Patent Publication Number: US-2020298887-A1

Title: Vehicle, control system of vehicle, and control method of vehicle

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     This application is a continuation of International Patent Application No. PCT/JP2018/043408 filed on Nov. 26, 2018, which claims priority to and the benefit of International Patent Application No. PCT/JP2017/044660 filed on Dec. 13, 2017, the entire disclosures of which are incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present invention relates to a vehicle, a control system of the vehicle, and a control method of the vehicle. 
     BACKGROUND ART 
     Various technologies for achieving automated driving of a vehicle have been proposed. In PTL 1, a monitoring apparatus is provided for monitoring whether or not various kinds of control by an automated driving control apparatus is normally operating. The monitoring apparatus compares its own control calculation result with a control calculation result by the automated driving control apparatus, and when both control calculation results do not match, forcibly cancels an automatic control function by the automated driving control apparatus. 
     CITATION LIST 
     Patent Literature 
     PTL 1: International Publication No. 2016/080452 
     SUMMARY OF INVENTION 
     Technical Problem 
     Even when it is determined by the monitoring apparatus of PTL 1 that the automatic control function is operating normally, there may be a case where the actual behavior of a vehicle is not normal. Some aspects of the present invention provide a technique for accurately determining deterioration of the traveling control function of the vehicle. 
     Solution to Problem 
     According to some embodiments, there is provided a control system of a vehicle including an external world recognition apparatus group and an actuator group, the control system comprising: a traveling control unit configured to perform automated driving or traveling support by controlling the actuator group based on recognition results of the external world recognition apparatus group; and a monitoring unit configured to monitor a detected situation of a target by the external world recognition apparatus group as a control result of the actuator group, wherein the monitoring unit determines whether or not the automated driving or the traveling support can be continued, based on the detected situation of the target. 
     Advantageous Effects of Invention 
     According to the present invention, deterioration of the traveling control function of a vehicle can be accurately determined. 
     Other features and advantages of the present invention will be apparent from the following description taken in conjunction with the accompanying drawings. Note that the same reference numerals denote the same or like components throughout the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       The accompanying drawings are included in the specification, constitute a part of the specification, illustrate embodiments of the present invention, and are used for describing the principle of the present invention together with the description of the drawings. 
         FIG. 1  is a block diagram of a vehicle control system according to an embodiment. 
         FIG. 2  is a block diagram of the vehicle control system according to the embodiment. 
         FIG. 3  is a block diagram of the vehicle control system according to the embodiment. 
         FIG. 4  is a flowchart for describing a vehicle control method according to an embodiment. 
         FIG. 5  is a schematic diagram for describing the vehicle control method according to the embodiment. 
         FIG. 6  is a flowchart for describing the vehicle control method according to the embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
       FIG. 1  to  FIG. 3  are block diagrams of a vehicle control system  1  according to one embodiment of the present invention. The control system  1  controls a vehicle V. In  FIG. 1  and  FIG. 2 , the outline of the vehicle V is illustrated in a plan view and a side view. As an example, the vehicle V is a sedan-type four-wheeled passenger car. The control system  1  includes a control apparatus  1 A and a control apparatus  1 B.  FIG. 1  is the block diagram illustrating the control apparatus  1 A, and  FIG. 2  is the block diagram illustrating the control apparatus  1 B.  FIG. 3  mainly illustrates the communication line between the control apparatus  1 A and the control apparatus  1 B, and the configuration of a power source. 
     A part of functions achieved by the vehicle V are multiplexed or made redundant in the control apparatus  1 A and the control apparatus  1 B. Accordingly, the reliability of the system can be improved. The control apparatus  1 A also performs traveling support control in connection with risk avoiding, etc., in addition to automated driving control, and usual operation control in manual driving, for example. The control apparatus  1 B mainly administers the traveling support control in connection with risk avoiding, etc. The traveling support may be called driving support. It is possible to perform distribution of control processing and to improve reliability by making the control apparatus  1 A and the control apparatus  1 B redundant, and perform different control processing. 
     The vehicle V of the present embodiment is a parallel-type hybrid vehicle, and  FIG. 2  schematically illustrates the configuration of a power plant  50  that outputs a driving force for rotating driving wheels of the vehicle V. The power plant  50  includes an internal combustion engine EG, a motor M, and an automatic transmission TM. The motor M can be utilized as a driving source for accelerating the vehicle V, and can also be utilized as an electric generator at the time of deceleration, etc. (regenerative braking). 
     &lt;Control Apparatus  1 A&gt; 
     Referring to  FIG. 1 , the configuration of the control apparatus  1 A will be described. The control apparatus  1 A includes an ECU group (control unit group)  2 A. The ECU group  2 A includes a plurality of ECUs  20 A to  29 A. Each ECU includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, etc. The storage device stores a program executed by the processor, data used by the processor for processing, etc. Each ECU may include a plurality of processors, storage devices, interfaces, etc. Note that the number of the ECUs and the functions to be handled can be properly designed, and these can be more subdivided or integrated than in the present embodiment. Further, in  FIG. 1  and  FIG. 3 , typical function names are assigned to the ECU  20 A to  29 A. For example, the ECU  20 A is shown as “automated driving ECU”. 
     The ECU  20 A performs control in connection with automated driving as traveling control of the vehicle V. In automated driving, at least one of driving (acceleration of the vehicle V by the power plant  50 , etc.), steering or braking of the vehicle V is automatically performed, without depending on a driver&#39;s operation. In the present embodiment, driving, steering, and braking are automatically performed. 
     The ECU  21 A is an environment recognition unit that recognizes the traveling environment of the vehicle V, based on detection results of detection units  31 A and  32 A that detect the surrounding conditions of the vehicle V. The ECU  21 A generates target data, which will be described later, as peripheral environment information. 
     In the case of the present embodiment, the detection unit  31 A is an imaging device (hereinafter may be denoted as the camera  31 A) that detects an object around the vehicle V by imaging. The camera  31 A is provided in a front portion of a roof of the vehicle V, so as to be able to image the front of the vehicle V. By analyzing of the image imaged by the camera  31 A, it is possible to extract the outline of a target, and to extract the compartment lines (white lines, etc.) of lanes on a road. 
     In the case of the present embodiment, the detection unit  32 A is a lidar (Light Detection and Ranging) (hereinafter may be denoted as the lidar  32 A) that detects an object around the vehicle V by light, detects a target around the vehicle V, and measures the distance to the target. In the case of the present embodiment, five lidars  32 A are provided: one in each corner of a front portion of the vehicle V; one in the middle of a rear portion; and one in each side of the rear portion. The number and arrangement of the lidars  32 A can be properly selected. 
     The ECU  29 A is a traveling support unit that performs control in connection with traveling support (in other words, driving support) as traveling control of the vehicle V, based on the detection result of the detection unit  31 A. 
     The ECU  22 A is a steering control unit that controls an electric power steering apparatus  41 A. The electric power steering apparatus  41 A includes a mechanism that steers front wheels according to the driver&#39;s operation (steering operation) with respect to a steering wheel ST. The electric power steering apparatus  41 A assists the steering operation, and includes a motor that exhibits the driving force for automatically steering the front wheels, a sensor that detects the rotation amount of the motor, a torque sensor that detects the steering torque to be exerted on the driver, etc. 
     The ECU  23 A is a braking control unit that controls a hydraulic apparatus  42 A. The hydraulic apparatus  42 A achieves, for example, ESB (electric servo brake). The braking operation by the driver with respect to a brake pedal BP is converted into hydraulic pressure in a brake master cylinder BM, and is transmitted to the hydraulic apparatus  42 A. The hydraulic apparatus  42 A is an actuator that can control the hydraulic pressure of a working fluid to be supplied to a brake apparatus (for example, a disc brake apparatus)  51  provided for each of four wheels, based on the hydraulic pressure transmitted from the brake master cylinder BM, and the ECU  23 A performs drive control of an electromagnetic valve provided in the hydraulic apparatus  42 A, etc. In the case of the present embodiment, the ECU  23 A and the hydraulic apparatus  42 A constitute the electric servo brake, and the ECU  23 A controls, for example, the distribution of the braking force by the four brake apparatuses  51 , and the braking force by regenerative braking of the motor M. 
     The ECU  24 A is a stop maintaining control unit that controls an electric parking lock apparatus  50   a  provided in the automatic transmission TM. The electric parking lock apparatus  50   a  includes a mechanism that locks an internal mechanism of the automatic transmission TM mainly at the time of selection of a P range (parking range). The ECU  24 A can control locking and unlocking by the electric parking lock apparatus  50   a.    
     The ECU  25 A is an in-vehicle notification control unit that controls an information output apparatus  43 A for reporting information inside the vehicle. The information output apparatus  43 A includes, for example, a display apparatus such as a head-up display, and an audio output apparatus. Further, a vibration apparatus may be included. The ECU  25 A causes the information output apparatus  43 A to output, for example, various kinds of information such as the vehicle speed and the outside temperature, and information of course guidance, etc. 
     The ECU  26 A is an outside-vehicle notification control unit that controls an information output apparatus  44 A for reporting information to the outside of the vehicle. In the case of the present embodiment, the information output apparatus  44 A is a direction indicator (hazard lamp), and the ECU  26 A can report the moving direction of the vehicle V to the outside of the vehicle by performing blinking control of the information output apparatus  44 A as the direction indicator, and can enhance the attention toward the vehicle V from the outside of the vehicle by performing blinking control of the information output apparatus  44 A as the hazard lamp. 
     The ECU  27 A is a drive control unit that controls the power plant  50 . In the present embodiment, although one ECU  27 A is assigned to the power plant  50 , one ECU may be assigned to each of the internal combustion engine EG, the motor M, and the automatic transmission TM. The ECU  27 A controls the output of the internal combustion engine EG and the motor M, and switches the gear range of the automatic transmission TM, corresponding to, for example, the driver&#39;s operation detected by an operation detection sensor  34   a  provided in an accelerator pedal AP, and an operation detection sensor  34   b  provided in a brake pedal BP, the vehicle speed, etc. Note that a rotation frequency sensor  39  that detects the rotation frequency of an output shaft of the automatic transmission TM is provided in the automatic transmission TM as a sensor that detects the traveling state of the vehicle V. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation frequency sensor  39 . 
     The ECU  28 A is a position recognition unit that recognizes the current position and course of the vehicle V. The ECU  28 A performs control and information processing of the detection results or communication results of a gyro sensor  33 A, a GPS sensor  28   b , and a communication apparatus  28   c . The gyro sensor  33 A detects the rotary motion of the vehicle V. The course of the vehicle V can be determined from the detection result of the gyro sensor  33 A, etc. The GPS sensor  28   b  detects the current position of the vehicle V. The communication apparatus  28   c  performs wireless communication with a server providing map information and traffic information, and obtains these kinds of information. A database  28   a  can store highly accurate map information, and the ECU  28 A can specify the position of the vehicle V on a lane with a higher degree of accuracy, based on this map information, etc. 
