Automated drive assisting device, automated drive assisting method, and program
First Claim
1. An automated drive assisting device comprising:
- a processor programmed to;
acquire a plurality of pieces of position specifying information for specifying a vehicle position during travel from at least one of (i) image recognition processing on images received from a vehicle-mounted camera, (ii) surrounding feature recognition processing based on data from a vehicle-mounted laser scanner, and (iii) a GPS receiver;
determine a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information;
determine whether the automated drive can be continued on the basis of the continuity degree;
specify position specifying information that lowers the continuity degree on the basis of the acquired plurality of pieces of the position specifying information;
determine vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by;
in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and
in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle;
determine vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and
output the determined vehicle control information to a vehicle control device that controls the vehicle.
1 Assignment
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Accused Products
Abstract
Automated drive assisting devices, methods, and programs acquire position specifying information for specifying a vehicle position during travel, and acquire a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive. The devices, methods, and programs determine whether the automated drive can be continued on the basis of the acquired continuity degree, and determine vehicle control information for controlling a vehicle such that the continuity degree becomes higher on the basis of the acquired position specifying information in the case where it is determined that the automated drive cannot be continued. The devices, methods, and programs output the determined vehicle control information to a vehicle control device that controls the vehicle.
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Citations
8 Claims
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1. An automated drive assisting device comprising:
a processor programmed to; acquire a plurality of pieces of position specifying information for specifying a vehicle position during travel from at least one of (i) image recognition processing on images received from a vehicle-mounted camera, (ii) surrounding feature recognition processing based on data from a vehicle-mounted laser scanner, and (iii) a GPS receiver; determine a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information; determine whether the automated drive can be continued on the basis of the continuity degree; specify position specifying information that lowers the continuity degree on the basis of the acquired plurality of pieces of the position specifying information; determine vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by; in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle; determine vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and output the determined vehicle control information to a vehicle control device that controls the vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An automated drive assisting method comprising:
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acquiring a plurality of pieces of position specifying information that is necessary to specify a vehicle position during travel; determining a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information; determining whether the automated drive can be continued on the basis of the continuity degree; determining vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by; in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle; determining vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and outputting the determined vehicle control information to a vehicle control device that controls the vehicle.
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8. A computer-readable storage medium storing an automated driving assist program, the program including instructions causing a computer to perform the following functions:
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acquiring a plurality of pieces of position specifying information that is necessary to specify a vehicle position during travel; determining a continuity degree that represents a degree to which automated drive can be continued on the basis of the position specifying information acquired during the automated drive, the determined continuity degree being an index that indicates how accurately the vehicle position can be specified by using the acquired plurality of pieces of position specifying information; determining whether the automated drive can be continued on the basis of the continuity degree; determining vehicle control information for controlling a vehicle on the basis of the specified position specifying information that lowers the continuity degree by; in the case where the position specifying information that lowers the continuity degree is static position specifying information for specifying the vehicle position on the basis of a static factor such as a lane boundary line or a static feature around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the static factor; and in the case where the position specifying information that lowers the continuity degree is dynamic position specifying information for specifying the vehicle position on the basis of a dynamic factor such as another vehicle around the vehicle, determining the vehicle control information for control for changing a relative position of the vehicle with respect to the other vehicle; determining vehicle control information for controlling the vehicle such that the continuity degree becomes higher on the basis of the acquired plurality of pieces of the position specifying information in the case where it is determined that the automated drive cannot be continued; and outputting the determined vehicle control information to a vehicle control device that controls the vehicle.
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Specification