Patent Publication Number: US-2020290632-A1

Title: Periphery recognition apparatus and periphery recognition method

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation application of International Patent Application No. PCT/JP2018/044779 filed on Dec. 5, 2018, which designated the U.S. and claims the benefit of priority from Japanese Patent Application No. 2017-234454 filed on Dec. 6, 2017. The entire disclosures of all of the above applications are incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to a periphery recognition apparatus and a periphery recognition method. 
     BACKGROUND 
     Automatic traveling control or traveling assistance control in which vehicle lane change is automatically performed uses, for example, a technology of recognizing a vehicle peripheral situation including an object by detecting the object such as a vehicle that parallelly travels. For example, as a comparative example, a traveling assistance apparatus mounted on a vehicle has been proposed. The traveling assistance apparatus changes a vehicle lane by moving to a position having a space where the vehicle lane change can be performed by control of the vehicle speed. 
     SUMMARY 
     A periphery recognition apparatus may include: a detection portion that may detect an abnormality in at least a third detector from among a first detector, a second a detector, and the third detector; and an estimation portion that may perform speed control that may be control of traveling speed of a vehicle and may use information obtained from at least one of the first detector or the second detector to estimate whether an object is present in a third area. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a block diagram showing a vehicle configuration according the present embodiment; 
         FIG. 2  is a view showing a detection area of each detector according to the present embodiment; 
         FIG. 3  is a flowchart showing a traveling schedule process according to the present embodiment; 
         FIG. 4  is a flowchart showing an estimation process according to the present embodiment; 
         FIG. 5  is a flowchart showing a first process according to the present embodiment; 
         FIG. 6  is a view showing one example of a road situation of the first process according to the present embodiment; 
         FIG. 7  is a flowchart showing a second process according to the present embodiment; 
         FIG. 8  is a flowchart showing a third process according to the present embodiment; 
         FIG. 9  is a view showing one example of a road situation of the third process according to the present embodiment; 
         FIG. 10  is a flowchart showing a fourth process according to the present embodiment; 
         FIG. 11  is a flowchart showing a fifth process according to the present embodiment; and 
         FIG. 12  is a flowchart showing a monitoring process according to a modification embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     As a result of detailed studies of the inventor, a difficulty in how to continue a process of changing the vehicle lane when it is determined that an abnormality has occurred in a part of a system of the traveling assistance apparatus has been found. The system is, for example, a detector for detecting the object that is present in peripheral of the vehicle. The traveling assistance apparatus of the comparative example does not teach the difficulty. 
     One example of the present disclosure provides a periphery recognition apparatus that estimates whether an object is present in a detection area of a detector in which an abnormality has occurred. 
     According to one example embodiment, a periphery recognition apparatus may recognize a peripheral situation of a vehicle. The periphery recognition apparatus may include detection portion and an estimation portion. The detection portion may detect an abnormality of at least a third detector among a first detector that may detect an object in a first area that is a predetermined area adjacent to one side of the vehicle, a second detector that may detect the object in a second area that is an area located adjacent to the one side and located on a backward side of the first area, and the third detector that may detect the object in a third area that is an area located adjacent to the one side and located between the first area and the second area. The estimation portion may perform speed control that is control of traveling speed of the vehicle and estimate whether the object is present in the third area based on information obtained from at least one of the first detector or the second detector, when the detection portion may detect that the third detector is abnormal. 
     According such a configuration, it may be possible to estimate whether the object is present in the third area that is the area corresponding to the object detection by the third detector in which the abnormality has occurred. 
     Another example of the present disclosure provides a periphery recognition method performed by the periphery recognition apparatus that may recognize the peripheral situation of the vehicle. In the periphery recognition method, an abnormality of at least a third detector may be detected among a first detector that may detect an object in a first area that is a predetermined area corresponding to one side of the vehicle, a second detector that may detect the object in a second area that is an area located adjacent to the one side and located on a backward side of the first area, and the third detector that may detect the object in a third area that is an area located adjacent to the one side and located between the first area and the second area. Next, in the periphery recognition method, speed control that is control of traveling speed of the vehicle may be performed and whether the object is present in the third area based on information obtained from at least one of the first detector or the second detector may be estimated, when it may be detected that the third detector is abnormal. 
     According to such a method, it may be possible to estimate whether the object is present in the third area that is the area corresponding to the object detection by the third detector in which the abnormality has occurred. 
     Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. 
