Vehicle control device and vehicle control method

1. A vehicle control device used in a vehicle having a control planning unit that generates a control plan for autonomous travel of the vehicle and a safety evaluation unit that evaluates safety regarding the control plan generated by the control planning unit, the vehicle control device comprising:

an abnormality detection unit that detects an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

a vehicle stop processing unit that performs a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

the abnormality detection unit compares a first process used by the control planning unit and a second process used by the safety evaluation unit, and determines that an abnormality is occurring when the first process and the second process are different from each other, and

the vehicle stop processing unit causes the safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

2. The vehicle control device of claim 1 , further comprising:

a recognition result acquisition unit that repeatedly and/or intermittently acquires the recognition result of the recognition unit; and

a recognition result holding unit that temporarily holds the recognition result acquired by the recognition result acquisition unit at a plurality of time points in association with a time of association, wherein

the abnormality detection unit

determines whether or not the recognition result is stable by referring to time-series data of the recognition result of the recognition unit for any one of the objects detected by the at least one surrounding monitoring sensor held by the recognition result holding unit, and

determines that the abnormality has occurred in the field recognition system based on the object for which the recognition result is determined as unstable.

3. The vehicle control device of claim 1 , wherein the at least one surrounding monitoring sensor comprises a plurality of the surrounding monitoring sensors,

each of the plurality of the surrounding monitoring sensors outputs a signal indicating the recognition result regarding a position and type of the detected object as the output signal, and

the abnormality detection unit diagnoses an operation situation of each of the plurality of surrounding monitoring sensors based on the output signal of the plurality of surrounding monitoring sensors.

4. The vehicle control device of claim 3 , wherein

the recognition unit identifies the type of the detected object by weighting and integrating the recognition results of the plurality of surrounding monitoring sensors, and

the vehicle stop processing unit performs a process for stopping the vehicle based on the weight of the respective surrounding monitoring sensor that is determined to have the abnormality by the abnormality detection unit being equal to or greater than a predetermined threshold value.

5. The vehicle control device of claim 1 further comprising:

at least one first surrounding monitoring sensor corresponding to the at least one surrounding monitoring sensor; and

at least one second surrounding monitoring sensor mounted at a position different from the first surrounding monitoring sensor and, wherein

as the recognition unit, a first recognition unit that performs a travel environment recognition process based on the output signal of the first surrounding monitoring sensor and a second recognition unit that performs the travel environment recognition process based on the output signal of the second surrounding monitoring sensor are provided, and

the abnormality detection unit determines that the abnormality has occurred in the field recognition system based on un-matching between the recognition result of the first recognition unit and the recognition result of the second recognition unit.

6. The vehicle control device of claim 5 , wherein

the first surrounding monitoring sensor is a surrounding monitoring sensor mounted on the vehicle body, and

the second surrounding monitoring sensor is a removable surrounding monitoring sensor retrofitted to the vehicle.

7. The vehicle control device of claim 1 , wherein

the at least one surrounding monitoring sensor is provided as and includes at least one of a camera, a millimeter-wave radar, a laser radar, and a sonar.

8. A vehicle control device comprising:

an abnormality detection unit that detects an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

a vehicle stop processing unit that performs a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

the at least one surrounding monitoring sensor comprises a plurality of the surrounding monitoring sensors,

each of the plurality of the surrounding monitoring sensors outputs a signal indicating the recognition result regarding a position and type of the detected object as the output signal, and

the abnormality detection unit diagnoses an operation situation of each of the plurality of surrounding monitoring sensors based on the output signal of the plurality of surrounding monitoring sensors,

the recognition unit identifies the type of the detected object by weighting and integrating the recognition results of the plurality of surrounding monitoring sensors, a risk determination unit is provided for determining a risk level according to the weight f the respective surrounding monitoring sensor that is determined to have the abnormality by the abnormality detection unit,

the vehicle stop processing unit performs a process for stopping the vehicle based on the risk level being equal to or higher than a predetermined threshold value, and

the vehicle stop processing unit causes a safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

