Autonomous driving system

A method for controlling a vehicle with a processor, the method comprising:

• periodically acquiring information that is necessary for calculating a target path, wherein
• a first timing is a timing when the processor acquires the information,
• a first coordinate system is a vehicle coordinate system fixed to the vehicle at the first timing,
• a second coordinate system is a vehicle coordinate system fixed to the vehicle at a second timing later than the first timing,
• the vehicle coordinate system being fixed with respect to the vehicle, and centered on the vehicle with an origin of the vehicle coordinate system coinciding with the vehicle, the vehicle coordinate system being relative and non-fixed with respect to an environment surrounding the vehicle, and
• the method further comprises:
• calculating a first target path defined in the first coordinate system, based on the information acquired at the first timing;
• correcting the first target path defined in the first coordinate system to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system at the first timing to the second coordinate system at the second timing, the coordinate transformation being performed by calculating a difference between the first coordinate system at the first timing and the second coordinate system at the second timing;
• and
• controlling the vehicle so as to follow the second target path,
• wherein a delay time from the first timing to the second timing is predetermined and corresponds to a time required for the processor to calculate the first target path.

A non-transitory computer readable recording medium storing a program that causes a processor to execute steps comprising:

• periodically acquiring information that is necessary for calculating a target path, wherein
• a first timing is a timing when the processor acquires the information,
• a first coordinate system is a vehicle coordinate system fixed to the vehicle at the first timing,
• a second coordinate system is a vehicle coordinate system fixed to the vehicle at a second timing later than the first timing,
• the vehicle coordinate system being fixed with respect to the vehicle, and centered on the vehicle with an origin of the vehicle coordinate system coinciding with the vehicle, the vehicle coordinate system being relative and non-fixed with respect to an environment surrounding the vehicle, and
• the program causes the processor to further execute:
• calculating a first target path defined in the first coordinate system, based on the information acquired at the first timing;
• correcting the first target path defined in the first coordinate system to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system at the first timing to the second coordinate system at the second timing, the coordinate transformation being performed by calculating a difference between the first coordinate system at the first timing and the second coordinate system at the second timing;
• and
• controlling the vehicle so as to follow the second target path,
• wherein a delay time from the first timing to the second timing is predetermined and corresponds to a time required for the processor to calculate the first target path.