     1. Configuration 
     A vehicle  100  shown in  FIG. 1  is an automatic traveling vehicle that automatically travels to a destination by various controls. The vehicle  100  includes a periphery detection portion  1 , a vehicle information portion  2 , a route information portion  3 , a periphery recognition apparatus  4 , a braking portion  5 , a driving portion  6 , and a steering portion  7 . The periphery recognition apparatus  4  includes an abnormality detection portion  41  and a vehicle controller  42 . 
     The periphery detection portion  1  is an assembly of detectors detecting an object in peripheral of the vehicle  100  and detecting the speed of the corresponding object for recognizing the peripheral situation of the vehicle  100 . The periphery detection portion  1  includes a forward detector  11 , a diagonally right forward detector  12 , a right detector  13 , a diagonally right backward detector  14 , a diagonally left forward detector  15 , a left detector  16 , a diagonally left backward detector  17 , and a backward detector  18 . Each of detectors  11  to  18  is configured by a known instrument such as a camera, or a laser radar, or a sensor, and individually identifies the detected object. 
     Each of areas shown in  FIG. 2  is a detection area corresponding to an object detection performed by each of detectors  11  to  18 . Specifically, the detection area of the forward detector  11  is a forward area  11 A located in front of the vehicle  100 . The detection area of the diagonally right forward detector  12  is a diagonally right forward area  12 A located adjacent to a right side of the vehicle  100  and also adjacent to the forward side of the vehicle  100 . The detection area of the diagonally right backward detector  14  is a diagonally right backward area  14 A located adjacent to the right side of the vehicle  100  and also adjacent to a backward side of the vehicle  100 . The detection area of the right detector  13  is a right area  13 A that is an area located on the right side of the vehicle  100  and also located between the diagonally right forward area  12 A and the diagonally right backward area  14 A. The detection area of the diagonally left forward detector  15  is a diagonally left forward detection area  15 A located adjacent to a left side of the vehicle  100  and also adjacent to the forward side of the vehicle  100 . The detection area of the diagonally left backward detector  17  is a diagonally left backward detection area  17 A located adjacent to the left side of the vehicle  100  and also adjacent to the backward side of the vehicle  100 . The detection area of the left detector  16  is a left area  16 A that is located on the left side of the vehicle  100  and also located between the diagonally left forward detection area  15 A and the diagonally left backward detection area  17 A. The detection area of the backward detector  18  is a backward area  18 A located on the backward side of the vehicle  100 . 
     The vehicle information portion  2  is an assembly of sensors that detect vehicle information that is information necessary for the traveling control of the vehicle  100 . The vehicle information portion  2  includes a known sensor such as a position sensor, a vehicle speed sensor, or a yaw rate sensor that detects an angular velocity applied to around the center of gravity of the vehicle  100  during traveling. The vehicle information detected by the vehicle information portion  2  is input to the vehicle controller  42 . 
     The route information portion  3  inputs a travelling instruction for reaching the destination such as an instruction of a traveling route or an instruction of vehicle lane change to the vehicle controller  42 , by using a known navigation system. 
     The periphery recognition apparatus  4  is an apparatus for recognizing the periphery of the vehicle  100 . 
     The abnormality detection portion  41  constantly monitors each of the detectors  11  to  18 . When the abnormality occurs in at least one of the detectors  11  to  18 , the abnormality detection portion  41  inputs abnormality detection information to the vehicle controller  42 . The abnormality detection information is information indicating that the abnormality of the detector has been detected. 
     The vehicle controller  42  includes a known microcomputer having a CPU and a semiconductor memory such as a RAM, a ROM, or a flash memory. A function of the vehicle controller  42  is implemented by executing a program stored in a non-transitory tangible storage medium by the CPU. In this example, the semiconductor memory corresponds to the non-transitory tangible storage medium in which the program is stored. The vehicle controller  42  executes the program to execute a traveling schedule process described later. The number of microcomputers configuring the vehicle controller  42  may be one or more. 
     The vehicle controller  42  executes a process for automatic traveling of the vehicle  100 . In particular, in the present embodiment, the process of the vehicle lane change will be described. The vehicle controller  42  recognizes the peripheral situation of the vehicle  100  based on the detection results of the object in peripheral of the vehicle  100 , the detection results being input from each of the detectors  11  to  18 . The vehicle controller  42  performs the traveling schedule of the vehicle  100  based on the vehicle information input from the vehicle information portion  2 , the traveling instruction input from the route information portion  3 , and the abnormality detection information detected by the abnormality detection portion  41 , in addition to the recognition result of the peripheral situation of the vehicle  100 . Performing the traveling schedule refers to determining a behavior that vehicle  100  should perform such as, for example, acceleration, deceleration, or steering. The vehicle controller  42  inputs the control instruction for the automatic traveling of the vehicle  100  to the braking portion  5 , the driving portion  6 , and the steering portion  7  based on the traveling schedule. 
     Each of the braking portion  5 , the driving portion  6 , and the steering portion  7  is an actuator for performing braking of the vehicle  100 , driving, and steering based on the control instruction input from the vehicle controller  42 . 
     2. Process 
     [2-1. Traveling Schedule Process] 
     Next, a procedure of the traveling schedule process executed by the vehicle controller  42  will be described with reference to a flowchart of  FIG. 3 . The traveling schedule process is a series of processes for performing the traveling schedule in a situation where the abnormality has been detected in the right detector  13  or the left detector  16 . More specifically, the traveling schedule process is a process executed by the vehicle controller  42  when an instruction for changing the vehicle lane to a right vehicle lane is input from the route information portion  3  in a state where the abnormality detection portion  41  has detected the abnormality in the right detector  13 , or when an instruction for changing the vehicle lane to a left vehicle lane is input from the route information portion  3  in a state where the abnormality detection portion  41  has detected the abnormality in the left detector  16 . 
     In S 101 , the vehicle controller  42  estimates whether the object is present in the detection area of the detector located adjacent to the side detector where the abnormality has been detected, by executing an estimation process described later. In this example, the vehicle controller  42  estimates whether the vehicle parallelly traveling is present. That is, the estimation process is a process of recognizing the peripheral situation of the vehicle  100  by estimating where the parallelly traveling vehicle is present in an undetectable area that is a detection area where the parallelly traveling vehicle cannot be detected due to occurrence of the abnormality. Specifically, in the state where the abnormality has been detected in the right detector  13 , the vehicle controller  42  estimates whether the parallelly traveling vehicle is present in the right area  13 A. In the state where the abnormality has been detected in the left detector  16 , the vehicle controller  42  estimates whether the parallelly traveling vehicle is present in the left area  16 A. 
     In S 102 , the vehicle controller  42  determines whether the recognition of the peripheral situation of the vehicle  100  has been completed in the estimation process. When determining that the recognition has been completed in S 102 , the vehicle controller  42  shifts the process to S 103 . On the other hand, when determining that the recognition has not been completed, that is, the recognition has not been finished in S 102 , the vehicle controller  42  returns the process to S 101 , and executes the estimation process again. 
     In S 103 , the vehicle controller  42  performs the traveling schedule based on the estimation process. Specifically, for example, when the vehicle controller  42  obtains the result of the estimation process and the result indicates that the parallelly traveling vehicle is present, the vehicle controller  42  performs the traveling schedule that does not include the vehicle lane change. Thereafter, the vehicle controller  42  ends the traveling schedule process, and inputs the control instruction based on the traveling schedule to the braking portion  5 , the driving portion  6 , and the steering portion  7 . 
     [2-2. Estimation Process] 
     Next, the estimation process executed by the vehicle controller  42  in S 101  of the traveling schedule process will be described with reference to a flowchart of  FIG. 4 . 
     In S 201 , the vehicle controller  42  determines whether the vehicle is present in each detection area of the forward detector located adjacent to the forward side of the detector in which the abnormality has been detected and the backward detector located adjacent to the backward side of the detector in which the abnormality has been detected, and determines whether the vehicle is present in the detection area of the detector located adjacent to the backward side of the detector in which the abnormality has been detected. Specifically, in the state where the abnormality has been detected in the right detector  13 , the vehicle controller  42  determines whether a forward vehicle traveling at the position adjacent to the forward side and also the right side of the vehicle  100  is present in the diagonally right forward area  12 A, and determines whether a backward vehicle traveling at the position adjacent to the backward side and also the right side of the vehicle  100  is present in the diagonally right backward area  14 A. On the other hand, in the state where the abnormality has been detected in the left detector  16 , the vehicle controller  42  determines whether the forward vehicle traveling at the position adjacent to the forward side and also the left side of the vehicle  100  is present in the diagonally left forward detection area  15 A, and determines whether the backward vehicle traveling at the position adjacent to the backward side and also the left side of the vehicle  100  is present in the diagonally left backward detection area  17 A. The vehicle controller  42  also determines the traveling speeds of the forward vehicle and the backward vehicle based on the information obtained by the periphery detection portion  1 . 
     When determining that only the forward vehicle is present and also the speed of the forward vehicle is lower than or equal to the speed of the vehicle  100  in S 201 , the vehicle controller  42  shifts the process to S 202 . The vehicle controller  42  executes a first process described later in S 202 , and thereafter ends the estimation process. 
