Action Planning Device

• US 20170153644A1
• Filed: 06/17/2015
• Published: 06/01/2017
• Est. Priority Date: 08/07/2014
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: MATSUMOTO, Noritaka, OTSUKA, Satoshi, SAKURAI, Kouhei, TANIMICHI, Taisetsu
• Granted Patent: US 10,761,536 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 1/26 the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
• CPC Class Codes: B60Q 1/5035 electronic displays
• CPC Class Codes: B60Q 5/005 automatically actuated
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60R 16/0231 Circuits relating to the driving or the functioning of the vehicle monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P
• CPC Class Codes: B60R 21/00 Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks safety belts or body harnesses in vehicles B60R22/00; devices, apparatus or methods for life-saving in general A62B; safety devices for propulsion unit control specially adapted for, or arranged in, vehicles B60K28/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19; harnessing in aircraft B64D25/00
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 50/02 Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
• CPC Class Codes: B60W 50/023 Avoiding failures by using redundant parts
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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.

Claims

1. An action planning device, comprising:

a failure detection unit which detects occurrence of a failure in outside-world recognition units and performs notification;

an integration recognition unit which integrates outside-world recognition information output from the outside-world recognition units and outputs integration recognition information; and

a trajectory generation/determination unit which sends, 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 sends an instruction to take an action to cope with the failure, on the basis of the notification of the failure detection unit.

2. The action planning device according to claim 1, wherein the trajectory generation/determination unit generates a trajectory to cope with the failure to enter a safe state, on the basis of past outside-world recognition information in a failure occurrence range notified by the failure detection unit.

3. The action planning device according to claim 2, wherein the trajectory generation/determination unit determines failure occurrence time and discards outside-world recognition information after the failure occurrence time in the failure occurrence range recognized by the failure detection unit.

4. The action planning device according to claim 1, further comprising:

a notification unit which notifies the exterior of a vehicle of the occurrence of the failure,

wherein the notification unit notifies of failure detection information notified by the failure detection unit, in the action to cope with the failure.

5. The action planning device according to claim 2, wherein the integration recognition unit predicts an action of a dynamic object in the failure occurrence range safely.

6. The action planning device according to claim 2, wherein the trajectory generation/determination unit generates a trajectory to avoid a dynamic object from entering the failure occurrence range.

7. The action planning device according to claim 2, wherein the integration recognition unit superimposes an action prediction result of the failure occurrence range and the existence probability of outside-world recognition information of the same area output by a recognition device in which a failure does not occur and executes an operation.

8. The action planning device according to claim 2, wherein the trajectory generation/operation unit maintains a middle state of a traffic lane as a safe state in a middle state of a change of the traffic lane.

9. The action planning device according to claim 1, further comprising:

an output unit which notifies a user of a failure occurrence state,

wherein the output unit notifies the user of the occurrence of the failure, when the failure occurs.