Vehicle control system, self-driving vehicle, vehicle control method, and program

1. A vehicle control system provided in a self-driving vehicle, the vehicle control system, comprising:

at least one memory configured to store instructions; and

at least one processor configured to execute the instructions to:

create a planned route of the self-driving vehicle;

control the self-driving vehicle to travel along the planned route;

create a plan of a non-traveling area, which is an area where the self-driving vehicle can travel and which is an area set as an area where the self-driving vehicle does not travel, while controlling the self-driving vehicle to travel along the planned route;

transmit the plan of the non-traveling area to another vehicle, while controlling the self-driving vehicle to travel along the planned route;

receive, from the other vehicle, information on one or more negotiation areas each of which is an area other than the non-traveling area and which is a subject of negotiation to be included in the non-traveling area, while controlling the self-driving vehicle to travel along the planned route;

calculate, for each negotiation area, a first value which is a value of the negotiation area indicated by the information for the self-driving vehicle, and based on the first value calculated for each negotiation area, determine one negotiation area permissible to be included in the non-traveling area or determine not to include any negotiation area in the non-traveling area, while controlling the self-driving vehicle to travel along the planned route;

create, based on one negotiation area permissible being included in the non-traveling area, a new non-traveling area plan in which the negotiation area is included in the non-traveling area, while controlling the self-driving vehicle to travel along the planned route; and

transmit the new non-traveling area plan to the other vehicle, while controlling the self-driving vehicle to travel along the planned route.

2. The vehicle control system according to claim 1 , wherein

the at least one processor is configured to execute the instructions to, when calculating a first value of one negotiation area, calculate the first value by calculating a difference between the minimum cost of a planned route created in an area obtained by excluding the non-traveling area and the negotiation area from the area where the self-driving vehicle can travel, and the minimum cost of a planned route created in an area obtained by excluding the non-traveling area from the area where the self-driving vehicle can travel.

3. The vehicle control system according to claim 1 , wherein:

the at least one processor is configured to execute the instructions to:

receive a plan of a non-traveling area of another vehicle;

specify one or more negotiation areas each of which is a subject of negotiation to be included in the non-traveling area of the other vehicle from an area other than the non-traveling area of the other vehicle, calculate a second value which is a value of the specified negotiation area for the self-driving vehicle for each of the specified negotiation areas, and based on the second value, determine one or more negotiation areas to be provided in notification to the other vehicle; and

transmit, to the other vehicle, information on the one or more negotiation areas determined as the negotiation areas to be provided in notification to the other vehicle.

4. The vehicle control system according to claim 3 , wherein

the at least one processor is configured to execute the instructions to, when calculating a second value of one negotiation area, calculate the second value by calculating a difference between the minimum cost of a planned route created in the non-traveling area of the other vehicle, and the minimum cost of a planned route created in an area obtained by combining the non-traveling area of the other vehicle and the negotiation area.

5. The vehicle control system according to claim 1 , wherein

the at least one processor is configured to execute the instructions to create the plan of the non-traveling area on a basis of the planned route or a plurality of planned routes obtained in the process of creating the planned route.

6. The vehicle control system according to claim 2 , wherein:

the at least one processor is configured to execute the instructions to:

receive a plan of a non-traveling area of another vehicle;

specify one or more negotiation areas each of which is a subject of negotiation to be included in the non-traveling area of the other vehicle from an area other than the non-traveling area of the other vehicle, calculate a second value which is a value of the specified negotiation area for the self-driving vehicle for each of the specified negotiation areas, and based on the second value, determine one or more negotiation areas to be provided in notification to the other vehicle; and

transmit, to the other vehicle, information on the one or more negotiation areas determined as the negotiation areas to be provided in notification to the other vehicle.

7. The vehicle control system according to claim 6 , wherein

the at least one processor is configured to execute the instructions to, when calculating a second value of one negotiation area, calculate the second value by calculating a difference between the minimum cost of a planned route created in the non-traveling area of the other vehicle, and the minimum cost of a planned route created in an area obtained by combining the non-traveling area of the other vehicle and the negotiation area.

8. The vehicle control system according to claim 2 , wherein

the at least one processor is configured to execute the instructions to create the plan of the non-traveling area on a basis of the planned route or a plurality of planned routes obtained in the process of creating the planned route.

9. The vehicle control system according to claim 3 , wherein

the at least one processor is configured to execute the instructions to create the plan of the non-traveling area on a basis of the planned route or a plurality of planned routes obtained in the process of creating the planned route.