9. A vehicle control device comprising:

an abnormality detection unit that detects an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

a vehicle stop processing unit that performs a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

the at least one surrounding monitoring sensor comprises a plurality of the surrounding monitoring sensors, each of the plurality of the surrounding monitoring sensors outputs a signal indicating the recognition result regarding a position and type of the detected object as the output signal, and

the abnormality detection unit diagnoses an operation situation of each of the plurality of surrounding monitoring sensors based on the output signal of the plurality of surrounding monitoring sensors,

the recognition unit identifies the type of the detected object by weighting and integrating the recognition results of the plurality of surrounding monitoring sensors,

each of the plurality of surrounding monitoring sensors outputs a correct recognition probability indicating likeliness of the recognition result of the type of the detected object,

the recognition unit changes the weight of each surrounding monitoring sensor when integrating the recognition results of the plurality of surrounding monitoring sensors based at least on one of the correct recognition probability and a driving scene, and

the vehicle stop processing unit causes a safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

10. A vehicle control device comprising:

an abnormality detection unit that detects an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

a vehicle stop processing unit that performs a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

the at least one surrounding monitoring sensor comprises a plurality of the surrounding monitoring sensors,

each of the plurality of the surrounding monitoring sensors outputs a signal indicating the recognition result regarding a position and type of the detected object as the output signal, and

the abnormality detection unit diagnoses an operation situation of each of the plurality of surrounding monitoring sensors based on the output signal of the plurality of surrounding monitoring sensors,

each of the plurality of surrounding monitoring sensors, while holding information about a not-good-at object that is difficult for an other sensor to detect, which is one of the other surrounding monitoring sensors other than a subject surrounding monitoring sensor among the plurality of surrounding monitoring sensors, transmits, when detecting the not-good-at object of the other sensor, predetermined probability value correction information to the other sensor which is a not-good-at sensor not good at detecting the relevant object, the probability value correction information includes information indicating a position or direction in which the not-good-at object exists,

the at least one surrounding monitoring sensor corrects, when receiving the probability value correction information, the correct recognition probability of the recognition result of the position or direction in which the not-good-at object may exist based on the received probability value correction information, and

the vehicle stop processing unit causes a safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

11. The vehicle control device of claim 10 further comprising:

a camera and a sonar provided as the at least one surrounding monitoring sensor, wherein

the camera notifies the sonar of the probability value correction information including the position or direction in which the detected object exists, when detecting at least one of a sponge-like object, a net-like structure, a floating structure which is afloat a predetermined distance above a road surface, a low-profile solid object whose height is less than a predetermined threshold value by analyzing a captured image, and

the sonar lowers the correct recognition probability of the recognition result of the position or direction indicated by the probability value correction information.

12. The vehicle control device of claim 10 further comprising:

a camera and a laser radar provided as the at least one surrounding monitoring sensor, wherein

the camera notifies the laser radar of the probability value correction information including the position or direction in which the detected object exists, when detecting a black or silver object by analyzing a captured image, and

the laser radar lowers the correct recognition probability of the recognition result of the position or direction indicated by the probability value correction information.

13. A vehicle control device comprising:

an abnormality detection unit that detects an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

a vehicle stop processing unit that performs a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

the at least one surrounding monitoring sensor comprises a plurality of the surrounding monitoring sensors,

each of the plurality of the surrounding monitoring sensors outputs a signal indicating the recognition result regarding a position and type of the detected object as the output signal, and

the abnormality detection unit diagnoses an operation situation of each of the plurality of surrounding monitoring sensors based on the output signal of the plurality of surrounding monitoring sensors,

each of the plurality of surrounding monitoring sensors, while holding information about a not-good-at situation in which a detection performance of an object by an other sensor deteriorates, which is one of the other surrounding monitoring sensors other than a subject surrounding monitoring sensor among the plurality of surrounding monitoring sensors, transmits, when detecting the not-good-at situation of the other sensor, predetermined probability value correction information to the other sensor which is a not-good-at sensor not good at detecting the object in the relevant situation, the probability value correction information includes information indicating (i) a type of the not-good-at situation and (ii) a direction of the not-good-at situation in which a detection performance of the other sensor may deteriorate due to the not-good-at situation,

the at least one surrounding monitoring sensor corrects, when receiving the probability value correction information, the correct recognition probability of the recognition result of the direction affected by the not-good-at situation based on the received probability value correction information, and

the vehicle stop processing unit causes a safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