     An input apparatus  45 A is arranged inside the vehicle so as to be able to be operated by the driver, and receives instructions from the driver, and the input of information. 
     &lt;Control Apparatus  1 B&gt; 
     Referring to  FIG. 2 , the configuration of the control apparatus  1 B will be described. The control apparatus  1 B includes an ECU group (control unit group)  2 B. The ECU group  2 B includes a plurality of ECUs  21 B to  25 B. Each ECU includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, etc. The storage device stores a program executed by the processor, data used by the processor for processing, etc. Each ECU may include a plurality of processors, storage devices, interfaces, etc. Note that the number of the ECUs and the functions to be handled can be properly designed, and these can be more subdivided or integrated than in the present embodiment. Further, similar to the ECU group  2 A, in  FIG. 2  and  FIG. 3 , typical function names are assigned to the ECU  21 B to  25 B. 
     The ECU  21 B is an environment recognition unit that recognizes the traveling environment of the vehicle V, based on the detection results of the detection units  31 B and  32 B that detect the surrounding conditions of the vehicle V, and is also a traveling support unit that performs control in connection with traveling support (in other words, driving support) as traveling control of the vehicle V. The ECU  21 B generates target data, which will be described later, as peripheral environment information. 
     Note that, although the ECU  21 B has the configuration including an environment recognition function and a traveling support function in the present embodiment, an ECU may be provided for each of the functions, such as the ECU  21 A and the ECU  29 A of the control apparatus  1 A. Conversely, in the control apparatus  1 A, one ECU may achieve the functions of the ECU  21 A and the ECU  29 A, such as the ECU  21 B. 
     In the case of the present embodiment, the detection unit  31 B is an imaging device (hereinafter may be denoted as the camera  31 B) that detects an object around the vehicle V by imaging. The camera  31 B is provided in the front portion of the roof of the vehicle V, so as to be able to image the front of the vehicle V. By analyzing of the image imaged by the camera  31 B, it is possible to extract the outline of a target, and to extract the compartment lines (white lines, etc.) of lanes on a road. In the case of the present embodiment, the detection unit  32 B is a millimeter wave radar that detects the object around the vehicle V by an electric wave (hereinafter may be denoted as the radar  32 B), detects the target around the vehicle V, and measures the distance to the target. In the case of the present embodiment, five radars  32 B are provided: one in the middle of the front portion of the vehicle V; one in each corner of the front portion; and one in each corner of the rear portion. The number and arrangement of the radars  32 B can be properly selected. 
     The ECU  22 B is a steering control unit that controls an electric power steering apparatus  41 B. The electric power steering apparatus  41 B includes a mechanism that steers the front wheels according to the driver&#39;s operation (steering operation) with respect to the steering wheel ST. The electric power steering apparatus  41 B assists the steering operation, and includes a motor that exhibits the driving force for automatically steering the front wheels, a sensor that detects the rotation amount of the motor, a torque sensor that detects the steering torque to be exerted on the driver, etc. Additionally, a steering angle sensor  37  is electrically connected to the ECU  22 B via a communication line L 2  described later, and can control the electric power steering apparatus  41 B based on the detection result of the steering angle sensor  37 . The ECU  22 B can obtain the detection result of a sensor  36  that detects whether or not the driver is gripping the steering handle ST, and can monitor the driver&#39;s gripping condition. 
     The ECU  23 B is a braking control unit that controls a hydraulic apparatus  42 B. The hydraulic apparatus  42 B achieves, for example, VSA (Vehicle Stability Assist). The braking operation by the driver with respect to the brake pedal BP is converted into hydraulic pressure in the brake master cylinder BM, and is transmitted to the hydraulic apparatus  42 B. The hydraulic apparatus  42 B is an actuator that can control the hydraulic pressure of the working fluid to be supplied to the brake apparatus  51  for each wheel, based on the hydraulic pressure transmitted from the brake master cylinder BM, and the ECU  23 B performs drive control of an electromagnetic valve provided in the hydraulic apparatus  42 B, etc. 
     In the case of the present embodiment, the ECU  42 B and the hydraulic apparatus  23 B are electrically connected to a wheel speed sensor  38  provided in each of the four wheels, a yaw rate sensor  33 B, and a pressure sensor  35  that detects the pressure in the brake master cylinder BM, and based on the detection results of these, an ABS function, traction control and the posture control function of the vehicle V are achieved. For example, the ECU  23 B adjusts the braking force of each of the wheels based on the detection result of the wheel speed sensor  38  provided in each of the four wheels, and suppresses sliding of each of the wheels. Additionally, the braking force of each wheel is adjusted based on the rotation angular speed about a vertical axis of the vehicle V detected by the yaw rate sensor  33 B, and the rapid posture change of the vehicle V is suppressed. 
     Additionally, the ECU  23 B also functions as an outside-vehicle notification control unit that controls an information output apparatus  43 B that reports information to the outside of the vehicle. In the case of the present embodiment, the information output apparatus  43 B is a brake light, and the ECU  23 B can turn on the brake light at the time of braking, etc. Accordingly, the attention toward the vehicle V from the following vehicle can be enhanced. 
     The ECU  24 B is a stop maintaining control unit that controls electric parking brake apparatuses (for example, drum brakes)  52  provided in the rear wheels. The electric parking brake apparatus  52  includes a mechanism for locking the rear wheel. The ECU  24 B can control locking and unlocking of the rear wheels by the electric parking brake apparatuses  52 . 
     The ECU  25 B is an in-vehicle notification control unit that controls an information output apparatus  44 B that reports information inside the vehicle. In the case of the present embodiment, the information output apparatus  44 B includes a display apparatus arranged in an instrument panel. The ECU  25 B can cause the information output apparatus  44 B to output various kinds of information, such as the vehicle speed, the fuel consumption, etc. 
     An input apparatus  45 B is arranged inside the vehicle so as to be able to be operated by the driver, and receives instructions from the driver, and the input of information. 
     &lt;Communication Lines&gt; 
     Referring to  FIG. 3 , a description will be given of an example of communication lines of the control system  1  communicatively connecting the ECUs to each other. The control system  1  includes wired communication lines L 1  to L 7 . Each of the ECU  20 A to  27 A and  29 A of the control apparatus  1 A is connected to the communication line L 1 . Note that the ECU  28 A may also be connected to the communication line L 1 . 
     Each of the ECU  21 B to  25 B of the control apparatus  1 B is connected to the communication line L 2 . Additionally, the ECU  20 A of the control apparatus  1 A is also connected to the communication line L 2 . The communication line L 3  connects the ECU  20 A and the ECU  21 B to each other. The communication line L 4  connects the ECU  20 A and the ECU  21 A to each other. The communication line L 5  connects the ECU  20 A, the ECU  21 A, and the ECU  28 A to each other. The communication line L 6  connects the ECU  29 A and the ECU  21 A to each other. The communication line L 7  connects the ECU  29 A and the ECU  20 A to each other. 
     Although the protocols of the communication lines L 1  to L 7  may be the same or may be different, the protocols may be different according to the communication environment, such as communication speed, traffic, and durability. For example, the communication lines L 3  and L 4  may be an Ethernet (registered trademark) in terms of communication speed. For example, the communication lines L 1 , L 2  and L 5  to L 7  may be a CAN. 
     The control apparatus  1 A includes a Gateway GW. The gateway GW relays the communication line L 1  to the communication line L 2 . Therefore, for example, the ECU  21 B can output a control command to the ECU  27 A via the communication line L 2 , the gateway GW, and the communication line L 1 . 
     &lt;Power Source&gt; 
     Referring to  FIG. 3 , the power source of the control system  1  will be described. The control system  1  includes a large-capacity battery  6 , a power source  7 A, and a power source  7 B. The large-capacity battery  6  is a battery for driving the motor M, and is the battery charged by the motor M. 
     The power source  7 A is a power source that supplies electric power to the control apparatus  1 A, and includes a power supply circuit  71 A and a battery  72 A. The power supply circuit  71 A is a circuit that supplies electric power of the large-capacity battery  6  to the control apparatus  1 A, and reduces, for example, the output voltage (for example, 190 V) of the large-capacity battery  6  to a reference voltage (for example, 12 V). The battery  72 A is, for example, a lead battery of 12 V. By providing the battery  72 A, even when the power supply of the large-capacity battery  6  and the power supply circuit  71 A is cut off or decreased, electric power can be supplied to the control apparatus  1 A. 
     The power source  7 B is a power source that supplies electric power to the control apparatus  1 B, and includes a power supply circuit  71 B and a battery  72 B. The power supply circuit  71 B is a circuit similar to the power supply circuit  71 A, and is a circuit that supplies electric power of the large-capacity battery  6  to the control apparatus  1 B. The battery  72 B is a battery similar to the battery  72 A, and is, for example, a lead battery of 12 V. By providing the battery  72 B, even when the power supply of the large-capacity battery  6  and the power supply circuit  71 B is cut off or decreased, electric power can be supplied to the control apparatus  1 B. 
     &lt;Example of Control: Automated Driving&gt; 
     Referring to  FIG. 4 , a description will be given of a control method of the vehicle V by the ECU  20 A and the ECU  21 B during automated driving. As described above, the ECU  20 A operates as a traveling control unit that performs automated driving of the vehicle V. Further, the ECU  21 B operates as a monitoring unit that monitors whether traveling control by the ECU  20 A is operating normally. Additionally, the ECU  21 B may operate as a monitoring unit that monitors whether the substitution control by the ECU  20 A is operating normally. In the following description, although the ECU  21 B operates as the monitoring unit, the ECU  20 A may operate as the monitoring unit, or the ECU  29 A may operate as the monitoring unit. The monitoring unit that monitors the traveling control, and the monitoring unit that monitors the substitution control may be achieved by the same ECU, or may be achieved by separate ECUs. In the following description, it is assumed that the ECU  20 A can operate both in the state where the driver has a surrounding monitoring duty, and in the state where the driver does not have the surrounding monitoring duty. For example, when the automated-driving level specified by the SAE (Society of Automotive Engineers) International J3016 is Level  2 , it is in the state where the driver has the surrounding monitoring duty, and when the automated-driving level is Level  3 , it is in the state where the driver does not have the surrounding monitoring duty. In the state without the surrounding monitoring duty, since intervention by the driver takes more time than in the state with the surrounding monitoring duty, the operation by the ECU  20 A may be limited. For example, the ECU 20 A may operate so that lanes may be changed in the state where there is a surrounding monitoring duty, and it may operate so that lanes may not be changed in the state where there is no surrounding monitoring duty. Additionally, the upper limit of the vehicle speed by the ECU  20 A in the state without the surrounding monitoring duty may be lower than the upper limit of the vehicle speed by the ECU  20 A in the state with the surrounding monitoring duty. 
     In step S 401 , the ECU  20 A obtains the recognition results of an external world recognition apparatus group. The external world recognition apparatus group includes, for example, the above-described camera  31 A, camera  31 B, lidar  32 A, and radar  32 B. The recognition results include the position and speed of a surrounding target, the road surface condition, etc. 
