleration / deceleration or steering of the own vehicle M to control the automatic driving of the own vehicle M. Further, among the action plan generation unit 123 and the action plan transmission / reception unit 160, those including a part or all of them are an example of the “action plan acquisition unit”.

The first control unit 120 includes, for example, an outside world recognition unit 121, a vehicle position recognition unit 122, and an action plan generation unit 123.

The outside world recognition unit 121 recognizes the position, speed, acceleration, and other states of surrounding vehicles based on the information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. The position of the peripheral vehicle may be represented by a representative point such as the center of gravity or a corner of the peripheral vehicle, or may be represented by an area represented by the outline of the peripheral vehicle. The "state" of the peripheral vehicle may include the acceleration and jerk of the peripheral vehicle, or the "behavioral state" (eg, whether the vehicle is changing lanes or is about to change lanes).

Further, the outside world recognition unit 121 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects in addition to peripheral vehicles. In this case, the outside world recognition unit 121 determines, for example, whether or not there is an obstacle at the planned stop position of the own vehicle M in the automatic driving based on the recognition result by the object recognition device 16. Obstacles are other vehicles, pedestrians, and other objects. When it is determined that an obstacle exists at the planned stop position, the outside world recognition unit 121 instructs the action plan generation unit 123 to change the target trajectory.

The own vehicle position recognition unit 122 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling, and the relative position and posture of the own vehicle M with respect to the traveling lane. The own vehicle position recognition unit 122 is, for example, around the own vehicle M recognized from the pattern of the road marking line (for example, the arrangement of the solid line and the broken line) obtained from the second map information 62 and the image captured by the camera 10. The driving lane is recognized by comparing with the pattern of the road marking line. In this recognition, the position of the own vehicle M acquired from the navigation device 50 and the processing result by the INS may be added.

Then, the own vehicle position recognition unit 122 recognizes, for example, the position and posture of the own vehicle M with respect to the traveling lane. FIG. 2 is a diagram showing how the own vehicle position recognition unit 122 recognizes the relative position and posture of the own vehicle M with respect to the traveling lane L1. The own vehicle position recognition unit 122 is formed on, for example, a line connecting the deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the central CL of the traveling lane and the central CL of the traveling lane in the traveling direction of the own vehicle M. The angle θ is recognized as the relative position and orientation of the own vehicle M with respect to the traveling lane L1. Instead of this, the own vehicle position recognition unit 122 recognizes the position of the reference point of the own vehicle M with respect to any side end of the traveling lane L1 as the relative position of the own vehicle M with respect to the traveling lane. May be good. The relative position of the own vehicle M recognized by the own vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.

The action plan generation unit 123 generates an action plan for the own vehicle M to automatically drive to the destination or the like. For example, the action plan generation unit 123 determines events to be sequentially executed in automatic driving so as to drive in the recommended lane determined by the recommended lane determination unit 61 and to respond to the surrounding conditions of the own vehicle M. To do. The events include, for example, a constant-speed driving event in which the vehicle travels in the same driving lane at a constant speed, a following driving event that follows the vehicle in front, a lane change event, a merging event, a branching event, an emergency stop event, and automatic driving. There is a switching event to switch to manual operation. In addition, during the execution of these events, actions for avoidance may be planned based on the surrounding conditions of the own vehicle M (existence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).

The action plan generation unit 123 generates a target track on which the own vehicle M will travel in the future. The target track is expressed as a sequence of points (track points) to be reached by the own vehicle M. The track point is a point to be reached by the own vehicle M for each predetermined mileage, and separately, the target speed and target acceleration for each predetermined sampling time (for example, about 0 commas [sec]) are set as the target track. Is generated as part of. Further, the track point may be a position to be reached by the own vehicle M at the sampling time for each predetermined sampling time. In this case, the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.

FIG. 3 is a diagram showing how a target trajectory is generated based on the recommended lane. As shown, the recommended lanes are set to be convenient for driving along the route to the destination. When the action plan generation unit 123 approaches a predetermined distance before the recommended lane switching point (may be determined according to the type of event), the action plan generation unit 123 activates a lane change event, a branch event, a merging event, and the like. If it becomes necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as shown in the figure.

The action plan generation unit 123 generates, for example, a plurality of candidates for the target trajectory, and selects the optimum target trajectory at that time from the viewpoint of safety and efficiency.

