Automatic driving system able to make driving decisions and method thereof
First Claim
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1. A driving decision method for an autonomous driving system, comprising steps:
- a processor generating a left-turn signal, a forward signal and a right-turn signal, and a detection device detecting a vehicle movement signal of a vehicle and a plurality of object movement signals of a plurality of objects;
said processor respectively converting said vehicle movement signal and said object movement signals into a vehicle movement vector and a plurality of object movement vectors;
said processor determining whether one said object is a dangerous object or a non-dangerous object according to said vehicle movement vector and said object movement vectors, and generating a dangerous object weight or a non-dangerous object weight according to whether said object is said dangerous object or said non-dangerous object;
said processor defining left-turn lane sections corresponding to said left-turn signal, forward lane sections corresponding to said forward signal, and right-turn lane sections corresponding to said right-turn signal, and determining left-turn lane section weights, forward lane section weights and right-turn lane section weights according to said dangerous object weight or said non-dangerous object weight of one said danger object or one said non-dangerous object, which will pass through one corresponding said lane section; and
said processor generating a left-turn signal weight, a forward signal weight and a right-turn signal weight, and taking a highest signal weight therefrom, and determining whether said highest signal weight is over a preset weight;
if yes, said processor generating a movement signal according to said left-turn signal, said forward signal or said right-turn signal, which has said highest signal weight; and
if no, said processor generating a braking signal.
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Abstract
The present invention discloses an autonomous driving system able to make driving decisions and a method thereof, which decide a safer vehicle movement, wherein a processor generates a left-turn signal, a forward signal and a right-turn signal, receives and vectorizes a vehicle movement signal and object movement signals to determine whether one object is a dangerous or non-dangerous object, inputs the results into a corresponding equation to generate dangerous and non-dangerous object weights, substitutes the dangerous and non-dangerous object weights into a space weight equation to calculate left-turn, forward and right-turn lane section weights, uses the lane section weights to generate left-turn, forward and right-turn signal weights, generates a movement signal or a braking signal according to whether a highest one of the signal weights is over or below preset weight.
23 Citations
10 Claims
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1. A driving decision method for an autonomous driving system, comprising steps:
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a processor generating a left-turn signal, a forward signal and a right-turn signal, and a detection device detecting a vehicle movement signal of a vehicle and a plurality of object movement signals of a plurality of objects; said processor respectively converting said vehicle movement signal and said object movement signals into a vehicle movement vector and a plurality of object movement vectors; said processor determining whether one said object is a dangerous object or a non-dangerous object according to said vehicle movement vector and said object movement vectors, and generating a dangerous object weight or a non-dangerous object weight according to whether said object is said dangerous object or said non-dangerous object; said processor defining left-turn lane sections corresponding to said left-turn signal, forward lane sections corresponding to said forward signal, and right-turn lane sections corresponding to said right-turn signal, and determining left-turn lane section weights, forward lane section weights and right-turn lane section weights according to said dangerous object weight or said non-dangerous object weight of one said danger object or one said non-dangerous object, which will pass through one corresponding said lane section; and said processor generating a left-turn signal weight, a forward signal weight and a right-turn signal weight, and taking a highest signal weight therefrom, and determining whether said highest signal weight is over a preset weight; if yes, said processor generating a movement signal according to said left-turn signal, said forward signal or said right-turn signal, which has said highest signal weight; and if no, said processor generating a braking signal. - View Dependent Claims (2, 3, 4, 5)
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6. An autonomous driving system able to make driving decisions, comprising:
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an object detection device detecting a plurality of object movement signals of a plurality of objects; a vehicle movement detection device detecting a vehicle movement signal of a vehicle; a storage device storing a dangerous object judgement equation, a dangerous object weight equation, a non-dangerous object weight equation, and a space weight equation; and a processor electrically connected with said object detection device, said vehicle movement detection device and said storage device, wherein said processor generates a left-turn signal, a forward signal, and a right-turn signal, retrieves said vehicle movement signal and said object movement signals, and respectively converts said vehicle movement signal and said object movement signals into a vehicle movement vector and a plurality of object movement vectors;
said processor determines whether one said object is a dangerous object according to said vehicle movement vector and said object movement vector and calculates a dangerous object weight or a non-dangerous object weight;
said processor retrieves said space weight equation and substitutes said dangerous object weights or said non-dangerous object weights into said space weight equation to calculate left-turn lane section weights corresponding to said left-turn signal, forward lane section weights corresponding to said forward signal and right-turn lane section weights corresponding to said right-turn signal, and generates a left-turn signal weight, a forward signal weight and a right-turn signal weight;
said processor takes a highest signal weight from said left-turn signal weight, said forward signal weight and said right-turn signal weight, and determines whether said highest signal weight is over a preset weight;
if said highest signal weight is over said preset weight, said processor generates a movement signal to make said vehicle advance according to said left-turn signal, said forward signal or said right-turn signal, which has said highest signal weight;
if said highest signal weight is below said preset weight, said processor generates a braking signal to stop said vehicle. - View Dependent Claims (7, 8, 9, 10)
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Specification
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Current AssigneeAutomotive Research & Testing Center
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Original AssigneeAutomotive Research & Testing Center
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InventorsLee, Chao-Yang, Liang, Chih-Neng, Tseng, Po-Kai
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Primary Examiner(s)Huynh, Luke
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Application NumberUS14/584,334Publication NumberTime in Patent Office547 DaysField of Search701/23, 701/24, 701/26, 701/301, 701/400, 340/435, 340/436, 340/903US Class Current1/1CPC Class CodesB60W 2420/403 Image sensing, e.g. optical...B60W 2554/80 Spatial relation or speed r...B60W 30/09 Taking automatic action to ...B60W 30/0956 the prediction being respon...B60W 30/18154 Approaching an intersectionB60W 30/18163 Lane change; Overtaking man...B60W 60/0016 of the vehicle or its occup...
