Autonomous driving device
First Claim
1. An autonomous driving device configured to execute autonomous driving of a host vehicle, and switch a driving state from autonomous driving to manual driving when a value indicative of a degree to which any of a steering operation, an acceleration operation and a braking operation is carried out by a driver of the host vehicle during the autonomous driving is equal to or greater than a threshold value for switching to manual driving, the device comprising:
- an operation amount acquirer configured to acquire the value indicative of a degree to which the operation is carried out during the autonomous driving;
an environment recognizer configured to recognize a status of a surrounding environment of the host vehicle;
a calculator configured to calculate the threshold value for switching to manual driving; and
a controller configured to execute autonomous driving, and to switch the driving state from autonomous driving to manual driving when the value indicative of the degree to which the operation is carried out is equal to or greater than the threshold value for switching to manual driving,wherein the calculator is configured to calculate the threshold value for switching to manual driving according to the status of the surrounding environment recognized by the environment recognizer,wherein the environment recognizer is configured to recognize an obstacle around the host vehicle as information relating to the status of the surrounding environment, andwherein the calculator is configured to calculate the threshold value for switching to manual driving which becomes lower when a distance between the obstacle and the host vehicle becomes smaller.
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Accused Products
Abstract
Disclosed is an autonomous driving device in which a threshold value for switching to manual driving which is used for switching the driving state from autonomous driving to manual driving with respect to a value indicative of a degree to which of any of a steering operation is carried out, an acceleration operation, and a braking operation by the driver is calculated by a calculation unit of the autonomous driving device according to the surrounding environment of the host vehicle recognized by an environment recognition unit. Thereby, the ease of switching the driving state from autonomous driving to manual driving conforms to a surrounding environment of the host vehicle.
33 Citations
18 Claims
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1. An autonomous driving device configured to execute autonomous driving of a host vehicle, and switch a driving state from autonomous driving to manual driving when a value indicative of a degree to which any of a steering operation, an acceleration operation and a braking operation is carried out by a driver of the host vehicle during the autonomous driving is equal to or greater than a threshold value for switching to manual driving, the device comprising:
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an operation amount acquirer configured to acquire the value indicative of a degree to which the operation is carried out during the autonomous driving; an environment recognizer configured to recognize a status of a surrounding environment of the host vehicle; a calculator configured to calculate the threshold value for switching to manual driving; and a controller configured to execute autonomous driving, and to switch the driving state from autonomous driving to manual driving when the value indicative of the degree to which the operation is carried out is equal to or greater than the threshold value for switching to manual driving, wherein the calculator is configured to calculate the threshold value for switching to manual driving according to the status of the surrounding environment recognized by the environment recognizer, wherein the environment recognizer is configured to recognize an obstacle around the host vehicle as information relating to the status of the surrounding environment, and wherein the calculator is configured to calculate the threshold value for switching to manual driving which becomes lower when a distance between the obstacle and the host vehicle becomes smaller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An autonomous driving device configured to execute autonomous driving of a host vehicle, and switch a driving state from currently executed autonomous driving to manual driving when an amount of any of a steering operation, an acceleration operation and a braking operation by the driver of the host vehicle during the autonomous driving is equal to or greater than a threshold value for switching to manual driving, the device comprising:
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an operation amount acquirer configured to acquire the amount of operation during the autonomous driving; an environment recognizer configured to recognize a status of a surrounding environment of the host vehicle; a calculator configured to calculate the threshold value for switching to manual driving; and a controller configured to execute the autonomous driving, and switch the driving state from currently executed autonomous driving to manual driving when the amount of the operation is equal to or greater than the threshold value for switching to manual driving, wherein the calculator is configured to calculate the threshold value for switching to manual driving according to the status of the surrounding environment recognized by the environment recognizer, wherein the environment recognizer is configured to recognize presence of an obstacle around the host vehicle and a type of the obstacle as information relating to the status of the surrounding environment, and wherein, when the distance between the obstacle and the host vehicle is a first distance and the obstacle is a pedestrian, the calculator is configured to calculate the threshold value for switching to manual driving as being lower than the threshold value when the distance between the obstacle and the host vehicle is the first distance and the obstacle is another vehicle.