Further, the action plan generation unit 123 has, for example, based on the degree of relevance between the generated information on the action plan of the own vehicle M and the information on the action plan of the peripheral vehicle received by the action plan transmission / reception unit 160. Change the action plan. The information regarding the action plan of the own vehicle M and the surrounding vehicles is, for example, at least one of the target track, the number of candidates for the target track, the margin for the processing load due to the change in the action plan, or the priority for the target track. including. Further, the action plan generation unit 123 may generate a local map in which the positional relationship between the own vehicle M and the surrounding vehicles and the information on the action plan are associated with each other as the information on the action plan. In addition, the action plan generation unit 123 may generate an action plan to be proposed to surrounding vehicles. Details of each of these functions will be described later.

The second control unit 140 includes, for example, a travel control unit 141. The travel control unit 141 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 123 on time. To do.

The interface control unit 150 controls the information output to the HMI 30. Further, the interface control unit 150 acquires the information received by the HMI 30.

The action plan transmission / reception unit 160 receives information regarding the action plan of peripheral vehicles from an external device. The external device is, for example, a peripheral vehicle existing around the own vehicle M and capable of inter-vehicle communication. Further, the external device may be a server device connected to the own vehicle M via a network. Further, the action plan transmission / reception unit 160 may receive information regarding the action plan of the own vehicle M proposed by the peripheral vehicle.

Further, the action plan transmission / reception unit 160 transmits, for example, the action plan of the own vehicle M generated by the action plan generation unit 123 to the external device. Further, the action plan transmission / reception unit 160 may transmit the action plan for change to the peripheral vehicle generated by the action plan generation unit 123 to the external device.

The storage unit 170 is a storage device such as an HDD (Hard Disk Drive), a flash memory, a RAM (Random Access Memory), and a ROM (Read Only Memory). For example, point information 170A is stored in the storage unit 170. The point information 170A is, for example, a point given when changing to an action plan proposed by an external device. Further, the point information 170A may be a point given when the action plan is changed in response to the action plan change request from the external device. Further, the point information 170A is used, for example, when requesting a peripheral vehicle to change the action plan or when causing the peripheral vehicle to execute automatic driving according to the action plan for change. Further, the storage unit 170 may store address information for communicating with an external device.

The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling the vehicle to the drive wheels. The traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls them. The ECU controls the above configuration according to the information input from the travel control unit 141 or the information input from the operation controller 80.

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the travel control unit 141 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the operation operator 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls the actuator according to the information input from the traveling control unit 141 to transmit the hydraulic pressure of the master cylinder to the cylinder. Good. Further, the brake device 210 may be provided with a plurality of systems of brake devices in consideration of safety.

The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the travel control unit 141 or the information input from the operation controller 80, and changes the direction of the steering wheel.

[Automated driving by coordinating action plans between vehicles]
Hereinafter, automatic driving by coordinating action plans between vehicles will be described. The own vehicle M of the first embodiment is based on, for example, the degree of relevance between the information on the action plan generated by the action plan generation unit 123 and the information on the action plan acquired by vehicle-to-vehicle communication with neighboring vehicles. The action plan of the vehicle M is determined, and the automatic operation of the own vehicle M is executed according to the determined action plan.

FIG. 4 is a diagram for explaining the degree of relevance of information regarding the action plan. The road 300 shown in FIG. 4 has three lanes 310-1 to 10-3. In addition, peripheral vehicles ma-1 to ma-3 exist around the own vehicle M. The peripheral vehicles ma-1 to ma-3 have the same configuration as the vehicle system 1 described above. The number of peripheral vehicle ma is not limited to three.

The action plan generation unit 123 generates information on the action plan based on, for example, the position of the peripheral vehicle recognized by the outside world recognition unit 121, the position of the own vehicle M recognized by the own vehicle position recognition unit 122, and the like. The action plan transmission / reception unit 160 uses the communication device 20 to perform inter-vehicle communication with the peripheral vehicles ma-1 to ma-3, and outputs information on the action plan generated by each of the peripheral vehicles ma-1 to ma-3. get. The action plan transmission / reception unit 160 may continuously (for example, every predetermined time) acquire information on the action plan of the surrounding vehicle.

