Automated driving apparatus
First Claim
1. An automated driving apparatus mounted on a vehicle, comprising:
- a marker information acquirer configured todetect a first marker, the first marker being detected when the vehicle passes through a first specified position on a road, andacquire first positional information relating to the first specified position; and
an automated driving control circuit that performs automated driving of the vehicle by controlling a traction actuator used to drive the vehicle based on a detection result from an onboard sensor mounted on the vehicle,whereinthe automated driving control circuit is configured to;
determine a position of the vehicle specified by the onboard sensor at a first time when the first marker is detected;
calculate a difference between (i) the first specified position and (ii) the position specified by the onboard sensor at the first time when the first marker is detected;
determine whether to perform the automated driving based at least in part on the calculated difference; and
determine not to perform the automated driving, when the automated driving control circuit determines that the calculated difference exceeds a maximum distance.
1 Assignment
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Accused Products
Abstract
An automated driving apparatus on a vehicle includes an acquirer and an automated driving control circuit. The acquirer detects a first marker that is detected when the vehicle passes through a first specified position on a road, and acquires the first specified position. The automated driving control circuit performs automated driving of the vehicle by controlling a traction actuator used to drive the vehicle based on a detection result from an onboard sensor on the vehicle. The automated driving control circuit determines whether to perform the automated driving, based on the detection result from the onboard sensor and information relating to the first specified position acquired by the acquirer under a condition that the first marker is detected by the acquirer.
19 Citations
13 Claims
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1. An automated driving apparatus mounted on a vehicle, comprising:
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a marker information acquirer configured to detect a first marker, the first marker being detected when the vehicle passes through a first specified position on a road, and acquire first positional information relating to the first specified position; and an automated driving control circuit that performs automated driving of the vehicle by controlling a traction actuator used to drive the vehicle based on a detection result from an onboard sensor mounted on the vehicle, wherein the automated driving control circuit is configured to; determine a position of the vehicle specified by the onboard sensor at a first time when the first marker is detected; calculate a difference between (i) the first specified position and (ii) the position specified by the onboard sensor at the first time when the first marker is detected; determine whether to perform the automated driving based at least in part on the calculated difference; and determine not to perform the automated driving, when the automated driving control circuit determines that the calculated difference exceeds a maximum distance. - View Dependent Claims (2, 3, 4, 5)
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6. An automated driving apparatus mounted on a vehicle, comprising:
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a marker detector configured to detect a first marker, the first marker being detected when the vehicle passes through a first specified position on a road and first positional information relating to the first specified position being stored in a memory; and an automated driving control circuit that performs automated driving of the vehicle by controlling a traction actuator used to drive the vehicle based on a detection result from an onboard sensor mounted on the vehicle, wherein the automated driving control circuit is further configured, in response to detection of the first marker, to; determine that a position of the vehicle specified by the onboard sensor at a first time when the first marker is detected; calculate a difference between (i) the first specified position stored in the memory and (ii) the position of the vehicle specified by the onboard sensor at the first time when the first marker is detected; and determine whether to perform the automated driving, based on the calculated difference, wherein when the automated driving control circuit determines that the calculated difference exceeds a threshold, the automated driving control circuit does not perform the automated driving. - View Dependent Claims (7, 8, 9, 10)
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11. An automated driving system, comprising:
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an onboard camera provided on a vehicle, the onboard camera being configured to detect a marker disposed on a road by capturing an image of a peripheral area surrounding the vehicle; an automated driving control circuit connected to the onboard camera and configured to perform automated driving of the vehicle by controlling an actuator used to drive the vehicle based on (i) a detection result from an onboard sensor acquiring vehicle position information by using at least one of satellite navigation and autonomous navigation, (ii) a detection result from the onboard camera, and (iii) map data including marker position information relating to a position of the marker; and a processor configured to; acquire the vehicle position information acquired by the onboard sensor at a time when the marker is detected by the onboard camera, and acquire the marker position information included in the map data; and calculate a difference between (i) the vehicle position information acquired by the onboard sensor and (ii) the marker position information included in the map data, the processor determining whether to permit the automated driving circuit to perform the automated driving based at least in part on the calculated difference, wherein when the processor determines that the calculated difference exceeds a threshold, the processor determines not to permit the automated driving circuit to perform the automated driving. - View Dependent Claims (12, 13)
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Specification