To efficiently and safely drive a vehicle even when it is hard to predict the behavior of surrounding moving bodies.SOLUTION: An autonomous control system calculates a position of a control object, identifies an attribute of a non-control object, calculates the position of the non-control object, evaluates a degree of deflection of a moving trajectory of the non-control object from a moving predictive trajectory of the non-control object associated with the attribute of the non-control object, determines a safety criterion concerning an action of the control object on the basis of the attribute of the non-control object and the degree of deflection from the moving predictive trajectory, and corrects the action of the control object on the basis of the position of the control object, the position of the non-control object, and the safety criterion, so as to prevent the control object from approaching the non-control object as the safety criterion increases.SELECTED DRAWING: Figure 1
【課題】周囲の移動体の挙動の予想が困難な場合でも車両を効率的かつ安全に運転する。【解決手段】自律制御システムは、制御対象の位置を算出し、非制御対象の属性を識別し、非制御対象の位置を算出し、非制御対象の属性に対応する非制御対象の移動予測軌道からの非制御対象の移動軌道の逸脱度合いを評価し、非制御対象の属性と移動予測軌道からの逸脱度合いとに基づき、制御対象の行動に関する安全基準を決定し、制御対象の位置と非制御対象の位置と安全基準とに基づき、安全基準が高くなるほど制御対象が非制御対象に接近しなくなるように制御対象の行動を修正する。【選択図】図1
AUTONOMOUS CONTROL SYSTEM
自律制御システム
2024-03-07
Patent
Elektronische Ressource
Japanisch
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