Then, the action plan generation unit 123 derives the degree of relevance between the information regarding the action plan of the own vehicle M and the information regarding the action plan of the peripheral vehicles ma-1 to ma-3. Specifically, the action plan generation unit 123 compares the target track 320 of the own vehicle M with the target tracks 330-1 to 330-3 of the peripheral vehicles ma-1 to ma-3, respectively. In the action plan generation unit 123, for example, when the number of overlapping points of two target orbits is a predetermined number or more, or when the relative distance of the target orbits is within a predetermined distance, the target orbits interfere with each other. Is determined.

In the example of FIG. 4, the target track 320 of the own vehicle M and the target track 330-3 of the peripheral vehicle ma-3 interfere with each other. In this case, the action plan generation unit 123 increases the degree of relevance to the information regarding the action plan of the peripheral vehicle ma-3. Further, the action plan generation unit 123 increases the degree of relevance stepwise according to, for example, the length of the interference section. Further, the action plan generation unit 123 may gradually increase the degree of relevance according to the ratio of the interference section to the entire target trajectory.

Further, in the example of FIG. 4, since the target track 320 of the own vehicle M and the target tracks 330-1 and 330-2 of the peripheral vehicles ma-1 and ma-2 do not interfere with each other, the action plan generation unit 123 is in the vicinity. Decrease the degree of association with the vehicles ma-1 and ma-2.

In addition, when the degree of relevance of the peripheral vehicle ma-3 to the target trajectory is equal to or higher than the standard, the action plan generation unit 123 includes the number of candidates for the target trajectory, the margin, and the information on the action plan of the peripheral vehicle ma-3. And the priority, and at least one of the number of candidates for the target track of the own vehicle M, the margin, and the priority is compared. For example, when the number of candidates for the target trajectory of the own vehicle M is larger than the number of candidates for the target trajectory of the peripheral vehicle ma-3, the action plan generation unit 123 can change the own vehicle M more than the peripheral vehicle ma-3. Since there are many candidates for the target trajectory, the action plan of the own vehicle M is changed. Further, the action plan generation unit 123 indicates that the margin of the own vehicle M is larger than the margin of the peripheral vehicle ma-3, or the priority of the own vehicle M is equal to or lower than the priority of the peripheral vehicle ma-3. In addition, the action plan of the own vehicle M may be changed.

FIG. 5 is a diagram for explaining how the action plan of the own vehicle M is changed. The action plan generation unit 123 changes from a plurality of target trajectory candidates to a new target trajectory so that the degree of interference with the target trajectory of the peripheral vehicle ma-3 is reduced. In the example of FIG. 5, the target track 322 is changed to follow the peripheral vehicle ma-2.

Based on the changed target track 322, the action plan generation unit 123 derives the degree of relevance of the peripheral vehicles ma-1 to ma-3 with the target tracks 330-1 to 330-3, and the derived degree of relevance is less than the standard. In some cases, perform automatic driving in the action plan.

Further, the action plan generation unit 123 may execute automatic driving based on the action plan proposed by the peripheral vehicle ma. In this case, the interface control unit 150 causes the occupant to present that the action plan has been proposed by the HMI 30.

FIG. 6 is a diagram showing an example of the action plan change confirmation screen 31A. In the example of FIG. 6, the action plan change confirmation screen 31A is displayed on the display device 31 of the HMI 30. The action plan change confirmation screen 31A includes a button selection area 31B. The action plan transmission / reception unit 160 receives the action plan for change from the peripheral vehicle ma. After receiving, the interface control unit 150 displays that the action plan has been proposed and inquires whether to change to the proposed action plan, as shown in FIG. The interface control unit 150 may display the proposed action plan on the action plan change confirmation screen 31A.

Further, the interface control unit 150 may display information on the point information given when the action plan is changed on the action plan change confirmation screen 31A. By awarding points for changes, it is possible to make it easier for the occupants to accept the proposed action plan. The points awarded are set, for example, by the occupant who proposed the action plan. Further, the points to be given may be set to a fixed value for each action plan.

When the occupant accepts the selection of the GUI switch of "YES" displayed in the button selection area 31B, the action plan generation unit 123 executes the automatic operation according to the proposed action plan. Further, the action plan generation unit 123 stores the points given in association with the action plan in the storage unit as point information 170A. Further, the action plan generation unit 123 does not change to the proposed action plan when the occupant accepts the selection of the “NO” GUI switch displayed in the button selection area 31B.

Further, the action plan generation unit 123 may generate an action plan for change for the peripheral vehicle ma and transmit the generated action plan for change to the peripheral vehicle ma. In this case, the interface control unit 150 causes the occupants to present a screen for proposing an action plan to the peripheral vehicle ma and for the occupants of the own vehicle M to set points by the HMI 30.

FIG. 7 is a diagram showing an example of the action plan proposal confirmation screen 31C. In the example of FIG. 7, the display device 31 of the HMI 30 and the action plan proposal confirmation screen 31C are displayed. The action plan proposal confirmation screen 31C includes a button selection area 31D. The interface control unit 150 displays on the action plan proposal confirmation screen 31C that the action plan is proposed to the surrounding vehicles, and also displays an area for the occupant to set a point for the proposed action plan. The number of points that can be set is, for example, a value up to the number of points stored in the storage unit 170. After setting the points, the occupant selects the "execute" switch displayed in the button selection area 31D. As a result, the action plan transmission / reception unit 160 transmits the action plan for change to the surrounding vehicles together with the information regarding the points. The interface control unit 150 cancels the action plan proposal when the selection of the "cancel" switch is accepted.

FIG. 8 is a diagram for explaining how the peripheral vehicle ma-3 has changed the action plan. In the example of FIG. 8, the own vehicle M transmits the action plan for change to the peripheral vehicle ma-3. When the peripheral vehicle ma-3 makes a change based on the action plan for change transmitted from the own vehicle M, the peripheral vehicle ma-3 executes automatic driving with respect to the target track 332 included in the action plan for change.

Further, when the action plan transmission / reception unit 160 receives the information that the surrounding vehicle to be proposed has changed to the proposed action plan, the action plan transmission / reception unit 160 sets the number of points from the points of the point information 170A stored in the storage unit 170. Subtract.

The usage example of the point information 170A is not limited to the above example. For example, the action plan generation unit 123 may add points to raise the priority when transmitting its own action plan to surrounding vehicles. In this case, when the action plan generation unit 123 compares the information on the action plan of the own vehicle M with the information on the action plan of the surrounding vehicle, the action plan with the higher points given is the action plan with the higher priority. Judge that there is.

Further, as another usage example of the point information 170A, for example, it may be used as a vehicle insurance fee, may be used as a toll road usage fee, or may be used to acquire traffic congestion information. , Others may be used when purchasing products. The action plan generation unit 123 subtracts points from the point information 170A as the points are used.

The interface control unit 150 may analyze the line-of-sight direction of the occupant from the image captured by the vehicle interior camera 90 after displaying the screen shown in FIG. 6 or 7 on the display device 31. Then, when it is determined that the occupant is not looking at the display device 31, the interface control unit 150 may output a voice prompting the occupant to look at the display device 31 from the speaker 32. Further, when the interface control unit 150 does not receive the operation input from the occupant between the time when the screen as shown in FIG. 6 or 7 is displayed on the display device 31 and the time when the predetermined time elapses, Delete the screen display. In this case, the action plan generation unit 123 does not change to the proposed action plan or process the action plan regarding the proposal.

[Processing flow]
Hereinafter, an example of various vehicle controls by the vehicle system 1 of the first embodiment will be described. FIG. 9 is a flowchart showing an example of the action plan change process of the first embodiment. The process of FIG. 9 is executed at the timing of executing the automatic operation.

First, the action plan generation unit 123 generates information regarding the action plan of the own vehicle M (step S100). Next, the action plan transmission / reception unit 160 acquires information regarding the action plan of the peripheral vehicle ma (step S102). Next, the action plan generation unit 123 calculates the degree of relevance based on the information on the action plan of the own vehicle M and the information on the action plan of the peripheral vehicle ma (step S104).

Next, the action plan generation unit 123 determines whether or not the degree of relevance is equal to or higher than the standard (step S106). When the degree of relevance is equal to or higher than the standard, the action plan generation unit 123 changes the action plan of the own vehicle M (step S108). Further, when the degree of relevance is less than the standard, or after the end of step S108, the action plan generation unit 123 executes automatic operation based on the action plan (step S110).

Next, the action plan generation unit 123 determines whether or not to end the automatic operation (step S112). If the automatic operation is not terminated, the process returns to step S100. When the automatic operation is terminated, the processing of this flowchart is terminated.

As described above, according to the first embodiment, the vehicle control system can realize smooth running by coordinating action plans between vehicles by using vehicle-to-vehicle communication.

<Second Embodiment>
Next, the vehicle control system, the server device, the vehicle control method, and the vehicle control program of the second embodiment will be described. In the first embodiment described above, the degree of relevance is derived and the action plan is changed based on the information on the action plan of the surrounding vehicle acquired by the vehicle through vehicle-to-vehicle communication, but in the second embodiment, the degree of relevance is changed. The server device performs derivation and adjustment of the action plan. Since the configuration of the automatic operation control unit in the second embodiment is the same as the configuration of the automatic operation control unit 100 in the first embodiment, a specific description thereof will be omitted here. In the second embodiment, the action plan transmission / reception unit 160 of the automatic driving control unit 100 communicates with the server device 600, not with peripheral vehicles.

First, the traffic information sharing system including the automatic driving control unit 100 and the server device in the second embodiment will be described. FIG. 10 is a diagram showing an example of the configuration of the traffic information sharing system 400. The traffic information sharing system 400 includes a plurality of vehicles m-1 to m-k (k is an arbitrary natural number) equipped with the automatic driving control unit 100, a base station device 500, and a server device 600. For example, the vehicles m-1 to m-k are equipped with the same configuration as the own vehicle M described above. Hereinafter, when vehicles m-1 to m-k are not distinguished from others, they are simply referred to as vehicle m. Further, the vehicle m includes the own vehicle M.

Wireless communication is performed between the vehicle m and the base station device 500, for example, using a mobile phone network, a Wi-Fi network, or the like. Further, communication is performed between the base station device 500 and the server device 600 via the network NW. The network NW is, for example, WAN (Wide Area Network), LAN (Local Area Network), the Internet, or the like. The vehicle m communicates with the server device 600 via the base station device 500.

The server device 600 includes, for example, a server-side communication unit 610, an action plan acquisition unit 620, a relevance degree derivation unit 630, an adjustment unit 640, and a storage unit 660. The action plan acquisition unit 620, the relevance degree derivation unit 630, and the adjustment unit 640 are each realized by executing a program by a processor such as a CPU. Further, some or all of the functional units of the action plan acquisition unit 620, the relevance degree derivation unit 630, and the adjustment unit 640 may be realized by hardware such as LSI, ASIC, and FPGA, or software and hardware. It may be realized by the cooperation of hardware. The storage unit 660 is a storage device for HDDs, flash memories, RAMs, ROMs, and the like. Information of, for example, a point DB (Data Base) 660A is stored in the storage unit 660.

The server-side communication unit 610 receives the travel result information transmitted by the vehicle m via the base station device 500. The server-side communication unit 610 transmits the information held by the server device 600 to the vehicle m.

The action plan acquisition unit 620 acquires information about the action plan received from the vehicle m by using, for example, the server-side communication unit 610. In addition, the action plan acquisition unit 620 may acquire the current position information of each vehicle m.

The relevance degree deriving unit 630 derives the relevance degree between vehicles included in a predetermined area. For example, the relevance degree derivation unit 630 compares the target trajectories included in the information regarding the action plan, and when the number of overlapping points of the two target trajectories is equal to or more than the threshold value or the relative distance of the target trajectories is within a predetermined threshold value. In addition, it is determined that the two target orbits are interfering with each other. Further, the relevance degree deriving unit 630 derives the relevance degree according to the degree of interference based on the interference section.

The coordinating unit 640 makes adjustments to change the action plan when the degree of relevance is equal to or higher than the standard. The coordinating unit 640 makes adjustments to change at least one of the action plans of the plurality of vehicles from which the degree of relevance has been derived. For example, the coordinating unit 640 makes a comparison using at least one of the number of candidates for the target trajectory, the margin, or the priority corresponding to the vehicle whose relevance degree is equal to or higher than the standard, and changes the action plan. To determine. The coordinating unit 640 determines, for example, a vehicle corresponding to an action plan having a small number of candidates, a large margin, or a low priority as a vehicle for changing the action plan. The adjusting unit 640 causes the determined vehicle m to transmit a change instruction by the server-side communication unit 610.

The coordinating unit 640 may also propose an action plan instead of (or in addition to) transmitting the change instruction. In this case, the coordinating unit 640 generates an action plan such that the degree of relevance to the action plan of the other vehicle m is less than the standard, and transmits the generated action plan to the vehicle m instructing the change of the action plan. .. Further, the coordinating unit 640 may propose the action plan for change received from the vehicle m to another vehicle.