     When determining that only the forward vehicle is present and also the speed of the forward vehicle is higher than the speed of the vehicle  100  in S 201 , the vehicle controller  42  shifts the process to S 203 . The vehicle controller  42  executes a second process described later in S 203 , and thereafter ends the estimation process. 
     When determining that only the backward vehicle is present in S 201 , the vehicle controller  42  shifts the process to S 204 . The vehicle controller  42  executes a third process described later in S 204 , and thereafter ends the estimation process. 
     When determining that the forward vehicle and the backward vehicle are present in S 201 , the vehicle controller  42  shifts the process to S 205 . The vehicle controller  42  executes a fourth process described later in S 205 , and thereafter ends the estimation process. 
     When determining that the vehicle is not present in both of the forward area and the backward area in S 201 , the vehicle controller  42  shifts the process to S 206 . The vehicle controller  42  executes a fifth process described later in S 206 , and thereafter ends the estimation process. 
     [2-3. First Process] 
     Next, the first process executed by the vehicle controller  42  in S 202  of the estimation process will be described with reference to a flowchart of  FIG. 5 . In the following description, it is assumed that a vehicle other than the detection vehicle that is the vehicle detected in S 201  of the estimation process is not detected in the forward area and the backward area unless there is a further description. Further, it is assumed that each detection area is set to a size that allows the vehicle  100  to automatically travel, and the right area  13 A and the left area  16 A are set to a size that does not allow the multiple vehicles to be present at the same time. Therefore, when the detection vehicle moves from the forward area or the backward area to the undetectable area, only the detection vehicle is present in the undetectable area. 
     In S 301 , the vehicle controller  42  performs acceleration control of the vehicle  100 . More specifically, the vehicle controller  42  inputs the control instruction for accelerating the vehicle  100  to the driving portion  6  and the steering portion  7 . At this time, by the acceleration control, the speed of the vehicle  100  is controlled to be higher than the speed of the detection vehicle determined based on the information obtained by the forward detector. 
     In S 302 , the vehicle controller  42  determines whether the backward detector has detected the detection vehicle within a predetermined time. When determining that the backward detector has detected the detection vehicle within the predetermined time in S 302 , the vehicle controller  42  shifts the process to S 303 . 
     In S 303 , the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the first process. 
     Here, the flow from S 301  to S 303  will be described with reference to a road situation shown in  FIG. 6  as an example. On a road A, the vehicle  100  and a vehicle  200  travel. The vehicle  200  is positioned adjacent to the forward side and also the left side of the vehicle  100 . At this time, the vehicle  200  is a forward vehicle traveling in the diagonally left forward detection area  15 A, and is the detection vehicle. The vehicle  200  is traveling at a lower speed or the same speed as the vehicle  100 . When the vehicle controller  42  determines that the vehicle  200  is present in the diagonally left forward detection area  15 A and thereafter performs the acceleration control, the diagonally left backward detector  17  detects the vehicle  200  in the diagonally left backward detection area  17 A within the predetermined time unless the vehicle  200  accelerates in the undetectable area. The vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and ends the first process. That is, the vehicle controller  42  grasps the situation of the normally recognized diagonally left forward detection area  15 A and the situation of the normally recognized diagonally left backward detection area  17 A before and after the acceleration. Thereby, the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the left area  16 A that is the undetectable area between the diagonally left forward detection area  15 A and the diagonally left backward detection area  17 A. 
     On the other hand, in S 302 , when determining that the backward detector has not detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 304 . 
     In S 304 , the vehicle controller  42  performs deceleration control of the vehicle  100 . 
     In S 305 , the vehicle controller  42  determines whether the forward detector has detected the detection vehicle within the predetermined time. In S 305 , when determining that the forward detector has not detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 306 . 
     In S 306 , the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . For example, when, during the acceleration control of the vehicle  100  in S 301 , the detection vehicle enters the undetectable area and thereafter travels in parallel with the vehicle  100  at the same speed as the vehicle  100 , the detection vehicle continues to be positioned in the undetectable area in a positional relation with the vehicle  100 . Therefore, the vehicle controller  42  cannot detect the detection vehicle by the forward detector or the backward detector. In such a case, the vehicle controller  42  performs the deceleration control, and the vehicle  100  moves behind the detection vehicle parallelly traveling with the vehicle  100 . Thereby, the forward detector is able to detect the detection vehicle. When detecting the detection vehicle within the predetermined time by the forward detector, the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area. Thereafter, the vehicle controller  42  ends the first process. 
