| CPC B60W 60/0016 (2020.02) [B60W 30/0956 (2013.01); B60W 30/18159 (2020.02); B60W 60/0027 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/4041 (2020.02)] | 4 Claims |
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1. A vehicle control system that controls a vehicle capable of performing automated driving, the vehicle control system comprising:
a first controller configured to generate a target trajectory for the automated driving based on a travel plan of the vehicle; and
a second controller configured to execute vehicle travel control that controls steering, acceleration, and deceleration of the vehicle such that the vehicle follows the target trajectory,
wherein, during the automated driving, the second controller is configured to:
control a travel control amount which is a control amount of the vehicle travel control;
acquire driving environment information indicating a driving environment around the vehicle;
determine an expected time-to-collision between the vehicle and an obstacle based on the driving environment information;
wherein, the first controller includes a memory device in which information of an intervention suppression area indicating a geographical area for suppressing intervention of the travel control amount by a preventive safety control is stored,
wherein, when the vehicle does not travel in the intervention suppression area during the automated driving, the second controller is configured to:
determine whether the expected time-to-collision between the vehicle and the obstacle is less than a first predetermined threshold; and
upon determination that the expected time-to-collision between the vehicle and the obstacle is less than the first predetermined threshold, determine a first preventative safety control for intervening in the travel control amount so as to prevent or avoid a collision between the vehicle and the obstacle, and execute the first preventative safety control, and
wherein, when the vehicle travels in the intervention suppression area during the automated driving, the second controller is configured to:
determine whether the expected time-to-collision between the vehicle and the obstacle is less than a second predetermined threshold, the second predetermined threshold being less than the first predetermined threshold; and
upon determination that the expected time-to-collision between the vehicle and the obstacle is less than the second predetermined threshold, determine a second preventative safety control for intervening in the travel control amount so as to prevent or avoid the collision between the vehicle and the obstacle, and execute the second preventative safety control,
wherein, when the target trajectory is a path entering the intervention suppression area, the first controller outputs a suppression instruction including a timing at which the vehicle enters the intervention suppression area.
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