The point management unit 650 manages points for each vehicle m. For example, when the vehicle m that has transmitted the change instruction changes the action plan, the point management unit 650 adds points in association with the identification information of the vehicle m. Further, the point management unit 650 subtracts points from the vehicle m using the points. The point management unit 650 stores the points for each vehicle m in the storage unit 660 as the point DB 660A. FIG. 11 is a diagram showing an example of the point DB 660. The point DB 660A is, for example, information in which a vehicle ID is associated with accumulated points and an expiration date. The accumulated points are points accumulated by the vehicle corresponding to the vehicle ID. The expiration date is information about the expiration date when the accumulated points can be used.

The point management unit 650 sets, for example, a predetermined period (for example, within one year) as the expiration date after adding or subtracting points. When a vehicle m to which points are newly given exists, the point management unit 650 adds a record corresponding to the vehicle m to the point DB 660A. Further, the point management unit 650 deletes the record in the DB related to the vehicle ID, for example, when the point becomes 0. The point management unit 650 may manage the accumulated points for each user ID that identifies the occupant instead of the vehicle ID.

[Processing flow]
Hereinafter, an example of various controls by the server device 600 of the second embodiment will be described. FIG. 12 is a flowchart showing an example of the action plan change process of the second embodiment. The process of FIG. 12 is repeatedly executed at a predetermined timing.

First, the action plan acquisition unit 620 acquires information on the action plan of the vehicle m by the server-side communication unit 610 (step S200). Next, the relevance degree deriving unit 630 derives the relevance degree of the action plan between vehicles (step S202), and determines whether or not the derived relevance degree is equal to or higher than the reference (step S204). When the degree of relevance is equal to or higher than the standard, the coordinating unit 640 determines the vehicle for which the action plan is to be changed (step S206). Next, the coordinating unit 640 transmits a change instruction of the action plan to the determined vehicle (step S208). Next, the action plan acquisition unit 620 receives the changed action plan (step S210). After receiving, the process returns to step S202.

Further, in the process of step S204, when the degree of relevance is less than the standard, the adjusting unit 640 transmits an instruction to execute automatic driving to the vehicle m based on the action plan received from each vehicle (step S212). .. As a result, each vehicle m executes automatic driving based on the action plan.

Next, the point management unit 650 assigns a predetermined point to the vehicle m whose action plan has been changed according to the action plan change instruction, and stores it in the point DB 660A (step S214). This ends the processing of this flowchart.

As described above, according to the second embodiment, the server device 600 can perform adjustments regarding the degree of relevance of each vehicle, changes in the action plan, point management, and the like. Therefore, the vehicle m can reduce the processing load. Further, by using the server device 600, it is possible to compare the action plans between vehicles in a wider range than the range in which vehicle-to-vehicle communication is possible and derive the degree of relevance. The first embodiment and the second embodiment may be a combination of a part or all of the other embodiments.

According to the vehicle control system, the server device, the vehicle control method, and the vehicle control program in the above-described embodiment, smooth running is realized by coordinating the action plans between the vehicles. Specifically, according to the embodiment, the vehicle control system can suppress interference of the traveling path of the vehicle that may occur in the future based on the target trajectory. Further, according to the embodiment, safe driving by automatic driving can be realized by transferring the traveling route that may interfere with another vehicle. Further, according to the embodiment, by adding points, it is possible to add value by changing the action plan. This allows the vehicle control system to motivate the occupants to change their action plans.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

1 ... Vehicle system, 10 ... Camera, 12 ... Radar device, 14 ... Finder, 16 ... Object recognition device, 20 ... Communication device, 30 ... HMI, 50 ... Navigation device, 60 ... MPU, 70 ... Vehicle sensor, 80 ... Driving Operator, 90 ... Vehicle interior camera, 100 ... Automatic driving control unit, 120 ... First control unit, 121 ... External world recognition unit, 122 ... Vehicle position recognition unit, 123 ... Action plan generation unit, 140 ... Second control unit , 141 ... Driving control unit, 150 ... Interface control unit, 160 ... Action plan transmission / reception unit, 170, 660 ... Storage unit, 200 ... Driving driving force output device, 210 ... Brake device, 220 ... Steering device, 400 ... Traffic information sharing System, 500 ... base station device, 600 ... server device, 610 ... server side communication unit, 620 ... action plan acquisition unit, 630 ... relevance degree derivation unit, 640 ... adjustment unit, 650 ... point management unit, M ... own vehicle