10. The vehicle control system according to claim 4 , wherein

the at least one processor is configured to execute the instructions to create the plan of the non-traveling area on a basis of the planned route or a plurality of planned routes obtained in the process of creating the planned route.

11. The vehicle control system according to claim 1 , further comprising:

an accelerator; and

a first electronic controller configured to control the accelerator,

wherein the at least one processor is further configured to execute the instructions to control the self-driving vehicle to travel along the planned route by controlling first electronic controller.

12. The vehicle control system according to claim 11 , further comprising:

a brake; and

a second electronic controller configured to control the brake,

wherein the at least one processor is further configured to execute the instructions to control the self-driving vehicle to travel along the planned route by controlling the second electronic controller.

13. The vehicle control system according to claim 12 , further comprising:

a steering module; and

a third electronic controller configured to control the steering module,

wherein the at least one processor is further configured to execute the instructions to control the self-driving vehicle to travel along the planned route by controlling the third electronic controller.

14. The vehicle control system according to claim 13 , wherein the at least one processor is further configured to execute the instructions to control the first electronic controller, the second electronic controller and the third electronic controller to autonomously control the self-driving vehicle to travel along the planned route.

15. The vehicle control system according to claim 1 , wherein the at least one processor is further configured to execute the instructions to control the self-driving vehicle to autonomously travel along the planned route.

16. A vehicle control method, by a computer provided in a self-driving vehicle, comprising:

creating a planned route of the self-driving vehicle;

controlling the self-driving vehicle to travel along the planned route;

creating a plan of a non-traveling area, which is an area where the self-driving vehicle can travel and which is an area set as an area where the self-driving vehicle does not travel, while controlling the self-driving vehicle to travel along the planned route;

transmitting the plan of the non-traveling area to another vehicle, while controlling the self-driving vehicle to travel along the planned route;

receiving, from the other vehicle, information on one or more negotiation areas each of which is an area other than the non-traveling area and which is a subject of negotiation to be included in the non-traveling area, while controlling the self-driving vehicle to travel along the planned route;

calculating, for each negotiation area, a first value which is a value of the negotiation area indicated by the information for the self-driving vehicle, and based on the first value calculated for each negotiation area, determining one negotiation area permissible to be included in the non-traveling area or determining not to include any negotiation area in the non-traveling area, while controlling the self-driving vehicle to travel along the planned route;

creating, when having determined one negotiation area permissible to be included in the non-traveling area, a new non-traveling area plan in which the negotiation area is included in the non-traveling area, while controlling the self-driving vehicle to travel along the planned route; and

transmitting the new non-traveling area plan to the other vehicle, while controlling the self-driving vehicle to travel along the planned route.

17. A non-transitory computer-readable recording medium in which a vehicle control program is recorded, the vehicle control program installed in a computer provided in a self-driving vehicle, the vehicle control program causing the computer to execute:

planned route creation processing for creating a planned route of the self-driving vehicle;

travelling processing for controlling the self-driving vehicle to travel along the planned route;

non-traveling area plan creation processing for creating a plan of a non-traveling area, which is an area where the self-driving vehicle can travel and which is an area set as an area where the self-driving vehicle does not travel, while the travelling processing controls the self-driving vehicle to travel along the planned route;

transmission processing for transmitting the plan of the non-traveling area to another vehicle, while the travelling processing controls the self-driving vehicle to travel along the planned route;

negotiation area information receiving processing for receiving, from the other vehicle, information on one or more negotiation areas each of which is an area other than the non-traveling area and which is a subject of negotiation to be included in the non-traveling area, while the travelling processing controls the self-driving vehicle to travel along the planned route; and

permissible area determination processing for calculating, for each negotiation area, a first value which is a value of the negotiation area indicated by the information for the self-driving vehicle, and based on the first value calculated for each negotiation area, determining one negotiation area permissible to be included in the non-traveling area or determining not to include any negotiation area in the non-traveling area, while the travelling processing controls the self-driving vehicle to travel along the planned route, wherein

when having determined one negotiation area permissible to be included in the non-traveling area in the permissible area determination processing, creating a new non-traveling area plan in which the negotiation area is included in the non-traveling area, while the travelling processing controls the self-driving vehicle to travel along the planned route, and

the transmission processing transmits the new non-traveling area plan to the other vehicle, while the travelling processing controls the self-driving vehicle to travel along the planned route.