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14. An autonomous driving device configured to execute autonomous driving of a host vehicle, and switch a driving state from currently executed autonomous driving to manual driving when an amount of any of a steering operation, and acceleration operation and a braking operation by the driver of the host vehicle during the autonomous driving is equal to or greater than a threshold value for switching to manual driving, the device comprising:
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an operation amount acquirer configured to acquire the amount of operation during the autonomous driving; an environment recognizer configured to recognize a status of a surrounding environment of the host vehicle; a calculator configured to calculate the threshold value for switching to manual driving; and a controller configured to execute the autonomous driving, and switch the driving state from currently executed autonomous driving to manual driving when the amount of operation is equal to or greater than the threshold value for switching to manual driving, wherein the calculator is configured to calculate the threshold value for switching to manual driving according to the status of the surrounding environment recognized by the environment recognizer, wherein the environment recognizer is configured to recognize an obstacle around the host vehicle and movement state of the obstacle as information relating to the status of the surrounding environment, and wherein, when the distance between the obstacle and the host vehicle is a first distance and the obstacle is a moving object, the calculator is configured to calculate the threshold value for switching to manual driving as being lower than the threshold value when the distance between the obstacle and the host vehicle is the first distance and the obstacle is a stationary object.
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15. An autonomous driving device configured to execute autonomous driving of a host vehicle, and switch a driving state from currently executed autonomous driving to manual driving when an amount of any of a steering operation, an acceleration operation and a braking operation by the driver of the host vehicle du ins the autonomous driving is equal to or greater than a threshold value for switching to manual driving, the device comprising:
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an operation amount acquirer configured to acquire the amount of operation during the autonomous driving; an environment recognizer configured to recognize a status of a surrounding environment of the host vehicle; a calculator configured to calculate the threshold value for switching to manual driving; and a controller configured to execute the autonomous driving, and switch the driving state from currently executed autonomous driving to manual driving when the amount of operation is equal to or greater than the threshold value for switching to manual driving, wherein the calculator is configured to calculate the threshold value for switching to manual driving according to the status of the surrounding environment recognized by the environment recognizer, wherein the environment recognizer is configured to recognize a road width of a road on which the host vehicle is travelling as information relating to the status of the surrounding environment, and wherein the calculator is configured to calculate a threshold value for switching to manual driving as being lower, the narrower the width of the road. - View Dependent Claims (16)
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17. An autonomous driving device configured, to execute autonomous driving of a host vehicle, and switch a driving state from currently executed autonomous driving to manual driving when an amount of any of a steering operation, an acceleration operation and a braking operation by the driver of the host vehicle during the autonomous driving is equal to or greater than a threshold value for switching to manual driving, the device comprising:
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an operation amount acquirer configured to acquire the amount of operation during the autonomous driving; an environment recognizer configured to recognize a status of a surrounding environment of the host vehicle; a calculator configured to calculate the threshold value for switching to manual driving? and a controller configured to execute the autonomous driving and switch the driving state from currently executed autonomous driving to manual driving when the amount of operation is equal to or greater than the threshold value for switching to manual driving, wherein the calculator is configured to calculate the threshold value for switching to manual driving according to the status of the surrounding environment recognized by the environment recognizer, wherein the environment recognizer is configured to recognize whether or not the host vehicle is travelling on an intersection or a parking lot as information relating to the status of the surrounding environment based on one or more of map information and position information of the host vehicle, and wherein, when the environment recognizer recognizes that the host vehicle is travelling on the intersection and the parking lot, the calculator is configured to calculate the threshold value for switching to manual driving as being lower than the threshold value when the environment recognizer does not recognize that the host vehicle is travelling on the intersection or the parking lot. - View Dependent Claims (18)
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Specification