     On the other hand, in S 305 , when determining that the forward detector has not detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 307 . In S 307 , the vehicle controller  42  estimates that the parallelly traveling vehicle is present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the first process. 
     [2-4. Second Process] 
     Next, the second process executed by the vehicle controller  42  in S 203  of the estimation process will be described with reference to a flowchart of  FIG. 7 . 
     In S 401 , the vehicle controller  42  performs the deceleration control so that the speed of the vehicle  100  is lower than the speed of the detection vehicle determined based on the information obtained by the forward detector. 
     In S 402 , the vehicle controller  42  determines whether the backward detector has detected the other vehicle traveling at the position adjacent to the diagonally backward side of the vehicle  100 . In S 402 , when determining that the backward detector has detected the other vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 403 . 
     In S 403 , the vehicle controller  42  determines that the recognition of the peripheral situation of the vehicle  100  has not been completed. Thereafter, the vehicle controller  42  ends the second process. In this case, after the estimation process ends, it is determined that the recognition of the peripheral situation of the vehicle  100  has not been completed in S 102 . The process returns to S 101 . In S 201 , it is determined that only the backward vehicle is present, and a third process described later is executed. 
     On the other hand, in S 402 , when determining that the backward detector has not detected the other vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 404 . 
     In S 404 , the vehicle controller  42  estimates that the parallelly traveling vehicle is not present, and thereby completes the recognition of the peripheral situation of the vehicle  100 . That is, in consideration of the situation that the detection vehicle travels at the higher speed than the vehicle  100 , there are many cases where also the other vehicle travels at the higher speed than the vehicle  100  in the traveling vehicle lane in which the detection vehicle travels. Thus, for example, even when the parallelly traveling vehicle travels in the undetectable area at the start of the second process, there is a low possibility that the parallelly traveling vehicle decelerates at the same time as the time of the deceleration control of the vehicle  100  and the parallelly traveling vehicle continues to be positioned in the undetectable area. Therefore, when performing the deceleration control and detecting the detection vehicle within the predetermined time by the backward detector, the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area. Thereafter, the vehicle controller  42  ends the second process. 
     [2-5. Third Process] 
     Next, the third process executed by the vehicle controller  42  in S 204  of the estimation process will be described with reference to a flowchart of  FIG. 8 . 
     In S 501 , the vehicle controller  42  performs the deceleration control so that the speed of the vehicle  100  is lower than the speed of the detection vehicle determined based on the information obtained by the backward detector. 
     In S 502 , the vehicle controller  42  determines whether the forward detector has detected the detection vehicle within the predetermined time. In S 502 , when determining that the forward detector has not detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 503 . 
     In S 503 , similarly to S 303  of the first process, the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the third process. 
     Here, the flow from S 501  to S 503  will be described with reference to a road situation shown in  FIG. 9  as an example. On a road B, the vehicle  100  and a vehicle  300  parallelly travel. The vehicle  300  is positioned adjacent to the backward side and the left side of the vehicle  100 . At this time, the vehicle  300  is a backward vehicle traveling in the diagonally left backward detection area  17 A, and is the detection vehicle. When the vehicle controller  42  determines that the vehicle  300  is present in the diagonally left backward detection area  17 A and thereafter performs the deceleration control, the diagonally left forward detector  15  detects the vehicle  300  in the diagonally left forward detection area  15 A within the predetermined time unless the vehicle  300  decelerates in the undetectable area. The vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and ends the third process. 
     On the other hand, in S 502 , when determining that the forward detector has not detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 504 . 
     In S 504 , the vehicle controller  42  performs the acceleration control of the vehicle  100 . 
     In S 505 , the vehicle controller  42  determines whether the backward detector has detected the detection vehicle within the predetermined time. In S 505 , when determining that the backward detector has detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 506 . 
     In S 506 , the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the third process. 
     On the other hand, in S 505 , when determining that the backward detector has not detected the detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 507 . In S 507 , similarly to S 307  of the first process, the vehicle controller  42  estimates that the parallelly traveling vehicle is present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the third process. 
     [2-6. Fourth Process] 
     Next, the fourth process executed by the vehicle controller  42  in S 205  of the estimation process will be described with reference to a flowchart of  FIG. 10 . 
