To provide a self-driving device and a self-driving method capable of achieving a behavior of a vehicle similar to a feeling as if an occupant himself or herself was driving the vehicle even during a self-driving operation.SOLUTION: A self-driving device 1 includes: vehicle trajectory estimation means 2, 3, 4, and 6 for detecting a road status and estimating a trajectory ahead of a vehicle; left wheel speed detection means 5 for detecting a wheel speed of a left wheel of the vehicle; right wheel speed detection means 5 for detecting a wheel speed of a right wheel of the vehicle; wheel speed difference calculation means 6 for calculating a speed difference between the left wheel speed detected by the left wheel speed detection means 5 and the right wheel speed detected by the right wheel speed detection means 5; correction means 6 for correcting the trajectory estimated by the vehicle trajectory estimation means 2, 3, 4, and 6 using the speed difference detected by the wheel speed difference calculation means 6; and self-driving means 6, 7, 8, and 9 for self-driving the vehicle using the trajectory corrected by the correction means 6.SELECTED DRAWING: Figure 2

    【課題】自動運転中であっても乗員自身が運転した感覚に近い車両の挙動を実現することができる自動運転装置及び自動運転方法を提供する。【解決手段】自動運転装置1は、道路状況を検出し車両の前方の軌跡を推定する車両軌跡推定手段2、3、4、6と、車両の左車輪の車輪速度を検出する左車輪速度検出手段5と、車両の右車輪の車輪速度を検出する右車輪速度検出手段5と、左車輪速度検出手段5が検出した左車輪速度と、右車輪速度検出手段5が検出した右車輪速度との速度差を算出する車輪速度差算出手段6と、車輪速度差算出手段6が検出した速度差を用いて車両軌跡推定手段2、3、4、6で推定した軌跡を補正する補正手段6と、補正手段6で補正された軌跡を用いて車両を自動運転する自動運転手段6、7、8、9とを備える。【選択図】図2


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    Titel :

    SELF-DRIVING DEVICE AND SELF-DRIVING METHOD


    Weitere Titelangaben:

    自動運転装置及び自動運転方法


    Beteiligte:
    KOBAYASHI YOSHIO (Autor:in) / MATSUURA SHOGO (Autor:in)

    Erscheinungsdatum :

    24.06.2019


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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