Vehicle control system
When generating a traveling path for divergent event, a traveling path generation portion judges an occurrence of a traffic jam on a divergent lane. The occurrence of the traffic jam on the divergent lane is judged based on whether or not a surrounding vehicle which satisfies a predetermined condition exist in a search region. If it is judged that the traffic jam is occurring on the divergent lane, a notice for handover from an automatic divergent operation to a manual divergent operation is given to a driver.
1. A vehicle control system comprising a controller which is configured to:
recognize an actual location of a subject vehicle;
recognize a surrounding landmark of the subject vehicle;
generate an action plan of a predetermined route along which an automatic driving is executed;
generate a traveling path based on the action plan, the actual location and the surrounding landmark, wherein the traveling path is a collection of target positions to which the subject vehicle should arrive in future; and
control, based on the traveling path at least a driving force for a travel output device, a steering device, and a brake device of the subject vehicle;
wherein, when an automatic divergent operation between a main lane and a divergent lane is executed, the controller is further configured to:
before switching a current traveling path for the main lane to the traveling path for the divergent lane, judge whether a traffic jam occurs on a first or a second region, wherein the first region is a region which includes a first breakdown lane around the divergent lane and the second region is a region which includes a second breakdown lane around the main lane to which the first breakdown lane connects;
when it is judged that the traffic jam occurs on the first or second region, give a notice, to a driver of the subject vehicle, for handover from the automatic divergent operation to a manual divergent operation.
2. The vehicle control system according to claim 1 ,
wherein the controller is further configured to:
judge whether there is a response from the driver against the notice for handover; and
when it is judged that there is no response against the notice for handover, continue to execute the automatic driving based on the current traveling path for the main lane instead of executing the automatic divergent operation based on the traveling path for the divergent lane.
3. The vehicle control system according to claim 1 ,
wherein the controller is further configured to:
judge that the traffic jam occurs on the first region when there is a vehicle on the first region which travels along a same travel direction as the subject vehicle; and
judge that the traffic jam occurs on the second region when there is a vehicle on the second region which travels along the same travel direction as the subject vehicle and also a predetermined inter-vehicular distance condition of the vehicle on the second region is satisfied.