Claims (14)

An action plan generator that generates information about the action plan of the own vehicle,
The action plan acquisition unit that acquires information on the action plan of vehicles around the own vehicle,
An automatic driving control unit that executes automatic driving of the own vehicle based on the information about the action plan generated by the action plan generation unit is provided.
The action plan generating part includes information about the action plan of the vehicle, based on the associated degree of information about the action plan of the peripheral vehicle obtained by the action plan acquiring unit, and changes the action plan of the vehicle ,
The information about the action plan generated by the action plan generation unit and the action plan acquired by the action plan acquisition unit includes a target trajectory and the number of candidates for the target trajectory.
The action plan generation unit compares the number of candidates for the target track of the own vehicle with the number of candidates for the target track of the peripheral vehicle, and the number of candidates for the target track of the own vehicle is larger than the target track of the peripheral vehicle. Change the action plan of the own vehicle when there are many,
Vehicle control system. An action plan generator that generates information about the action plan of the own vehicle,
The action plan acquisition unit that acquires information on the action plan of vehicles around the own vehicle,
An automatic driving control unit that executes automatic driving of the own vehicle based on the information about the action plan generated by the action plan generation unit is provided.
The action plan generating part includes information about the action plan of the vehicle, based on the associated degree of information about the action plan of the peripheral vehicle obtained by the action plan acquiring unit, and changes the action plan of the vehicle ,
The information about the action plan generated by the action plan generation unit and the action plan acquired by the action plan acquisition unit includes a target trajectory and a margin for the processing load due to the change of the action plan.
The action plan generation unit compares the margin for the processing load due to the change in the action plan of the own vehicle with the margin for the processing load due to the change in the action plan of the peripheral vehicle, and the action of the own vehicle. When the margin for the processing load due to the change in the plan is larger than the margin for the processing load due to the change in the action plan of the peripheral vehicle, the action plan of the own vehicle is changed.
Vehicle control system. The degree of relevance is the interference between the target trajectory included in the information about the action plan generated by the action plan generation unit and the target trajectory included in the information about the action plan of the peripheral vehicle acquired by the action plan acquisition unit. Including degree,
The vehicle control system according to claim 1 or 2. When the degree of relevance between the information on the action plan of the own vehicle and the information on the action plan of the peripheral vehicle is equal to or higher than the standard, the action plan generation unit obtains the information on the action plan of the own vehicle and the peripheral vehicle. It is determined whether or not to change the action plan of the own vehicle based on the information on the action plan of the own vehicle, and the action plan of the own vehicle is changed based on the result of the determination.
The vehicle control system according to claim 1 or 2 . The action plan acquisition unit acquires the action plan of the own vehicle proposed from the peripheral vehicle, and the action plan generation unit obtains the action plan of the own vehicle acquired by the action plan acquisition unit. Modify the action plan generated by the action plan generation unit,
The vehicle control system according to any one of claims 1 to 4 . The action plan generation unit generates an action plan for change to the peripheral vehicle, and proposes the generated action plan for change to the peripheral vehicle.
The vehicle control system according to any one of claims 1 to 5. The action plan generation unit gives a predetermined point to the action plan for change and requests the peripheral vehicle to change the action plan.
The vehicle control system according to claim 6. The action plan acquisition department that acquires information on the action plans of multiple vehicles,
The relevance degree derivation unit for deriving the relevance degree of the information regarding the action plans of the plurality of vehicles acquired by the action plan acquisition unit, and the relevance degree derivation unit.
When the degree of relevance derived from the degree of relevance derivation unit is equal to or higher than the standard, the coordinating unit that makes adjustments to change at least one of the action plans of the plurality of vehicles.
Equipped with a,
The information regarding the action plans of the plurality of vehicles acquired by the action plan acquisition unit includes the target trajectory and the number of candidates for the target trajectory.
The plurality of vehicles include a first vehicle and peripheral vehicles of the first vehicle.
The adjusting unit compares the number of candidates for the target track of the first vehicle with the number of candidates for the target track of the peripheral vehicle, and the number of candidates for the target track of the first vehicle is larger than the target track of the peripheral vehicle. If there are many, adjustments will be made to change the action plan of the first vehicle.
Server device. The action plan acquisition department that acquires information on the action plans of multiple vehicles,