     In S 601 , the vehicle controller  42  performs the acceleration control or the deceleration control of the vehicle  100 . Whether to perform the acceleration control or the deceleration control is determined in accordance with, for example, the situation in peripheral of the vehicle  100 , or the like. Specifically, when performing the acceleration control of the vehicle  100 , the vehicle controller  42  controls the vehicle  100  so that the speed of the vehicle  100  is higher than the speed of a first detection vehicle that is a vehicle detected as the forward vehicle. The speed of the first detection vehicle is determined based on the information obtained by the forward detector. On the other hand, when performing the deceleration control of the vehicle  100 , the vehicle controller  42  controls the vehicle  100  so that the speed of the vehicle  100  is lower than the speed of a second detection vehicle that is a vehicle detected as the backward vehicle. The speed of the second detection vehicle is determined based on the information obtained by the backward detector. 
     In S 602 , the vehicle controller  42  determines whether the predetermined detector has detected the predetermined detection vehicle within the predetermined time. Specifically, when performing the acceleration control in S 601 , the vehicle controller  42  determines whether the backward detector has detected the first detection vehicle within a predetermined time. On the other hand, when performing the deceleration control in S 601 , the vehicle controller  42  determines whether the forward detector has detected the second detection vehicle within the predetermined time. In S 602 , when determining that the predetermined detector has detected the predetermined detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 603 . 
     In S 603 , similarly to S 303  of the first process, the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the fourth process. 
     On the other hand, in S 602 , when determining that the predetermined detector has not detected the predetermined detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 604 . 
     In S 604 , the vehicle controller  42  reverses the performed acceleration control of the vehicle  100  in S 601  or the performed deceleration control of the vehicle  100  in S 601 . That is, when the acceleration control is performed in S 601 , the deceleration control is performed. When the deceleration control is performed in S 601 , the acceleration control is performed. 
     In S 605 , the vehicle controller  42  determines whether the predetermined detector has detected the predetermined detection vehicle within the predetermined time. Specifically, when performing the deceleration control in S 604 , the vehicle controller  42  determines whether the forward detector has detected the second detection vehicle within the predetermined time. In this case, the first detection vehicle is detected by the forward detector before the second detection vehicle is detected. On the other hand, when performing the acceleration control in S 604 , the vehicle controller  42  determines whether the backward detector has detected the first detection vehicle within the predetermined time. In this case, the second detection vehicle is detected by the backward detector before the first detection vehicle is detected. In S 605 , when determining that the predetermined detector has detected the predetermined detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 606 . 
     In S 606 , the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the fourth process. 
     On the other hand, in S 605 , when determining that the predetermined detector has not detected the predetermined detection vehicle within the predetermined time, the vehicle controller  42  shifts the process to S 607 . 
     In S 607 , the vehicle controller  42  estimates that the parallelly traveling vehicle is present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the fourth process. 
     [2-7. Fifth Process] 
     Next, the fifth process executed by the vehicle controller  42  in S 206  of the estimation process will be described with reference to a flowchart of  FIG. 11 . 
     In S 701 , similarly to S 601  of the fourth process, the vehicle controller  42  performs the acceleration control or the deceleration control of the vehicle  100 . 
     In S 702 , the vehicle controller  42  determines whether at least one of the forward detector or the backward detector has newly detected the other vehicle. When determining that at least one of the forward detector or the backward detector has detected the other vehicle within the predetermined time in S 702 , the vehicle controller  42  shifts the process to S 703 . 
     In S 703 , the vehicle controller  42  determines that the recognition of the peripheral situation of the vehicle  100  has not been completed. Thereafter, the vehicle controller  42  ends the fifth process. In this case, after the estimation process ends, it is determined that the recognition of the peripheral situation of the vehicle  100  has not been completed in S 102 . The process returns to S 101 . 
     On the other hand, when determining that at least one of the forward detector or the backward detector has not newly detected the other vehicle within the predetermined time in S 702 , the vehicle controller  42  shifts the process to S 704 . 
     In S 704 , similarly to S 604  of the fourth process, the vehicle controller  42  reverses the performed acceleration control of the vehicle  100  in S 701  or the performed deceleration control of the vehicle  100  in S 701 . 
     In S 705 , the vehicle controller  42  determines whether at least one of the forward detector or the backward detector has detected the other vehicle within the predetermined time. When determining that at least one of the forward detector or the backward detector has detected the other vehicle within the predetermined time in S 705 , the vehicle controller  42  shifts the process to S 706 . 
     In S 706 , the vehicle controller  42  determines that the recognition of the peripheral situation of the vehicle  100  has not been completed. Thereafter, the vehicle controller  42  ends the fifth process. In this case, after the estimation process ends, it is determined that the recognition of the peripheral situation of the vehicle  100  has not been completed in S 102 . The process returns to S 101 . 
     On the other hand, when determining that at least one of the forward detector or the backward detector has not newly detected the other vehicle within the predetermined time in S 705 , the vehicle controller  42  shifts the process to S 707 . 
