Vehicle traveling controller
First Claim
1. A method of a vehicle operating in an automatic driving mode and following at least one traffic rule defined by a traffic law, the method comprising:
- acquiring position information of the vehicle;
acquiring environmental information including information regarding objects around the vehicle;
acquiring map information;
generating, via an electronic control unit, a plurality of routes of the vehicle based on at least the acquired position information and the acquired map information;
storing the at least one traffic rule defined by the traffic law;
evaluating, via the electronic control unit, the generated plurality of routes based on the acquired environmental information;
determining, via the electronic control unit and based on the evaluating, whether or not the vehicle can continue to travel in accordance with the at least one stored traffic rule;
controlling, via the electronic control unit and in response to a determination that the vehicle cannot continue to travel in accordance with the at least one stored traffic rule, the vehicle in an emergency evacuation mode,wherein the emergency evacuation mode is a mode where the vehicle does not observe the at least one stored traffic rule.
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Abstract
A vehicle traveling controller performs emergency evacuation traveling in the case of an emergency. The vehicle traveling controller determines whether a vehicle traveling in accordance with a normal traveling rule is not dangerous and becomes proper traveling or not based on environmental information around the vehicle, when it is determined that the vehicle traveling in accordance with the normal traveling rule becomes proper traveling, executes normal traveling control for instructing the vehicle to travel in accordance with the normal traveling rule, and when the vehicle traveling in accordance with the normal traveling rule does not become proper traveling, executes emergency evacuation traveling control for instructing the vehicle to perform emergency evacuation traveling not in accordance with the normal traveling rule. Therefore, emergency evacuation traveling with high safety can be performed, compared with vehicle traveling in accordance with the normal traveling rule, so safety of vehicle traveling can be improved.
21 Citations
15 Claims
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1. A method of a vehicle operating in an automatic driving mode and following at least one traffic rule defined by a traffic law, the method comprising:
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acquiring position information of the vehicle; acquiring environmental information including information regarding objects around the vehicle; acquiring map information; generating, via an electronic control unit, a plurality of routes of the vehicle based on at least the acquired position information and the acquired map information; storing the at least one traffic rule defined by the traffic law; evaluating, via the electronic control unit, the generated plurality of routes based on the acquired environmental information; determining, via the electronic control unit and based on the evaluating, whether or not the vehicle can continue to travel in accordance with the at least one stored traffic rule; controlling, via the electronic control unit and in response to a determination that the vehicle cannot continue to travel in accordance with the at least one stored traffic rule, the vehicle in an emergency evacuation mode, wherein the emergency evacuation mode is a mode where the vehicle does not observe the at least one stored traffic rule. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle traveling apparatus of a vehicle operating in an automatic driving mode and following at least one traffic rule defined by a traffic law, the vehicle traveling apparatus comprising:
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an electronic control unit configured to control processes of; acquiring position information of the vehicle; acquiring environmental information including information regarding objects around the vehicle; acquiring map information; generating a plurality of routes of the vehicle based on at least the acquired position information and the acquired map information; storing the at least one traffic rule defined by the traffic law; evaluating the generated plurality of routes based on the acquired environmental information; determining, based on the evaluating, whether or not the vehicle can continue to travel in accordance with the at least one stored traffic rule; controlling, in response to a determination that the vehicle cannot continue to travel in accordance with the at least one stored traffic rule, the vehicle in an emergency evacuation mode, wherein the emergency evacuation mode is a mode where the vehicle does not observe the at least one stored traffic rule. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A vehicle traveling control system of a vehicle operating in an automatic driving mode and following at least one traffic rule defined by a traffic law, the vehicle traveling control system comprising:
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an electronic control unit configured to execute control processes of; acquiring position information of the vehicle; acquiring environmental information including information regarding objects around the vehicle; acquiring map information; generating a plurality of routes of the vehicle based on at least the acquired position information and the acquired map information; storing the at least one traffic rule defined by the traffic law; evaluating the generated plurality of routes based on the acquired environmental information; determining, based on the evaluating, whether or not the vehicle can continue to travel in accordance with the at least one stored traffic rule; controlling, in response to a determination that the vehicle cannot continue to travel in accordance with the at least one stored traffic rule, the vehicle in an emergency evacuation mode, wherein the emergency evacuation mode is a mode where the vehicle does not observe the at least one stored traffic rule.
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Specification