US 10,095,227 B2Granted

Automatic driving system

AssigneeToyota Jidosha Kabushiki Kaisha

InventorsKentaro Ichikawa, Toshiki Kindo, Sho Otaki, Yasuo Sakaguchi, Bunyo Okumura

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Abstract

An automatic driving system includes an actuator and an electronic control unit. The electronic control unit is configured to recognize a position, a surrounding environment, a state of the vehicle. The electronic control unit is configured to generate a first traveling plan based on the recognized position, the recognized surrounding environment, and the recognized state of the vehicle and calculate reliability of the first traveling plan. The electronic control unit is configured to generate a second traveling plan of the vehicle based on one or two of the recognized position, the recognized surrounding environment, and the recognized state of the vehicle and calculate reliability of the second traveling plan. The electronic control unit is configured to select a traveling plan having the higher reliability out of the first traveling plan and the second traveling plan, and control the traveling of the vehicle by the actuator.

Claims14

Dependent claims

An automatic driving system of a vehicle comprising:

an actuator configured to control traveling of the vehicle;
and
an electronic control unit configured to
recognize a position of the vehicle based on a detection result of an external sensor or reception information of a receiver, the external sensor being mounted in the vehicle, and the external sensor being configured to detect external circumstances of the vehicle,
recognize a surrounding environment of the vehicle based on the detection result of the external sensor,
recognize a state of the vehicle based on a detection result of an internal sensor configured to detect the state of the vehicle,
generate a first traveling plan of the vehicle based on the recognized position of the vehicle, the recognized surrounding environment of the vehicle, and the recognized state of the vehicle,
calculate reliability of the first traveling plan based on at least one of reliability of the recognized position of the vehicle, reliability of recognition of the recognized surrounding environment of the vehicle, reliability of recognition of the recognized state of the vehicle, or the generated first traveling plan,
generate a second traveling plan of the vehicle based on one or two of the recognized position of the vehicle, the recognized surrounding environment of the vehicle, and the recognized state of the vehicle,
calculate reliability of the second traveling plan based on at least one of the generated second traveling plan or reliability of a recognition result used when the second traveling plan is generated among the recognized position of the vehicle, the recognized surrounding environment of the vehicle, and the recognized state of the vehicle,
select a traveling plan having the higher reliability out of the first traveling plan and the second traveling plan, and
control the traveling of the vehicle by the actuator based on the selected traveling plan.

9 more elements

An automatic driving system of a vehicle comprising:

an actuator configured to control traveling of the vehicle;
and
an electronic control unit configured to
recognize a position of the vehicle based on a detection result of an external sensor or reception information of a receiver, the external sensor being mounted in the vehicle, and the external sensor being configured to detect external circumstances of the vehicle,
recognize a surrounding environment of the vehicle based on the detection result of the external sensor,
recognize a state of the vehicle based on a detection result of an internal sensor configured to detect the state of the vehicle,
generate a first traveling plan of the vehicle based on the recognized position of the vehicle, the recognized surrounding environment of the vehicle, and the recognized state of the vehicle,
calculate reliability of the first traveling plan based on at least one of reliability of the recognized position of the vehicle, reliability of recognition of the recognized surrounding environment of the vehicle, reliability of recognition of the recognized state of the vehicle, or the generated first traveling plan,
generate a second traveling plan based on the recognized position of the vehicle, the recognized surrounding environment of the vehicle, and the recognized state of the vehicle such that an amount of change in acceleration or deceleration of the vehicle per unit time, or an amount of change in steering of the vehicle per unit time is smaller in the second traveling plan than in the first traveling plan,
calculate reliability of the second traveling plan based on at least one of the reliability of the recognized position of the vehicle, the reliability of recognition of the recognized surrounding environment of the vehicle, the reliability of recognition of the recognized state of the vehicle, or the generated second traveling plan and perform correction to lower the calculated reliability of the second traveling plan,
select a traveling plan having the higher reliability out of the first traveling plan and the second traveling plan, and
control the traveling of the vehicle by the actuator based on the selected traveling plan.

9 more elements

An automatic driving system of a vehicle comprising:

an actuator configured to control traveling of the vehicle;
and
an electronic control unit configured to
recognize a position of the vehicle based on a detection result of an external sensor or reception information of a receiver, the external sensor being mounted in the vehicle, and the external sensor being configured to detect external circumstances of the vehicle,
recognize a surrounding environment of the vehicle based on the detection result of the external sensor,
recognize a state of the vehicle based on a detection result of an internal sensor configured to detect the state of the vehicle,
generate a first traveling plan of the vehicle based on the recognized position of the vehicle, the recognized surrounding environment of the vehicle, and the recognized state of the vehicle,
calculate reliability of the first traveling plan based on at least one of reliability of the recognized position of the vehicle, reliability of recognition of the recognized surrounding environment of the vehicle, reliability of recognition of the recognized state of the vehicle, or the generated first traveling plan,
generate a second traveling plan based on a previous first traveling plan,
calculate reliability of the second traveling plan based on reliability of the previous first traveling plan used when generating the second traveling plan,
select a traveling plan having the higher reliability out of the first traveling plan and the second traveling plan, and
control the traveling of the vehicle by the actuator based on the selected traveling plan.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/452,302Filed 7 Mar 2017
Priority: JP 2016-0459559 Mar 2016
Published: US 2017/0261984 A114 Sep 2017
Granted: 9 Oct 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification30 codes

B60W 60/0053
Handover processes: from vehicle to occupant
B60W 50/082
Interaction between the driver and the control system: selecting or switching between different modes of propelling
B60W 50/14
Interaction between the driver and the control system: means for informing the driver, warning the driver or prompting a driver intervention
B60W 60/0059
Handover processes: estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver…