Vehicle control apparatus and vehicle control method
AssigneeDenso Corporation
InventorsYu Maeda, Atsushi Baba
Life of this patent
Estimating the term…
Abstract
A vehicle control apparatus is mounted in a subject vehicle provided with a running planning unit configured to calculate one or more candidate routes on which the subject vehicle is to travel. The vehicle control apparatus predicts an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle.
Claims14
An autonomous driving device used in a vehicle capable of autonomous driving, the autonomous driving device comprising
- a processor and a non-volatile storage medium,
- wherein the processor is configured to:
- calculate a travel plan for causing the vehicle to travel;
- acquire a rule from a rule database that stores the rule serving as a basis for making a judgment regarding a potential accident;
- predict a behavior of a prediction target moving body that includes the vehicle and at least one moving body present in a vicinity of the vehicle;
- execute the judgment regarding the potential accident by applying the predicted behavior of the prediction target moving body to the rule, and by determining a value indicating a contribution of the vehicle to the potential accident;
- and
- when it is determined that the potential accident may occur, instruct recalculation of the travel plan or prohibit travel along the travel plan;
- output, to a vehicle control ECU of the vehicle, a control signal for autonomously controlling at least one of acceleration/deceleration and steering based on the travel plan;
- and
- store the predicted behavior of the prediction target moving body in the storage medium.
An autonomous driving method used in a vehicle capable of autonomous driving, executed by a processor configured in a computer, the autonomous driving method comprising:
- calculating a travel plan for causing the vehicle to travel;
- acquiring a rule from a rule database that stores the rule serving as a basis for judging a potential accident;
- predicting a behavior of a prediction target moving body, including the vehicle and at least one moving body present around the vehicle;
- executing the judgment regarding the potential accident by applying the predicted behavior of the prediction target moving body to the rule, and by determining a value indicating a contribution of the vehicle to the potential accident;
- when it is determined that the potential accident may occur, instructing recalculation of the travel plan or prohibit travel along the travel plan;
- outputting, to a vehicle control ECU of the vehicle, a control signal for autonomously controlling at least one of acceleration/deceleration and steering based on the travel plan;
- and
- storing the predicted behavior of the prediction target moving body in a storage medium.
A non-transitory computer readable storage medium storing a program used in a vehicle capable of autonomous driving, readable by a computer, configured to execute, by a processor configured in the computer:
- calculating a travel plan for causing the vehicle to travel;
- acquiring a rule from a rule database that stores the rule serving as a basis for judging potential accidents;
- predicting a behavior of a prediction target moving body, including the vehicle and at least one moving body present around the vehicle;
- executing the judgment regarding the potential accident by applying the predicted behavior of the prediction target moving body to the rule, and by determining a value indicating a contribution of the vehicle to the potential accident;
- when it is determined that the potential accident may occur, instructing recalculation of the travel plan or prohibit travel along the travel plan;
- outputting, to a vehicle control ECU of the vehicle, a control signal for autonomously controlling at least one of acceleration/deceleration and steering based on the travel plan;
- and
- storing the predicted behavior of the prediction target moving body in a storage medium.
Dependencies are inferred from the claim text.