To perform automatic following running for a forward vehicle in an excellent way.SOLUTION: A running control device 110 for an automatic driving vehicle includes: an activity plan creating unit that creates an activity plan so as to run and follow a target vehicle which is any one of vehicles detected by a vehicle detecting unit; and a running control unit that controls an actuator AC in a running operation of an own vehicle in accordance with the created activity plan. The activity plan creating unit includes: a vehicle grade recognizing unit 451 that recognizes the vehicle grade of another vehicle detected by the vehicle detecting unit; a vehicle grade determining unit 452 that determines whether or not the difference level in recognized vehicle grade relative to the vehicle grade of the own vehicle is equal to or lower than a predetermined value; and a target vehicle setting unit 453 that sets, as the target vehicle, another vehicle subjected to the determination that the difference level in vehicle grade is equal to or lower than the predetermined value.SELECTED DRAWING: Figure 5
【課題】良好な態様で前方車両に対する自動追従走行を行う。【解決手段】自動運転車両の走行制御装置110は、車両検出部により検出されたいずれかの他車両を対象車両として、対象車両に追従走行するように行動計画を生成する行動計画生成部と、生成された行動計画に従い、自車両の走行動作にアクチュエータACを制御する走行制御部とを備える。行動計画生成部は、車両検出部により検出された他車両の車格を認識する車格認識部451と、自車両の車格に対する認識された車格の相違の程度が所定値以下であるか否かを判定する車格判定部452と、車格の相違の程度が前記所定値以下と判定された他車両を対象車両に設定する対象車両設定部453とを有する。【選択図】図5
RUNNING CONTROL DEVICE FOR AUTOMATIC DRIVING VEHICLE
自動運転車両の走行制御装置
04.07.2019
Patent
Elektronische Ressource
Japanisch
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 |
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