Vehicle control system

A vehicle control system in which automated driving control of a vehicle is executed, the vehicle control system comprising:

• an acquiring device which is configured to acquire driving environment information of the vehicle;
• and
• a controller which is configured to execute the automated driving control based on the driving environment information,
• wherein:
• in the automated driving control, the controller is configured to execute deceleration setting processing in which a target deceleration is set based on a deceleration feature;
• wherein a relationship between deceleration and a state of a slowdown target of the vehicle is defined in the deceleration feature,
• wherein:
• relative speed of the slowdown target and a distance from the slowdown target to the vehicle are included in the state;
• and
• the state is divided into multiple phases by a predetermined boundary deceleration in the deceleration feature,
• the slowdown target is a nearest moving body of the vehicle which locates laterally of a driving trajectory of the vehicle;
• the driving environment information includes driving speed of the vehicle and a position of the moving body;
• and
• the state is a distance from the moving body to the vehicle, assuming that the moving body moves according to a predetermined speed distribution model to enter the driving trajectory,
• wherein, in the deceleration setting processing, the controller is configured to:
• specify at least one deceleration corresponding to the distance based on the driving speed, the position and deceleration feature;
• calculate, for each of the at least one deceleration, probability that the moving body exists at a position on the driving trajectory that is away from the vehicle by the distance until an estimated time that the vehicle travels along the driving trajectory to reach a side of the moving body elapses;
• specify a minimum value of the at least one deceleration;
• and
• reflect the minimum value to the target deceleration with a reflection degree of 0 to 100% based on a minimum value phase indicating a phase to which the minimum value belongs in the deceleration feature and a minimum probability indicating the probability corresponding to the minimum value.

A vehicle control system in which automated driving control of a vehicle is executed, the vehicle control system comprising:

• an acquiring device which is configured to acquire driving environment information of the vehicle;
• and
• a controller which is configured to execute the automated driving control based on the driving environment information,
• wherein:
• in the automated driving control, the controller is configured to execute deceleration setting processing in which a target deceleration is set based on a deceleration feature;
• wherein a relationship between deceleration and a state of a slowdown target of the vehicle is defined in the deceleration feature,
• wherein:
• relative speed of the slowdown target and a distance from the slowdown target to the vehicle are included in the state;
• and
• the state is divided into multiple phases by a predetermined boundary deceleration in the deceleration feature,
• the slowdown target is a nearest potential moving target of the vehicle which is set in a barrier area located laterally of a driving trajectory of the vehicle;
• the driving environment information includes driving speed of the vehicle and a position of the barrier area;
• and
• the state is a distance from the potential moving body to the vehicle, assuming that the potential moving body moves according to a predetermined speed distribution model to enter the driving trajectory,
• wherein, in the deceleration setting processing, the controller is configured to:
• specify at least one deceleration corresponding to the distance based on the driving speed, the position and deceleration feature;
• calculate, for each of the at least one deceleration, probability that the potential moving body exists at a position on the driving trajectory that is away from the vehicle by the distance until an estimated time that the vehicle travels along the driving trajectory to reach a side of the potential moving body elapses;
• specify a minimum value of the at least one deceleration;
• and
• reflect the minimum value to the target deceleration with a reflection degree of 0 to 100% based on a minimum value phase indicating a phase to which the minimum value belongs in the deceleration feature and a minimum probability indicating the probability corresponding to the minimum value.