     In S 707 , similarly to S 303  of the first process, the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area, and thereby completes the recognition of the peripheral situation of the vehicle  100 . Thereafter, the vehicle controller  42  ends the fifth process. 
     3. Effects 
     The above-described embodiment provides the following effects. 
     (1a) When the abnormality detection portion  41  detects the abnormality of the right detector  13  or the left detector  16 , the vehicle controller  42  performs at least one of the acceleration control or the deceleration control of the vehicle  100 . The vehicle controller  42  estimates whether the parallelly traveling vehicle is present in the undetectable area based on the information that is input from the forward detector and indicates whether the forward vehicle is present and the information that is input from the backward detector and indicates whether the backward vehicle is present. The vehicle controller  42  performs the traveling schedule based on the estimation result. 
     According to such a configuration, when estimating that the parallelly traveling vehicle is not present in the undetectable area, the vehicle controller  42  is able to perform the traveling schedule in which the vehicle lane change is performed. Accordingly, it may be possible to continue the process of the vehicle lane change by the vehicle  100 , as compared with the configuration in which the process of the vehicle lane change is not executed when the abnormality of the right detector  13  or the left detector  16  is detected. In other words, the vehicle controller  42  estimates whether the parallelly traveling vehicle is present, as a substitute for a function of each of the right detector  13  and the left detector  16  for detecting the parallelly traveling vehicle. 
     (1b) When both of the forward detector and the backward detector have not detected the forward vehicle and the backward vehicle during the acceleration control and the deceleration control of the vehicle  100 , the vehicle controller  42  estimates that the parallelly traveling vehicle is not present in the undetectable area. 
     According to such a configuration, it may be possible to estimate with the high reliability that the parallelly traveling vehicle is not present in the undetectable area. 
     In the present embodiment, the diagonally right forward area  12 A and the diagonally left forward detection area  15 A may correspond to a first area. The diagonally right backward area  14 A and the diagonally left backward detection area  17 A may correspond to a second area. The undetectable area, the right area  13 A, and the left area  16 A may correspond to a third area. The diagonally right forward detector  12  and the diagonally left forward detector  15  may correspond to a first detector. The diagonally right backward detector  14  and the diagonally left backward detector  17  may correspond to a second detector. The right detector  13  and the left detector  16  may correspond to a third detector. The abnormality detection portion  41  may correspond to a detection portion. The process of S 101  executed by the vehicle controller  42  may correspond to a process as an estimation portion. The process of S 103  executed by the vehicle controller  42  may correspond to a process as a traveling schedule portion. 
     4. Other Embodiments 
     While the embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment and can be variously modified. 
     (2a) In the traveling schedule process of the embodiment described above, when a predetermined condition is satisfied, a monitoring process for monitoring whether the new other vehicle has entered the undetectable area may be further executed in the process of the traveling schedule process of S 103 . The predetermined condition is a condition that the vehicle lane change is not performed due to some reason such as a reason that guide to the destination is stopped when, in the estimation process of S 101 , it is estimated that the parallelly traveling vehicle is not present in the undetectable area and thereafter the recognition of the peripheral situation of the vehicle  100  has been completed. In the following description of the monitoring process, the other vehicle may be also referred to as a monitor vehicle. 
     The monitoring process shown in  FIG. 12  is a process executed during the process of the traveling schedule of S 103 . 
     In S 801 , the vehicle controller  42  determines whether at least one of the forward detector or the backward detector has detected the monitor vehicle. Specifically, when the monitor vehicle traveling at the position adjacent to the diagonally forward side of the vehicle  100  travels at the lower speed than the vehicle  100  and enters the forward area, the forward detector detects the monitoring vehicle. On the other hand, when the monitor vehicle traveling at the position adjacent to the diagonally backward side of the vehicle  100  travels at the higher speed than the vehicle  100  and enters the backward area, the backward detector detects the monitor vehicle. When determining that both of the forward detector and the backward detector have not detected the monitor vehicle in S 801 , the vehicle controller  42  shifts the process to S 802 . 
     In S 802 , the vehicle controller  42  sets a flag to “0”, and returns the process to S 801 . The flag is a flag set when the vehicle controller  42  determines that the parallelly traveling vehicle is present in the undetectable area. At the start of the monitoring process, the flag is set to “0”. 
     On the other hand, when determining that at least one of the forward detector or the backward detector has detected the monitor vehicle in S 801 , the vehicle controller  42  shifts the process to S 803 . 
