AUTONOMOUS DRIVING CONTROL SYSTEM FOR VEHICLE
First Claim
1. An autonomous driving control system for a vehicle for detecting the positions of an own vehicle and an avoidance object existing around the own vehicle, determining a course to a destination, and carrying out autonomous driving control, comprising:
- a driving strategy determination unit configured to determine a driving strategy to avoid the avoidance object according to a distance between the own vehicle and the avoidance object and computation accuracy levels of a position and moving amount of the avoidance object, whereinthe autonomous driving control system controls the own vehicle according to a control instruction value that is determined to execute autonomous driving control on the own vehicle and corresponds to the driving strategy determined by the driving strategy determination unit.
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Accused Products
Abstract
Information regarding a vehicle is acquired by a vehicle information acquisition unit provided in the vehicle, and an object to be avoided is detected by an avoidance-target object detection unit. On the basis of the vehicle information and the distance and angle of the object to be avoided, the location and amount of movement of the object to be avoided are calculated by a peripheral information recognition unit, and the calculation accuracy of the location and amount of movement of the object to be avoided are determined by a driving maneuver determination unit. On the basis of the calculation accuracy of the location and amount of movement of the object to be avoided, a driving maneuver for avoiding the object to be avoided is determined, and autonomous driving control is implemented in accordance with the driving maneuver that is determined.
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Citations
15 Claims
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1. An autonomous driving control system for a vehicle for detecting the positions of an own vehicle and an avoidance object existing around the own vehicle, determining a course to a destination, and carrying out autonomous driving control, comprising:
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a driving strategy determination unit configured to determine a driving strategy to avoid the avoidance object according to a distance between the own vehicle and the avoidance object and computation accuracy levels of a position and moving amount of the avoidance object, wherein the autonomous driving control system controls the own vehicle according to a control instruction value that is determined to execute autonomous driving control on the own vehicle and corresponds to the driving strategy determined by the driving strategy determination unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An autonomous driving control system for a vehicle for detecting the positions of an own vehicle and objects existing around the own vehicle, determining a course to a destination, and carrying out autonomous driving control, characterized in that the system includes:
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a vehicle information acquisition means that acquires at least the position, speed, and steering angle of the own vehicle; an avoidance object detection means that detects an avoidance object from among the objects existing around the own vehicle and detects a distance and an angle between the detected avoidance object and the own vehicle; a peripheral information recognition means that recognizes a driving course along which the own vehicle can drive, computes a position of the avoidance object with respect to the own vehicle according to the position of the own vehicle acquired by the vehicle information acquisition means and the distance and angle between the avoidance object and the own vehicle detected by the avoidance object detection means, and computes a moving amount of the avoidance object according to the computed position of the avoidance object and a moving amount of the own vehicle computed according to the speed and steering angle of the own vehicle acquired by the vehicle information acquisition means; a driving strategy determination means that determines the computation accuracy of the position of the avoidance object according to a comparison result of the distance between the own vehicle and the avoidance object with a distance threshold and whether or not the position of the avoidance object has been directly obtained, determines the computation accuracy of the moving amount of the avoidance object according to the computation accuracy of the position of the avoidance object and that of the moving amount of the own vehicle, and determines a driving strategy to specify driving control to avoid the avoidance object according to the computation accuracy of each of the position and moving amount of the avoidance object; and a control instruction value determination means that determines and outputs a control instruction value to control the own vehicle so that autonomous driving control corresponding to the driving strategy determined by the driving strategy determination means is executed on the own vehicle.
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Specification