PROBLEM TO BE SOLVED: To provide a system that in the case of lane changing by self-driving, determines a driver's intention to change lanes on the basis of a steering operation by the driver and thereby reflects the intention.SOLUTION: A self-driving vehicle includes a control unit configured to perform self-driving for changing a turning angle of a turing wheel by a wheel turning device so that a steering angle reaches a target steering angle θt with which a vehicle is allowed to run along a target trajectory. The control unit controls the wheel turning device so that lane changing is performed in a normal mode when lane changing is required. If lane changing is required and a steering operation is performed by a driver (S30, S70), the control unit is configured to, when the magnitude of an index value based on a parameter changing with the steering operation is smaller than a stop reference value (S90), change a target trajectory for lane changing according to the magnitude of the index value without stopping self-driving (S110 to S130).SELECTED DRAWING: Figure 2
【課題】自動運転による車線変更に際し、運転者の操舵操作に基づいて車線変更に対する運転者の意図を判定することにより、運転者の意図を反映するシステムを提供する。【解決手段】操舵角が車両を目標軌跡に沿って走行させるための目標操舵角θtになるように転舵装置により転舵輪の転舵角を変化させる自動運転を行う制御装置を有し、制御装置は、車線変更の必要があるときには、車線変更が標準の態様にて行われるように転舵装置を制御する自動運転車両であって、制御装置は、車線変更の必要があり且つ運転者の操舵操作がある場合には(S30、S70)、操舵操作に応じて変化するパラメータに基づく指標値の大きさが、中止基準値よりも小さいときには(S90)、自動運転を中止せずに指標値の大きさに応じて車線変更の目標軌跡を変更する(S110〜S130)。【選択図】図2
SELF-DRIVING VEHICLE
自動運転車両
2018-07-05
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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