     In step S 402 , the ECU  20 A generates a trajectory to be followed by the vehicle V. This trajectory may be generated on a rule basis based on the recognition results obtained in step S 401 . 
     In step S 403 , the ECU  20 A controls an actuator group so that the vehicle V moves along the generated trajectory. The actuator group includes the above-described electric power steering apparatus  41 A, electric power steering apparatus  41 B, hydraulic apparatus  42 A, hydraulic apparatus  42 B, and power plant  50 . With this, the position of the vehicle V is changed. As described above, in steps S 401  to S 403 , the ECU  20 A performs the automated driving by controlling the actuator group based on the recognition results of the external world recognition apparatus group. 
     In step S 404 , the ECU  21 B determines whether or not the state of the current automated driving is the state where the driver of the vehicle V has the surrounding monitoring duty. In the case of the state with the surrounding monitoring duty (“YES” in step S 404 ), the processing returns to step S 401 . In the case of the state without the surrounding monitoring duty (“NO” in step S 404 ), the processing proceeds to step S 405 . In the present embodiment, since it is considered that the driver himself/herself can determine whether or not the automated driving can be continued in the case of the state with the surrounding monitoring duty, determination of whether or not the automated driving can be continued by the ECU  21 B, which will be described below, is not performed. On the other hand, since it is considered that it is difficult for the driver to determine whether or not the automated driving can be continued in the case of the state without the surrounding monitoring duty, determination of whether or not the automated driving can be continued by the ECU  21 B, which will be described below, is performed. Instead of this, determination of whether or not the automated driving can be continued by the ECU  21 B may be performed in both of the states. 
     In step S 405 , the ECU  21 B obtains information regarding a target to be monitored. In step S 406 , the ECU  21 B determines whether or not the automated driving can be continued based on the detected situation of the target. The ECU  21 B may determine whether or not the automated driving can be continued, without depending on the trajectory created by the ECU  20 A. The details of processing in steps S 405  and S 406  will be described later. When the automated driving can be continued (“YES” in step S 406 ), the processing returns to step S 401 . When the automated driving cannot be continued (“NO” in step S 406 ), the processing proceeds to step S 407 , and processing for terminating the automated driving is performed. 
     In step S 407 , the ECU  20 A starts a driving change notification to the driver of the vehicle V. The driving change notification is a notification to request the driver for driving change. In step S 408 , the ECU  20 A determines whether or not the driver has responded to the driving change notification within a predetermined time period (for example, within 15 seconds). When there is no response (“NO” in S 408 ), the processing proceeds to step S 409 , and when there is a response (“YES” in step S 408 ), the processing proceeds to step S 410 . The driver can indicate his/her intention of shifting to manual driving with, for example, an input apparatus. Instead of this, the intention to agree may be indicated by steering detected by a steering torque sensor. 
     In step S 409 , the ECU  20 A starts the automated driving with the substitution control. In the substitution control, the ECU  20 A searches for a position where the vehicle V can stop, while decelerating the vehicle V. When the position where the vehicle V can stop can be found, the ECU  20 A stops the vehicle V there, and when the position where the vehicle V can stop cannot be found, the ECU  20 A searches for the position where the vehicle V can stop, while causing the vehicle V to travel at a very low speed (for example, creep speed). Thereafter, the ECU  20 A determines whether the vehicle V is stopped from the detection result of the rotation frequency sensor  39 , and upon determination that the vehicle V is stopped, the ECU  20 A maintains stoppage of the vehicle V. During performance of the substitution control by ECU  20 A, the ECU  21 B may monitor input information that is input to the ECU  20 A, and output information that is output from the ECU  20 A. The input information is, for example, information regarding the state of the vehicle V, the external world information, etc. The output information is, for example, an action plan, command values to the actuators, etc. The ECU  21 B may suppress performance of the substitution control by the ECU  20 A, based on these sets of input information and output information. For example, the ECU  21 B compares the output information that is currently output with the past output information with respect to similar input information. When there is a great difference between these sets of output information, the ECU  21 B may determine that the substitution control is not normally functioning, and may terminate the substitution control by the ECU  20 A. By operating in this manner, the vehicle behavior can be prevented from being unstable due to the functional deterioration of the substitution control. 
     In step S 410 , the ECU  20 A terminates the driving change notification, terminates the automated driving, and starts manual driving. In manual driving, each ECU of the vehicle V will control travelling of the vehicle V according to the driver&#39;s operation. Since there is a possibility that the performance of the ECU  20 A is deteriorated, etc., the ECU  20 A may output, to a display apparatus  92 , a message to prompt bringing of the vehicle V to a maintenance factory. 
     Referring to  FIG. 5 , the details of processing in the above-described steps S 405  and S 406  will be described. First, in step S 405 , the ECU  21 B obtains the detected situation of a target to be monitored by the external world recognition apparatus group, as the control result of the actuator group in step S 403 . This target may be a dynamic target, such as another travelling vehicle  501 , or may be a static target, such as a guardrail. The ECU  21 B may set all targets that can be recognized by the external world recognition apparatus group as targets to be monitored. Instead of this, among the targets that can be recognized, the ECU  21 B may use a target (for example, a target included in a range  502  of  FIG. 5 ) located in the moving direction or movable direction of the vehicle V among as an object to be monitored. The detected situation of the target includes, for example, the type, position, and speed of the target (in the case of a dynamic target), etc. 