The relevance degree derivation unit for deriving the relevance degree of the information regarding the action plans of the plurality of vehicles acquired by the action plan acquisition unit, and the relevance degree derivation unit.
When the degree of relevance derived from the degree of relevance derivation unit is equal to or higher than the standard, the coordinating unit that makes adjustments to change at least one of the action plans of the plurality of vehicles.
Equipped with a,
The information regarding the action plans of the plurality of vehicles acquired by the action plan acquisition unit includes the target trajectory and the margin for the processing load due to the change of the action plan.
The plurality of vehicles include a first vehicle and peripheral vehicles of the first vehicle.
The adjusting unit compares the margin for the processing load due to the change in the action plan of the first vehicle with the margin for the processing load due to the change in the action plan of the peripheral vehicle, and the action plan for the first vehicle. When the margin for the processing load due to the change of is larger than the margin for the processing load due to the change of the action plan of the peripheral vehicle, the adjustment for changing the action plan of the first vehicle is performed.
Server device. A point management unit that gives points to the vehicle whose action plan has been changed according to the change instruction by the adjustment unit is further provided.
The server device according to claim 8 or 9 . In-vehicle computer
Generate information about your vehicle's action plan,
Obtain information on the action plan of vehicles around the own vehicle,
Based on the degree of relevance between the generated information on the action plan of the own vehicle and the acquired information on the action plan of the peripheral vehicle, the action plan of the own vehicle is changed.
Based on the changed action plan of the own vehicle, the automatic driving of the own vehicle is executed ,
The information regarding the action plan of the own vehicle and the action plan of the peripheral vehicle includes the target track and the number of candidates for the target track.
Comparing the number of candidates for the target track of the own vehicle with the number of candidates for the target track of the peripheral vehicle,
When the number of candidates for the target track of the own vehicle is larger than the target track of the peripheral vehicle, the action plan of the own vehicle is changed .
Vehicle control method. In-vehicle computer
Generate information about your vehicle's action plan,
Obtain information on the action plan of vehicles around the own vehicle,
Based on the degree of relevance between the generated information on the action plan of the own vehicle and the acquired information on the action plan of the peripheral vehicle, the action plan of the own vehicle is changed.
Based on the changed action plan of the own vehicle, the automatic driving of the own vehicle is executed ,
The information regarding the action plan of the own vehicle and the action plan of the surrounding vehicles includes the target trajectory and the margin for the processing load due to the change of the action plan.
Comparing the margin for the processing load due to the change in the action plan of the own vehicle and the margin for the processing load due to the change in the action plan for the peripheral vehicle.
The action plan of the own vehicle is changed when the margin for the processing load due to the change of the action plan of the own vehicle is larger than the margin for the processing load due to the change of the action plan of the peripheral vehicle .
Vehicle control method. For in-vehicle computers
Generate information about your vehicle's action plan,
Get information about the action plan of vehicles around the own vehicle
Based on the degree of association between the generated information on the action plan of the own vehicle and the acquired information on the action plan of the peripheral vehicle, the action plan of the own vehicle is changed.
Based on the changed action plan of the own vehicle, the automatic driving of the own vehicle is executed .
The information regarding the action plan of the own vehicle and the action plan of the peripheral vehicle includes the target track and the number of candidates for the target track.
The number of candidates for the target track of the own vehicle is compared with the number of candidates for the target track of the peripheral vehicle.
When the number of candidates for the target trajectory of the own vehicle is larger than the target trajectory of the peripheral vehicle, the action plan of the own vehicle is changed.
Vehicle control program. For in-vehicle computers
Generate information about your vehicle's action plan,
Get information about the action plan of vehicles around the own vehicle
Based on the degree of association between the generated information on the action plan of the own vehicle and the acquired information on the action plan of the peripheral vehicle, the action plan of the own vehicle is changed.
Based on the changed action plan of the own vehicle, the automatic driving of the own vehicle is executed .
The information regarding the action plan of the own vehicle and the action plan of the surrounding vehicles includes the target trajectory and the margin for the processing load due to the change of the action plan.
The margin for the processing load due to the change in the action plan of the own vehicle is compared with the margin for the processing load due to the change in the action plan of the peripheral vehicle.
When the margin for the processing load due to the change of the action plan of the own vehicle is larger than the margin for the processing load due to the change of the action plan of the peripheral vehicle, the action plan of the own vehicle is changed.
Vehicle control program.

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