To provide a vehicle control system for an automatic driving vehicle used for providing a service, which allows the vehicle to travel on appropriate travel positions in a vehicle lane width direction according to a circumferential environment of the vehicle while trying best to realize a travel plan which is suitable for the service.SOLUTION: A vehicle control system comprises: a first control device; a second control device which is connected communicably with the first control device; and a plurality of first sensors for acquiring information about motion of the vehicle and information about a circumferential environment of the vehicle. The first control device makes a first travel plan including desired travel positions or desired travel position ranges in the travel lane width direction disposed along the travel direction. The second control device makes a second travel plan which is different from the first travel plan and includes target travel positions or target travel position ranges in the travel lane width direction disposed along the travel direction on the basis of the first travel plan acquired from the first control device and the information acquired from the plurality of first sensors and controls the vehicle travel operation according to the second travel plan.SELECTED DRAWING: Figure 3
【課題】自動運転車両を用いたサービスの提供において、そのサービスに適した走行計画を実現することを尊重しつつ、車両の周辺環境に応じた適切な車線幅方向の走行位置で車両を走行させることができるようにする。【解決手段】本発明に係る車両制御システムは、第1の制御装置と、第1の制御装置に通信可能に接続された第2の制御装置と、車両の運動に関する情報及び車両の周辺環境に関する情報を取得する複数の第1のセンサとを備える。第1の制御装置は、進行方向に並んだ車線幅方向の希望走行位置又は希望走行位置範囲を含む第1の走行計画を立案する。第2の制御装置は、第1の制御装置から取得した第1の走行計画と、複数の第1のセンサから取得した情報とに基づき、進行方向に並んだ車線幅方向の目標走行位置又は目標走行位置範囲を含む、第1の走行計画とは異なる第2の走行計画を立案し、第2の走行計画に従い車両の走行動作を制御する。【選択図】図3
VEHICLE CONTROL SYSTEM FOR AUTOMATIC DRIVING VEHICLE AND VEHICLE CONTROL DEVICE
自動運転車両の車両制御システム及び車両制御装置
2021-04-22
Patent
Electronic Resource
Japanese
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