Vehicle control system, autonomous driving vehicle, and vehicle control method

An autonomous driving vehicle comprising:

• an autonomous driving system that generates a target trajectory and performs autonomous driving to follow the target trajectory;
• and
• a vehicle control system that predicts danger based on information related to a surrounding environment and performs intervention in the autonomous driving to avoid the predicted danger, wherein:
• the autonomous driving system executes transmitting an override signal for rejecting the intervention in the autonomous driving to the vehicle control system in a case where the intervention in the autonomous driving by the vehicle control system is not needed;
• and
• the vehicle control system executes
• receiving the override signal from the autonomous driving system,
• performing a diagnosis as to whether the autonomous driving system is normal or abnormal, and
• stopping the intervention in the autonomous driving solely in a case where the override signal is received and the autonomous driving system is normal.

A vehicle control method of controlling a vehicle that is autonomously driven to follow a target trajectory by an autonomous driving system, the vehicle control method comprising:

• predicting danger to be avoided by the vehicle based on information related to a surrounding environment of the vehicle;
• in a case where the danger is predicted,
• determining whether or not the autonomous driving system rejects intervention in the autonomous driving;
• performing a diagnosis as to whether the autonomous driving system is normal or abnormal;
• performing the intervention in the autonomous driving to avoid the predicted danger in a case where the autonomous driving system is abnormal or the autonomous driving system does not reject the intervention in the autonomous driving;
• and
• stopping the intervention in the autonomous driving in a case where the autonomous driving system rejects the intervention in the autonomous driving in a state where the autonomous driving system is normal.