Autonomous driving system, autonomous driving method, and autonomous driving program

An autonomous driving method comprising:

• recognizing obstacles based on image data obtained by imaging a predetermined region including a road on which an autonomous vehicle travels, the imaging being performed by an imaging device installed at a specific location in the external environment of the autonomous vehicle;
• creating a feature quantity distribution expressing a distribution of feature quantities relating to obstacles that have been recognized in the past for each of the locations where the obstacles were recognized and for each of the types of the obstacles;
• and
• comparing (i) the created feature amount distribution corresponding to the location and type of an obstacle recognized as an evaluation target with (ii) a feature quantity of the obstacle recognized as the evaluation subject, to thereby judge whether the obstacle recognized as the evaluation subject is erroneously recognized.

An autonomous driving program for causing a computer to function as

• a recognition unit configured to recognize obstacles based on image data obtained by imaging a predetermined region including a road on which an autonomous vehicle travels, the imaging being performed by an imaging device installed at a specific location in the external environment of the autonomous vehicle;
• a creation unit configured to create a feature quantity distribution expressing a distribution of features quantities relating to obstacles that have been recognized by recognition unit in the past for each of the locations where the obstacles were recognized and for each of the types of the obstacles;
• and
• a judgement unit configured to compare (i) a feature amount distribution corresponding to the location and type of an obstacle recognized as an evaluation target created by the creation unit with (ii) a feature quantity of the obstacle recognized as the evaluation subject, to thereby judge whether the obstacle recognized as the evaluation subject is erroneously recognized.