TECHNICAL FIELD

The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.

BACKGROUND ART

Conventionally, a technology for controlling at least one of an operation and acceleration/deceleration of a vehicle to avoid an obstacle in a case in which the obstacle is present on a side in front in an advancement direction of the vehicle is known (for example, Patent Document 1).

PRIOR ART DOCUMENTS

Patent Documents

[Patent Document 1]

Japanese Unexamined Patent Application, First Publication No. 2010-100123

SUMMARY OF INVENTION

Problems to be Solved by the Invention

However, in a conventional technology, there are cases in which the time taken until an avoiding action is taken after recognition of an obstacle becomes long.

The present invention is realized in consideration of such situations, and one objective thereof is to provide a vehicle control system, a vehicle control method, and a vehicle control program capable of more quickly taking an avoiding action for a target.

Solution to Problem

According to a first aspect of the present invention, there is provided a vehicle control system including: a recognizer that recognizes a target in the vicinity of a subject vehicle; a first processor that repeatedly performs a process of determining a first target speed, which is a target speed of the subject vehicle in the future, at a first period on the basis of the target recognized by the recognizer and a state of the subject vehicle; a second processor that repeatedly performs a process of determining a second target speed, which is a target speed of the subject vehicle in the future, at a second period shorter than the first period on the basis of the first target speed determined by the first processor, the target recognized by the recognizer, and the state of the subject vehicle; and a running controller that controls acceleration/deceleration of the subject vehicle on the basis of at least one of the first target speed determined by the first processor and the second target speed determined by the second processor.

According to a second aspect of the present invention, in the vehicle control system described in the first aspect, the first processor further determines a target position of the subject vehicle in the future on the basis of the target recognized by the recognizer and the state of the subject vehicle, and the running controller controls steering of the subject vehicle on the basis of the target position determined by the first processor.

According to a third aspect of the present invention, in the vehicle control system described in the second aspect, the second processor determines whether or not the subject vehicle and the target interfere with each other in the process of reaching the target position and sets the second target speed to a speed lower than the first target speed in a case in which it is determined that the subject vehicle and the target interfere with each other.

According to a fourth aspect of the present invention, in the vehicle control system described in the third aspect, the second processor determines the second target speed on the basis of a relative distance or a relative speed between the subject vehicle and the target.

According to a fifth aspect of the present invention, in the vehicle control system described in any one of the first aspect to fourth aspect, a plurality of sensors disposed in the vicinity of the subject vehicle is further included, wherein the recognizer recognizes the target using detection results acquired by the plurality of sensors, and the second processor determines the second target speed on the basis of the target recognized by the recognizer using a detection result acquired by a sensor disposed on the front of the subject vehicle among the plurality of sensors and the first target speed.

According to a sixth aspect of the present invention, in the vehicle control system described in the fifth aspect, the plurality of sensors have mutually-different detection periods, and the second processor determines the second target speed on the basis of the target recognized by the recognizer using a detection result acquired by a sensor having a shorter detection period than that of any other sensor among the plurality of sensors.

According to a seventh aspect of the present invention, in the vehicle control system described in any one of the first aspect to fourth aspect, there is provided a vehicle control method using an in-vehicle computer, the vehicle control method including: recognizing a target in the vicinity of a subject vehicle; repeatedly performing a process of determining a first target speed, which is a target speed of the subject vehicle in the future, at a first period on the basis of the recognized target and a state of the subject vehicle; repeatedly performing a process of determining a second target speed, which is a target speed of the subject vehicle in the future, at a second period shorter than the first period on the basis of the determined first target speed, the recognized target, and the state of the subject vehicle; and controlling acceleration/deceleration of the subject vehicle on the basis of at least one of the determined first target speed and the determined second target speed.

According to an eighth aspect of the present invention, there is provided a vehicle control program causing an in-vehicle computer to execute: recognizing a target in the vicinity of a subject vehicle; repeatedly performing a process of determining a first target speed, which is a target speed of the subject vehicle in the future, at a first period on the basis of the recognized target and a state of the subject vehicle; repeatedly performing a process of determining a second target speed, which is a target speed of the subject vehicle in the future, at a second period shorter than the first period on the basis of the determined first target speed, the recognized target, and the state of the subject vehicle; and controlling acceleration/deceleration of the subject vehicle on the basis of at least one of the determined first target speed and the determined second target speed.

Advantageous Effects of Invention

According to the above described aspects of the present invention a process of determining a first target speed, which is a target speed of a subject vehicle in the future, is performed at a first period on the basis of a target disposed in the vicinity of the subject vehicle and a state of the subject vehicle, a process of determining a second target speed, which is a target speed of the subject vehicle in the future, is performed at a second period shorter than the first period on the basis of the determined first target speed, the target in the vicinity of the subject vehicle and the state of the subject vehicle, and acceleration/deceleration of the subject vehicle is controlled on the basis of at least one of the first target speed and the second target speed, whereby an avoiding action can be performed more quickly for the target.