     Subsequently, step S 406  will be described. First, the ECU  21 B sets a self-vehicle margin  503  including the vehicle V with the vehicle V being centered. Additionally, for each target to be monitored, the ECU  21 B sets a target margin including the target with this target being centered. For example, the ECU  21 B sets a target margin  504  to another vehicle  501 . The self-vehicle margin  503  is a range in which the safety of the vehicle V (self-vehicle) is guaranteed. The ECU  21 B determines the safety of the self-vehicle based on the positional relationships between the self-vehicle margin  503  and other targets. The target margin  504  is a range in which the safety of the target is guaranteed. Although the self-vehicle margin  503  and the target margin  504  are both illustrated as substantially oval shapes in  FIG. 5 , these may be other shapes. 
     The ECU  21 B may set the self-vehicle margin  503  to be the size corresponding to the operational state and type of the vehicle V. For example, the higher the speed of the vehicle V is, the larger the self-vehicle margin  503  set by the ECU  21 B may be. Instead of this, the ECU  21 B may set the size of the self-vehicle margin  503  according to the relative speed with respect to the target. For example, the higher the relative speed with respect to the target is, the larger the self-vehicle margin  503  set by the ECU  21 B may be. Similarly, the ECU  21 B may set the target margin  504  to be the size corresponding to the operational state and type of the target. For example, the ECU  21 B may make the size of the target margin  504  for a static target smaller than the size of the target margin for a dynamic target. 
     Subsequently, the ECU  21 B determines whether or not the automated driving can be continued based on the distance or the interference degree between the self-vehicle margin  503  and the target margin  504 . For example, when the self-vehicle margin  503  and the target margin  504  do not overlap each other, the ECU  21 B determines that the automated driving can be continued, and when the self-vehicle margin  503  and the target margin  504  overlap each other (as illustrated in  FIG. 5 ), the ECU  21 B determines that the automated driving cannot be continued. Instead of this, when the overlapping amount (hereinafter referred to as the lap amount) between the self-vehicle margin  503  and the target margin  504  is equal to or less than a threshold value, the ECU  21 B may determine that the automated driving can be continued, and when the overlapping amount is larger than the threshold value, the ECU  21 B may determine that the automated driving cannot be continued. Further, the ECU  21 B may monitor the time change rate of the lap amount. For example, even when the automated driving is operating normally, the lap amount may temporarily exceed the threshold value due to interruption by another vehicle  501 , etc. Therefore, the ECU  21 B monitors the time change of the lap amount for a predetermined period (for example, three seconds), after the lap amount exceeds the threshold value. When the lap amount is decreased, the ECU  21 B may determine that the automated driving can be continued. On the other hand, when the lap amount is increased, the ECU  21 B may determine that the automated driving cannot be continued. The ECU  21 B may determine the length of the predetermined period for monitoring the time change of the lap amount, according to the operational state and type of the vehicle V, and the relative velocity of the vehicle V with respect to another vehicle  501 . For example, when the speed of the vehicle V or the relative speed of the vehicle V with respect to another vehicle  501  is high, since there is a possibility that the time until both the vehicle V and another vehicle  501  collide to each other is short, the ECU  21 B decreases the length of the predetermined period (for example, one second). On the other hand, when the speed of the vehicle V or the relative speed of the vehicle V with respect to another vehicle  501  is low, the ECU  21 B increases the length of the predetermined period (for example, five seconds). 
     In the above-described example, the self-vehicle margin  503  and the target margin  504  are set, and whether or not the automated driving can be continued is determined based on these margins. Instead of this, the ECU  21 B may determine whether or not the automated driving can be continued, based on the distance between the vehicle V and the target. For example, when the distance between the vehicle V and the target becomes equal to or less than a threshold value TH 2 , the ECU  21 B may determine that the automated driving cannot be continued, and when the distance is larger than the threshold value TH 2 , the ECU  21 B may determine that the automated driving can be continued. Further, the ECU  20 A may perform an operation for suppressing occurrence of such a situation. For example, the ECU  21 B may control the actuator group to increase this distance, when the distance between the vehicle V and the target becomes equal to or less than a threshold value TH 1 . Here, the threshold value TH 2  is a value smaller than the threshold value TH 1 . Even when the actuator group is controlled to increase the distance to the target, in the case where this distance is shortened, there is a possibility that the performance of the automated-driving function is deteriorated, and thus the ECU  21 B determines that the automated driving cannot be continued. 
     As described in  FIG. 4 , when it is determined that the automated driving can be continued in step S 406 , the processing is repeated from step S 401 . That is, the processing in step S 401  to step S 406  is periodically performed. Therefore, the ECU  21 B will periodically detect the distance between the vehicle V and the target. In this periodic detection, after the distance between the vehicle V and the target becomes equal to or less than the threshold value TH 1 , when this distance is on a decreasing trend (that is, when the vehicle V continues to approach the target), the ECU  21 B may determine that the automated driving cannot be continued. It is because, also in this case, there is a possibility that the performance of the automated-driving function is deteriorated. 
     &lt;Example of Control: Traveling Support&gt; 
     Referring to  FIG. 6 , a description will be given of a control method of the vehicle V by the ECU  20 A and the ECU  21 B during traveling support. As described above, the ECU  21 B operates as the traveling control unit that performs traveling support of the vehicle V. Further, the ECU  20 A operates as the monitoring unit that monitors whether traveling control by the ECU  21 B is operating normally. In the following description, although the ECU  20 A operates as the monitoring unit, the ECU  21 B may operate as the monitoring unit, or the ECU  29 A may operate as the monitoring unit. Since it is during traveling support that supports the driver&#39;s manual driving, the driver has the surrounding monitoring duty. 
