An autonomous vehicle capable of performing autonomous driving is provided with: a first reference straight steering angle acquisition unit that acquires a first reference straight steering angle, which is a steering angle of the autonomous vehicle in a straight state; a second reference straight steering angle acquisition unit that acquires a second reference straight steering angle, which is a steering angle when the magnitude of the difference between an estimated yaw velocity estimated from the steering angle of the autonomous vehicle and a yaw velocity of the autonomous vehicle detected by a yaw velocity sensor is less than a yaw velocity threshold value; and an automatic driving permission unit that permits automatic driving of the automatic driving vehicle when both the first reference straight steering angle and the second reference straight steering angle are acquired, the automatic driving permission unit permits automatic driving of the automatic driving vehicle when the first reference straight steering angle is acquired but the second reference straight steering angle is not acquired, and the automatic driving permission unit permits automatic driving of the automatic driving vehicle when the first reference straight steering angle is acquired but the second reference straight steering angle is not acquired. A steering hold request is made to a driver of the autonomous vehicle, and autonomous driving of the autonomous vehicle is permitted.

    一种自动驾驶车辆、控制方法和程序,该车辆能执行自动驾驶,具备:第一基准直行转向角获取部,获取作为直行状态的自动驾驶车辆的转向角的第一基准直行转向角;第二基准直行转向角获取部,获取第二基准直行转向角即在根据自动驾驶车辆的转向角推定出的推定横摆角速度与由横摆角速度传感器检测出的自动驾驶车辆的横摆角速度的差分的大小小于横摆角速度阈值的情况下的转向角;以及自动驾驶许可部,在获取到第一基准直行转向角和第二基准直行转向角这两者的情况下许可自动驾驶车辆的自动驾驶,自动驾驶许可部在获取到第一基准直行转向角但未获取到第二基准直行转向角的情况下,向自动驾驶车辆的驾驶员进行转向保持请求,许可自动驾驶车辆的自动驾驶。


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    Title :

    Autonomous driving vehicle, control method for autonomous driving vehicle, and program


    Additional title:

    自动驾驶车辆、自动驾驶车辆的控制方法以及程序


    Contributors:

    Publication date :

    2022-08-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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