Travel control apparatus for vehicle
First Claim
1. A travel control apparatus for an automatic driving control of a vehicle, the travel control apparatus comprising:
- an electric power steering device to turn wheels of the vehicle according to a variable; and
a steering controller coupled to the electric power steering device, whereinthe steering controller configured to;
obtain frontward environment information by recognizing a frontward environment of the vehicle, the frontward environment being recognized by at least one or more cameras that capture images of subjects outside the vehicle;
determine a reliability of the frontward environment information in a predetermined manner;
determine a reliability of map data of a travel region in which the vehicle travels, the travel region being obtained using position information indicating a position of the vehicle, and the reliability of map data being determined by comparing the map data of the travel region with the frontward environment information obtained by the at least one or more cameras;
store the reliability of the map data of the travel region, the reliability of the map data of the travel region, which is stored, being updated when the vehicle travels in the travel region;
compare the reliability of the frontward environment information corresponding to the travel region with the reliability of the map data of the travel region, and select either one of the frontward environment information and the map data for the automatic driving control; and
execute the automatic driving control along a target route by adjusting the variable using a control gain that varies according to the reliability of the selected one of the frontward environment information and the map data and providing the variable adjusted to the electric power steering device.
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Accused Products
Abstract
A travel control apparatus for a vehicle includes: a frontward environment recognition unit that obtains frontward environment information by recognizing a frontward environment of the vehicle; a frontward environment information reliability calculator that calculates a reliability of the frontward environment information; a map information storage unit that stores map information relating to a travel region of the vehicle on the basis of position information indicating a position of the vehicle; a map information updating unit that updates the map information while calculating a reliability of the map information; a control information selector that compares the reliability of the frontward environment information with update information relating to the map information, and selects either one of the frontward environment information and the map information as information to be used during automatic driving control; and an automatic driving control execution unit that executes the automatic driving control based on the selected information.
71 Citations
16 Claims
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1. A travel control apparatus for an automatic driving control of a vehicle, the travel control apparatus comprising:
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an electric power steering device to turn wheels of the vehicle according to a variable; and a steering controller coupled to the electric power steering device, wherein the steering controller configured to; obtain frontward environment information by recognizing a frontward environment of the vehicle, the frontward environment being recognized by at least one or more cameras that capture images of subjects outside the vehicle; determine a reliability of the frontward environment information in a predetermined manner; determine a reliability of map data of a travel region in which the vehicle travels, the travel region being obtained using position information indicating a position of the vehicle, and the reliability of map data being determined by comparing the map data of the travel region with the frontward environment information obtained by the at least one or more cameras; store the reliability of the map data of the travel region, the reliability of the map data of the travel region, which is stored, being updated when the vehicle travels in the travel region; compare the reliability of the frontward environment information corresponding to the travel region with the reliability of the map data of the travel region, and select either one of the frontward environment information and the map data for the automatic driving control; and execute the automatic driving control along a target route by adjusting the variable using a control gain that varies according to the reliability of the selected one of the frontward environment information and the map data and providing the variable adjusted to the electric power steering device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A travel control apparatus for a vehicle, the travel control apparatus comprising:
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a camera configured to obtain frontward environment information which is an image of a frontward environment of the vehicle; and a controller programmed to; calculate a reliability of the frontward environment information; calculate a reliability of map data of a travel region in which the vehicle travels, wherein the map data of the travel region is compared with the frontward environment information corresponding to the travel region to calculate the reliability of map data of the travel region; compare the reliability of the frontward environment information corresponding to the travel region with the reliability of the map data of the travel region, and select either one of the frontward environment information and the map data for automatic driving control; and execute the automatic driving control to control a steering angle of the vehicle based on the selected one of the frontward environment information and the map data. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification