US 12,168,453 B2
Vehicle control system
Kazuki Nemoto, Susono (JP); Shin Tanaka, Numazu (JP); and Satoshi Nakamura, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 15, 2021, as Appl. No. 17/526,305.
Claims priority of application No. 2020-212794 (JP), filed on Dec. 22, 2020.
Prior Publication US 2022/0194422 A1, Jun. 23, 2022
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0011 (2020.02) 8 Claims
OG exemplary drawing
 
1. A vehicle control system which controls a vehicle thatexecutes automatic driving, the vehicle control system comprising:
an automatic driving control device includes a first processor configured to generate a target trajectory used for the automatic driving of the vehicle, and a first input/output interface; and
a vehicle travel control device includes a second processor configured to execute vehicle travel control for controlling a travel control amount of the vehicle such that the vehicle follows the target trajectory, and a second input/output interface, wherein:
the vehicle travel control device includes a second information acquisition device including a second plurality of sensor devices, each of which acquires a second driving environment information indicating a second driving environment of the vehicle;
the first processor is configured to transmit the target trajectory to the second processor through the first input/output interface, and the second processor is configured to receive the target trajectory from the first processor through the second input/output interface;
the second processor is configured to:
determine whether an operating condition of travel support control is satisfied based on the second driving environment information, the travel support control intervening in the travel control amount to reduce a risk when the vehicle travels; and
execute the travel support control in a case where the operating condition is satisfied;
the second processor is configured to:
generate risk information, which is information on the risk, based on the second driving environment information; and
transmit the risk information to the first processor through the second input/output interface before the operating condition is satisfied; and
the first processor is configured to generate or correct the target trajectory based on the received risk information through the first input/output interface,
wherein the automatic driving control device includes a first information acquisition device including a first plurality of sensor devices, each of which acquires a first driving environment information indicating a first driving environment of the vehicle; and
wherein the target trajectory is generated based on the first driving environment information, and the risk information is generated based on the second driving environment information; and
wherein the target trajectory is corrected based on whichever has higher reliability between the risk object information and the first driving environment information.