14. A vehicle control device comprising:

an abnormality detection unit that detects an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

a vehicle stop processing unit that performs a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

the at least one surrounding monitoring sensor comprises a plurality of the surrounding monitoring sensors,

each of the plurality of the surrounding monitoring sensors outputs a signal indicating the recognition result regarding a position and type of the detected object as the output signal, and

the abnormality detection unit diagnoses an operation situation of each of the plurality of surrounding monitoring sensors based on the output signal of the plurality of surrounding monitoring sensors,

each of the plurality of surrounding monitoring sensors, while holding information about a not-good-at object that is difficult for other sensors to detect, which are the other surrounding monitoring sensors other than a subject surrounding monitoring sensor, transmits information, when detecting the not-good-at object of the other sensors, to the recognition unit as predetermined probability value correction information,

the probability value correction information includes information indicating a type of the not-good-at object and the position or direction in which the not-good-at object exists,

the recognition unit uses the probability value correction information to correct the correct recognition probability of the recognition result for each surrounding monitoring sensor, and integrates the recognition results of the plurality of surrounding monitoring sensors, and

the vehicle stop processing unit causes a safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

15. A vehicle control method for a vehicle having a control planning unit that generates a control plan for an autonomous travel of the vehicle and a safety evaluation unit that evaluates safety regarding the control plan generated by the control planning unit, the method comprising:

detecting an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

performing a process for stopping the vehicle based on a detection of the abnormality of the field recognition system by the abnormality detection unit, wherein

a first process used by the control planning unit is compared with a second process used by the safety evaluation unit, and an abnormality is determined to occur when the first process and the second process are different from each other, and

the vehicle stop processing unit causes the safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.

16. A vehicle control device comprising:

a processor;

a computer-readable storage medium;

a fusion unit;

a map linking unit;

a first sensor; and

a second sensor,

wherein the vehicle control device is configured to:

acquire recognition results for each sensor;

determine whether any sensor is abnormal;

set a risk level to a low level and maintain a normal control, upon determining:

(i) there is NO abnormal sensor,

(ii) the fusion unit is normal, and

(iii) the map linking unit is normal;

set the risk level to an intermediate level and request a safety action, upon determining:

(i) there is NO abnormal sensor,

(ii) the fusion unit is normal, and

(iii) the map linking unit is NOT normal;

set the risk level to the intermediate level and request the safety action, upon determining:

(i) there is at least one abnormal sensor, and

(ii) the at least one abnormal sensor is NOT heavily used;

set the risk level to a high level and request an emergency action, upon determining:

(i) there is at least one abnormal sensor, and

(ii) the at least one abnormal sensor is heavily used;

set the risk level to the high level and request the emergency action, upon determining:

(i) there is NO abnormal sensor, and

(ii) the fusion unit is NOT normal,

Wherein

the processor controls a travel control actuator of the vehicle to decelerate the vehicle based on the risk level.

17. A vehicle control device used in a vehicle having a control planning unit that generates a control plan for autonomous travel of the vehicle and a safety evaluation unit that evaluates safety regarding the control plan generated by the control planning unit, the vehicle control device comprising:

a processor;

a non-transitory computer-readable storage medium; and

a set of computer-executable instructions stored on the non-transitory computer-readable storage medium that cause the processor to:

detect an abnormality of a field recognition system including at least one surrounding monitoring sensor and a recognition unit, based at least on one of (a) an output signal of the at least one surrounding monitoring sensor detecting objects within a predetermined detection range and (b) a recognition result of the recognition unit recognizing objects near the vehicle based on the output signal of the at least one surrounding monitoring sensor; and

perform a process for stopping the vehicle based on a detection of the abnormality of the field recognition system,

wherein

the set of computer-executable instructions further cause the processor to compare a first process used by the control planning unit and a second process used by the safety evaluation unit, and determine that an abnormality is occurring when the first process and the second process are different from each other, and

the set of computer-executable instructions further cause the safety evaluation unit to control a travel control actuator of the vehicle to decelerate the vehicle based on the process for stopping the vehicle.