     In S 803 , the vehicle controller  42  determines whether the monitor vehicle has passed through the forward area or the backward area. That is, the vehicle controller  42  determines whether the monitor vehicle in the forward area or the backward area has moved towards the undetectable area. When determining that the monitor vehicle has not passed through the forward area or the backward area in S 803 , the vehicle controller  42  returns the process to S 801 . On the other hand, when determining that the monitor vehicle has passed through the forward area or the backward area in S 803 , the vehicle controller  42  shifts the process to S 804 . 
     In S 804 , the vehicle controller  42  sets the flag to “1”. That is, the vehicle controller  42  estimates that the parallelly traveling vehicle is present in the undetectable area. When setting the flag to “1”, until the flag is set to “0” again, the vehicle controller  42  does not perform the vehicle lane change towards the undetectable area even when the route information portion  3  inputs the vehicle lane change instruction. 
     In S 805 , the vehicle controller  42  determines whether the forward detector or the backward detector has detected the monitor vehicle again. Specifically, when the monitor vehicle accelerates more than the vehicle  100 , the monitor vehicle is detected by the forward detector. When the monitor vehicle decelerates more than the vehicle  100 , the monitor vehicle is detected by the backward detector. When determining that the forward detector or the backward detector has detected the monitor vehicle in S 805 , the vehicle controller  42  shifts the process to S 802 . On the other hand, when determining that the forward detector or the backward detector has not detected the monitor vehicle, the vehicle controller  42  returns the process to S 805 . 
     According to such a configuration, by continuously monitoring the entry of the vehicle into the undetectable area and the exit of the vehicle from the undetectable area, it may be possible to easily estimate whether the parallelly traveling vehicle is present in the undetectable area as compared with the estimation process. 
     (2b) In the embodiment described above, the configuration in which the traveling schedule process is executed on a necessary condition that the instruction of the vehicle lane change is input from the route information portion  3  has been exemplified. However, the condition for executing the traveling schedule process is not limited to this. For example, the condition may be set to a condition that, regardless of whether the instruction of the vehicle lane change is input from the route information portion  3 , the abnormality of the right detector  13  or the left detector  16  has been detected. 
     (2c) In the embodiment described above, the configuration in which two of the right detector  13  and the left detector  16  are monitored has been exemplified. In the configuration, when the abnormality is detected in at least one of the two detectors, the traveling schedule process is executed. However, for example, either the right detector  13  or the left detector  16  may be monitored. When the abnormality has been detected in the monitored detector, the traveling schedule process may be executed. 
     (2d) In the embodiment described above, the periphery recognition apparatus  4  used for the automatic traveling control of the vehicle  100  has been exemplified. However, the type of control using the periphery recognition apparatus is not limited to this. For example, the periphery recognition apparatus may be used for a traveling assistance control for assisting a part of the driving operation by the driver of the vehicle. 
     (2e) A function of one configuration element in the embodiment described above may be implemented by multiple configuration elements. Functions of multiple configuration elements may be implemented by one configuration element. A part of the configuration of the embodiment described above may be omitted. At least a part of the configuration of the embodiment described above may be added to, replaced with another configuration of the embodiment described above, or the like. 
     (2f) The present disclosure can be implemented by, in addition to the vehicle controller described above, various aspects such as a system including the vehicle controller as the configuration element, a program for causing a computer to function as the vehicle controller, or a medium storing this program. 
     The controllers and methods described in the present disclosure may be implemented by a special purpose computer created by configuring a memory and a processor programmed to execute one or more particular functions embodied in computer programs. Alternatively, the controllers and methods described in the present disclosure may be implemented by a special purpose computer created by configuring a processor provided by one or more special purpose hardware logic circuits. Alternatively, the controllers and methods described in the present disclosure may be implemented by one or more special purpose computers created by configuring a combination of a memory and a processor programmed to execute one or more particular functions and a processor provided by one or more hardware logic circuits. The computer programs may be stored, as instructions being executed by a computer, in a tangible non-transitory computer-readable medium. 
     Here, the process of the flowchart or the flowchart described in this application includes a plurality of sections (or steps), and each section is expressed as, for example, S 101 . Further, each section may be divided into several subsections, while several sections may be combined into one section. Furthermore, each section thus configured may be referred to as a device, module, or means. 
     While the present disclosure has been described with reference to embodiments thereof, it is to be understood that the disclosure is not limited to the embodiments and constructions. The present disclosure is intended to cover various modification and equivalent arrangements. In addition, while the various combinations and configurations, other combinations and configurations, including more, less or only a single element, are also within the spirit and scope of the present disclosure.