PROBLEM TO BE SOLVED: To support obstacle avoidance in self-driving of a vehicle.SOLUTION: An obstacle detection part 48 of an obstacle detection device 24 detects obstacles on the basis of output data of a TOF (Time Of Flight) camera 40. A reliability estimation part 50 of the obstacle detection device 24 estimates the reliability of the obstacle detection result by the obstacle detection part 48 on the basis of the intensity of background light. An obstacle information acquisition part 66 of a self-driving control device 26 acquires the obstacle detection result and its reliability from the obstacle detection device 24. A behavior determination part 68 of the self-driving control device 26 determines a behavior of a vehicle 20 so as to avoid collision against the obstacle in accordance with the obstacle detection result, and determines a different behavior in accordance with the reliability of the obstacle determination result. A drive control part 70 of the self-driving control device 26 makes the vehicle 20 perform the behavior determined by the behavior determination part 68.SELECTED DRAWING: Figure 2

    【課題】車両の自動運転における障害物回避を支援する。【解決手段】障害物検出装置24の障害物検出部48は、TOFカメラ40の出力データに基づいて障害物を検出する。障害物検出装置24の信頼度推定部50は、背景光の強度に基づいて、障害物検出部48による障害物検出結果の信頼度を推定する。自動運転制御装置26の障害物情報取得部66は、障害物検出結果とその信頼度を障害物検出装置24から取得する。自動運転制御装置26の挙動決定部68は、障害物検出結果に応じて、障害物との衝突を避けるように車両20の挙動を決定し、障害物検出結果の信頼度に応じて異なる挙動を決定する。自動運転制御装置26の運転制御部70は、挙動決定部68により決定された挙動を車両20に実行させる。【選択図】図2


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    Titel :

    SELF-DRIVING CONTROL DEVICE AND SELF-DRIVING SYSTEM


    Weitere Titelangaben:

    自動運転制御装置および自動運転システム


    Beteiligte:
    NAITO MASAHIRO (Autor:in) / HAKAMATA KOJI (Autor:in) / OGATA TAKESHI (Autor:in) / TANI NORIYUKI (Autor:in)

    Erscheinungsdatum :

    2017-09-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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