     In step S 601 , as in step S 401 , the ECU  21 B obtains the recognition results of the external world recognition apparatus group. 
     In step S 602 , the ECU  21 B generates support content to be taken by the vehicle V. This support content may be generated on a rule basis based on the recognition results obtained in step S 601 . 
     In step S 603 , the ECU  21 B controls the actuator group so that the vehicle V performs the generated support content. The actuator group includes the above-described electric power steering apparatus  41 A, electric power steering apparatus  41 B, hydraulic apparatus  42 A, hydraulic apparatus  42 B, and power plant  50 . The position of the vehicle V is changed with a manual operation by the driver, and this support content. As described above, in steps S 601  to S 603 , the ECU  21 B performs traveling support by controlling the actuator group based on the recognition results of the external world recognition apparatus group. 
     In step S 604 , the ECU  20 A obtains information regarding the target to be monitored. In step S 605 , the ECU  20 A determines whether or not traveling support can be continued, based on the detected situation of the target. The ECU  20 A may determine whether or not traveling support can be continued, without depending on the support content created by the ECU  21 B. The details of steps S 604  and S 605  are the same as those of steps S 405  and S 406 . When traveling support can be continued (“YES” in step S 605 ), the processing returns to step S 601 . When traveling support cannot be continued (“NO” in step S 605 ), the processing proceeds to step S 606 , and the ECU  21 B cancels traveling support. In this case, travelling of the vehicle V is performed by manual driving without traveling support. 
     Although, in the above-described embodiment, it has been described that the ECU  20 A automatically performs all of driving, braking and steering as automated driving control in the automated-driving state, the automated driving control may control at least one of driving, braking or steering without the driver&#39;s driving operation. Controlling without the driver&#39;s driving operation can include controlling without an input by the driver with respect to an operator represented by a steering handle, a pedal, or can be said that the intention of the driver to drive the vehicle is not essential. Accordingly, automated driving control may be in the state where the driver has a surrounding monitoring duty, and at least one of driving, braking or steering of the vehicle V is controlled according to peripheral environment information of the vehicle V, may be in the state where the driver has the surrounding monitoring duty, and at least one of driving or braking, and steering of the vehicle V is controlled according to the peripheral environment information of the vehicle V, or may be in the state where the driver does not have the surrounding monitoring duty, and all of driving, braking and steering of the vehicle V are controlled according to the peripheral environment information of the vehicle V. Additionally, transition to each of these control stages can be made possible. In addition, a sensor that detects the driver&#39;s state information (biological information such as heart rate, state information such as expression and pupils) may be provided, and automated driving control may be performed, or may be suppressed according to the detection result of the sensor. 
     On the other hand, the driving support control (alternatively, traveling support control) performed by the ECU  29 A and the ECU  21 B may control at least one of driving, braking or steering during the driver&#39;s driving operation. During the driver&#39;s driving operation can be said as the case where there is an input by the driver with respect to an operator, or the case where the driver&#39;s contact to the operator can be confirmed, and the intention of the driver to drive the vehicle can be read. The driving support control can include both the driving support control performed by selecting activation of the driving support control through the driver&#39;s switch operation, and the driving support control performed without the driver&#39;s selection of activation of the driving support control. As for the former control, the activation of which is selected by the driver, preceding car tracking control, lane maintaining control, etc. can be listed. These can also be defined as a part of automated driving control. As for the latter control performed without the driver&#39;s selection of activation of the control, collision mitigation brake control, lane deviation suppression control, erroneous start suppression control, etc. can be listed. 
     Summary of Embodiments 
     [Configuration 1] 
     A control system ( 1 ) of a vehicle (V) including an external world recognition apparatus group ( 31 A,  31 B,  32 A and  32 B) and an actuator group ( 41 A,  41 B,  42 A,  42 B and  50 ), the control system (V) comprising:
         a traveling control unit ( 20 A,  21 B) configured to perform automated driving or traveling support by controlling the actuator group based on recognition results of the external world recognition apparatus group; and   a monitoring unit ( 20 A,  21 B) configured to monitor a detected situation of a target ( 501 ) by the external world recognition apparatus group as a control result of the actuator group,   wherein the monitoring unit determines whether or not the automated driving or the traveling support can be continued, based on the detected situation of the target.       

     According to this configuration, by monitoring the behavior of the vehicle that will not be performed when the traveling control function is operating normally, deterioration of the traveling control function of the vehicle can be accurately determined. 
     [Configuration 2] 
     The control system according to Configuration 1, wherein when the monitoring unit determines that the automated driving or the traveling support cannot be continued, the traveling control unit performs processing for terminating the automated driving or the traveling support. 
     According to this configuration, it is possible to perform switching to manual driving in the case of the automated driving, and to perform switching to fully manual driving in the case of the manual driving. 
     [Configuration 3] 
     The control system according to Configuration 2, wherein the processing includes requesting a driver of the vehicle for driving change, and performing substitution control when the driving change is not performed. 
     According to this configuration, the vehicle can be shifted to a safe state. 
     [Configuration 4] 
     The control system according to Configuration 3, wherein
         the monitoring unit is a first monitoring unit,   the control system further comprises a second monitoring unit configured to monitor, during performance of the substitution control by the traveling control unit, input information that is input to the traveling control unit, and output information that is output from the traveling control unit, and   the second monitoring unit suppresses performance of the substitution control by the traveling control unit based on the input information and the output information.       

     According to this configuration, by monitoring the input and output of the substitution control, the vehicle behavior can be prevented from being unstable due to the functional deterioration of the substitution control. 
     [Configuration 5] 
     The control system according to any one of Configurations 1 to 4, wherein
         when a distance between the vehicle and the target becomes equal to or less than a first threshold value, the traveling control unit controls the actuator group to increase the distance, and   when the distance between the vehicle and the target becomes equal to or less than a second threshold value smaller than the first threshold value, the monitoring unit determines that the automated driving or the traveling support cannot be continued.       

     According to this configuration, by monitoring the approach that cannot take place in normal traveling control, the functional deterioration of traveling control can be determined. 
     [Configuration 6] 
     The control system according to Configuration 5, wherein the monitoring unit periodically detects the distance between the vehicle and the target. 
     According to this configuration, the functional deterioration can be detected with a higher accuracy by performing periodic detection. For example, excessive reaction to temporary interruption, etc. can be suppressed. 
     [Configuration 7] 
     The control system according to any one of Configurations 1 to 4, wherein the monitoring unit periodically detects the distance between the vehicle and the target, and
         after the distance between the vehicle and the target becomes equal to or less than the first threshold value, when the distance is on a decreasing trend, the traveling control unit determines that the automated driving or the traveling support cannot be continued.       

     According to this configuration, the functional deterioration can be detected with a higher accuracy by performing periodic detection. For example, excessive reaction to temporary interruption, etc. can be suppressed. 
     [Configuration 8] 
     The control system according to any one of Configurations 1 to 4, wherein the monitoring unit sets a self-vehicle margin ( 503 ) including the vehicle with the vehicle being centered, and a target margin ( 504 ) including the target with the target being centered, and determines whether or not the automated driving or the traveling support can be continued, based on the distance or an interference degree between the self-vehicle margin and the target margin. 
     According to this configuration, by comparing the margins, the functional deterioration can be detected with a sense of security. 
     [Configuration 9] 
     The control system according to Configuration 8, wherein the monitoring unit sets the self-vehicle margin or the target margin to be a size corresponding to an operational state and a type. 
     According to this configuration, detection corresponding to the operational state and the type can be performed. 
     [Configuration 10] 
     The control system according to any one of Configurations 1 to 9, wherein the monitoring unit determines whether or not the automated driving or the traveling support can be continued, without depending on a trajectory created by the traveling control unit. 
     According to this configuration, it is possible to detect the functional deterioration that cannot be detected when depending on the trajectory created by the traveling control unit. 
     [Configuration 11] 
     The control system according to any one of Configurations 1 to 10, wherein the monitoring unit uses a target located in a moving direction or a movable direction of the vehicle as an object to be monitored. 
     According to this configuration, it is possible to exclude the range that cannot be handled, such as behind the self-vehicle. 
     [Configuration 12] 
     The control system according to any one of Configurations 1 to 11, wherein
         the traveling control unit can operate in a first state where a driver has a surrounding monitoring duty, and a second state where the driver does not have the surrounding monitoring duty, and   the monitoring unit does not determine whether or not the automated driving or the traveling support can be continued in the first state, and determines whether or not the automated driving or the traveling support can be continued in the second state.       

     According to this configuration, determination of the functional deterioration can be given to the driver in the case with the surrounding monitoring duty, and the functional deterioration can be automatically determined in the case without the surrounding monitoring duty. 
     [Configuration 13] 
     The control system according to Configuration 12, wherein
         the traveling control unit operates so as to change lanes in the first state, and operates so as not to change lanes in the second state, and   an upper limit of vehicle speed by the traveling control unit in the second state is lower than the upper limit of the vehicle speed by the traveling control unit in the first state.       

     According to this configuration, it is possible to reduce the false positive risk in determination of the functional deterioration of traveling control. Specifically, in the case where the driver has the surrounding monitoring duty, even when the control system detects a false positive, the driver can quickly perform operation intervention with respect to vehicle control. In the case where the driver does not have the surrounding monitoring duty, since the travel speed is low, the automated-driving level is high, and traffic participants are limited, the control system can perform traveling control in the state where the false positive risk is reduced. Additionally, when the driver does not have the surrounding monitoring duty, since the control system does not change lanes, the control system can quickly determine that malfunction is performed by detecting deviation from a lane. 
     [Configuration 14] 
     A vehicle (V) comprising:
         the control system according to any one of Configurations 1 to 13;   the external world recognition apparatus group; and the actuator group.       

     According to this configuration, deterioration of the traveling control function of the vehicle can be accurately determined. 
     [Configuration 15] 
     A control method of a vehicle (V) including an external world recognition apparatus group ( 31 A,  31 B,  32 A and  32 B) and an actuator group ( 41 A,  41 B,  42 A,  42 B and  50 ), the control method comprising:
         performing (S 401  to S 403 , S 601  to S 603 ) automated driving or traveling support by controlling the actuator group based on recognition results of the external world recognition apparatus group;   monitoring (S 405 , S 604 ) a detected situation of a target ( 501 ) by the external world recognition apparatus group as a control result of the actuator group; and   determining (S 406 , S 605 ) whether or not the automated driving or the traveling support can be continued, based on the detected situation of the target.       

     According to this configuration, by monitoring the behavior of the vehicle that will not be performed when the traveling control function is operating normally, deterioration of the traveling control function of the vehicle can be accurately determined. 
     The present invention is not limited to the above embodiments, and various changes and modifications can be made without departing from the spirit and scope of the present invention. Therefore, to apprise the public of the scope of the present invention, the following claims are attached.