Action planning device having a trajectory generation and determination unit
First Claim
1. An action planning device, comprising:
- a failure detection unit that is configured to;
i) detect an occurrence of a failure in outside-world recognition units, and ii) issue a notification;
an integration recognition unit that is configured to;
i) integrate outside-world recognition information output from the outside-world recognition units, and ii) output integration recognition information; and
a trajectory generation/determination unit that is configured to send, to a drive unit, a control instruction to execute an action on the occurrence of the failure, on the basis of the integration recognition information output by the integration recognition unit, whereinthe trajectory generation/determination unit is configured to send an instruction to take an action that addresses the failure, on the basis of the notification of the failure detection unit,the trajectory generation/determination unit is configured to generate a vehicular trajectory that addresses the failure to enter a safe state, based on past outside-world recognition information of moving objects and of stationary objects, andthe past outside-world recognition information, in which the failure occurs, and a recognition result of a recognition device, in which no failure occurs, are configured to be displayed in such a manner that they are superimposed one over the other.
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Accused Products
Abstract
Vehicle systems that implement action planning for a vehicle have had difficulty in maintaining safety in the event of a failure in a recognition device since these systems generate trajectories and control the vehicle on the basis of outside-world information recognized by recognition devices. The present invention was conceived in light of the aforementioned situation and addresses the problem of maintaining safety even in the event of a failure in a recognition device of a vehicle system. This problem can be solved by an action planning device having a failure detection unit for detecting a failure in an outside-world recognition unit and a trajectory generation/determination unit for executing an action on the occurrence of a failure on the basis of outside-world information outputted by the outside-world recognition unit, wherein the trajectory generation/determination unit takes an action for coping with the failure on the basis of failure information from the failure detection unit.
27 Citations
13 Claims
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1. An action planning device, comprising:
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a failure detection unit that is configured to;
i) detect an occurrence of a failure in outside-world recognition units, and ii) issue a notification;an integration recognition unit that is configured to;
i) integrate outside-world recognition information output from the outside-world recognition units, and ii) output integration recognition information; anda trajectory generation/determination unit that is configured to send, to a drive unit, a control instruction to execute an action on the occurrence of the failure, on the basis of the integration recognition information output by the integration recognition unit, wherein the trajectory generation/determination unit is configured to send an instruction to take an action that addresses the failure, on the basis of the notification of the failure detection unit, the trajectory generation/determination unit is configured to generate a vehicular trajectory that addresses the failure to enter a safe state, based on past outside-world recognition information of moving objects and of stationary objects, and the past outside-world recognition information, in which the failure occurs, and a recognition result of a recognition device, in which no failure occurs, are configured to be displayed in such a manner that they are superimposed one over the other. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An action planning device, comprising:
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a failure detection unit that is configured to;
i) detect an occurrence of a failure in outside-world recognition units, and ii) issue a notification;an integration recognition unit which that is configured to;
i) integrate outside-world recognition information output from the outside-world recognition units, and ii) output integration recognition information; anda trajectory generation/determination unit that is configured to send, to a drive unit, a control instruction to execute an action on the occurrence of the failure, on the basis of the integration recognition information output by the integration recognition unit, wherein the trajectory generation/determination unit is configured to send an instruction to take an action that addresses the failure, on the basis of the notification of the failure detection unit, the trajectory generation/determination unit is configured to generate a trajectory to avoid a dynamic object from entering a given area, and past outside-world recognition information, in which the failure occurs, and a recognition result of a recognition device, in which the failure does not occur, are configured to be displayed in such a manner that they are superimposed one over the other. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification