AUTONOMOUS DRIVING VEHICLE SYSTEM

• US 20160139598A1
• Filed: 11/17/2015
• Published: 05/19/2016
• Est. Priority Date: 11/19/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: ICHIKAWA, Kentaro, SAKAI, Katsuhiro, HARADA, Masahiro, URANO, Hiromitsu, KINDO, Toshiki
• Granted Patent: US 9,981,658 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/44 for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

An autonomous driving vehicle system includes: a surrounding information detection unit that is configured to detect surrounding information on a vehicle; and at least one electronic control unit including: a travel plan generation unit configured to generate a travel plan along a pre-set target route based on the surrounding information and map information; a traveling control unit configured to autonomously control a traveling of the vehicle based on the travel plan; and a warning light control unit configured to turn on a warning light earlier than a start time of a braking of the vehicle in the travel plan, the warning light informing a following vehicle about the braking.

Claims

1. An autonomous driving vehicle system comprising:

a surrounding information detection unit that is configured to detect surrounding information on a vehicle; and

at least one electronic control unit including;

a travel plan generation unit configured to generate a travel plan along a pre-set target route based on the surrounding information and map information;

a traveling control unit configured to autonomously control a traveling of the vehicle based on the travel plan; and

a warning light control unit configured to turn on a warning light earlier than a start time of a braking of the vehicle in the travel plan, the warning light informing a following vehicle about the braking.

2. The autonomous driving vehicle system according to claim 1, further comprising:

an emergency level setting unit configured to set an emergency level of traveling of the vehicle based on at least one of an input operation by an occupant of the vehicle and the surrounding information, wherein

the electronic control unit includes a maximum allowable deceleration setting unit configured to set a higher maximum allowable deceleration of the vehicle as the emergency level is higher, the maximum allowable deceleration being a maximum deceleration allowable during autonomous traveling, and

the travel plan generation unit is configured to generate the travel plan in such a manner that a deceleration of the vehicle is equal to or lower than the maximum allowable deceleration.

3. The autonomous driving vehicle system according to claim 1, wherein

the electronic control unit includes;

an obstacle information acquisition unit configured to acquire obstacle information on an obstacle ahead of the vehicle based on the surrounding information; and

a collision possibility calculation unit configured to calculate a collision possibility that a moving obstacle and the vehicle collide ahead of the vehicle, and

the travel plan generation unit is configured

to generate the travel plan that performs a braking for avoiding collision with the moving obstacle when the collision possibility is equal to or higher than an upper limit threshold,

to generate the travel plan that does not perform the braking for avoiding collision with the moving obstacle when the collision possibility is equal to or lower than a lower limit threshold, and

to generate the travel plan that performs a postponed braking as the braking for avoiding collision with the moving obstacle when the collision possibility is lower than the upper limit threshold and is higher than the lower limit threshold, the postponed braking being a braking in which a start of the braking is delayed as compared to a start of the braking performed when the collision possibility is equal to or higher than the upper limit threshold.

4. The autonomous driving vehicle system according to claim 1, wherein

the surrounding information includes information on a width of a lane in which the vehicle is traveling and information on a position of an obstacle around the vehicle.

5. The autonomous driving vehicle system according to claim 1, wherein

the map information includes position information on a road, information on a road shape, and position information on an intersection and a junction.

6. The autonomous driving vehicle system according to claim 1, wherein

the map information is recorded on a recording medium mounted in the vehicle

7. The autonomous driving vehicle system according to claim 1, wherein

the map information is supplied from a communication center, capable of communicating with the vehicle, to the vehicle.

8. The autonomous driving vehicle system according to claim 1, wherein

the electronic control unit includes a correction coefficient setting unit configured to set a correction coefficient based on the travel plan, the map information, and position information on the vehicle,

the correction coefficient setting unit is configured to set the correction coefficient to be larger when the vehicle is braked to turn right or left than when the vehicle is braked during travel straight ahead, and

the warning light control unit is configured to turn on the warning light earlier than a braking start time of the vehicle by a time generated by multiplying a pre-set base time by the correction coefficient.

9. The autonomous driving vehicle system according to claim 1, wherein

the electronic control unit includes a correction coefficient setting unit configured to set a correction coefficient based on the surrounding information on the vehicle,

the correction coefficient setting unit is configured to set the correction coefficient in such a manner that a correction coefficient for a braking when there is not a predetermined amount of traveling space, where a following vehicle can travel, lateral to the vehicle is larger than a correction coefficient for a braking when there is the predetermined amount of traveling space lateral to the vehicle, and

the warning light control unit is configured to turn on the warning light earlier than a braking start time of the vehicle by a time generated by multiplying a pre-set base time by the correction coefficient.

10. The autonomous driving vehicle system according to claim 1, wherein

the electronic control unit includes a correction coefficient setting unit configured to set a correction coefficient based on the surrounding information on the vehicle,

the correction coefficient setting unit is configured to set the correction coefficient for the braking of the vehicle in such a manner that the correction coefficient is larger as a time to collision of the vehicle to a following vehicle is shorter, and

the warning light control unit is configured to turn on the warning light earlier than a braking start time of the vehicle by a time generated by multiplying a pre-set base time by the correction coefficient.

11. The autonomous driving vehicle system according to claim 1, wherein

the electronic control unit includes a correction coefficient setting unit configured to set a correction coefficient based on the surrounding information on the vehicle,

the correction coefficient setting unit is configured to set the correction coefficient for the braking of the vehicle in such a manner that the correction coefficient is larger as a road surface friction coefficient of a road surface on which the vehicle travels is smaller, and

the warning light control unit is configured to turn on the warning light earlier than a braking start time of the vehicle by a time generated by multiplying a pre-set base time by the correction coefficient.

12. The autonomous driving vehicle system according to claim 1, wherein

the electronic control unit includes a correction coefficient setting unit configured to set a correction coefficient based on the surrounding information on the vehicle,

the correction coefficient setting unit is configured to set the correction coefficient for the braking of the vehicle in such a manner that the correction coefficient is larger as a visibility level of the vehicle is lower, and

the warning light control unit is configured to turn on the warning light earlier than a braking start time of the vehicle by a time generated by multiplying a pre-set base time by the correction coefficient.