To provide an automatic operation vehicle system that enables smooth converging travel by an automatic operation.SOLUTION: An automatic operation vehicle system 100 comprises: an external sensor group 31 that detects a peripheral situation of an automatic operation vehicle; an action plan generating unit 45 that generates an action plan for the automatic operation vehicle according to the peripheral state detected by the external sensor group 31; and a travel control unit 46 that controls a travel actuator AC for the automatic operation vehicle according to the action plan generated by the action plan generating unit 45. When an action plan is generated so that the automatic operation vehicle is stopped at a first point in a first traffic lane and then converged on a second point between a first vehicle and a second vehicle, behind the first vehicle, in a second traffic lane, the action plan generating unit 45 sets the first point toward the direction of vehicle advancement as the maximum acceleration that could be generated from a stopped state of the automatic operation vehicle increases.SELECTED DRAWING: Figure 2

    【課題】自動運転によるスムーズな合流走行を実現可能な自動運転車両システムを提供する。【解決手段】自動運転車両システム100は、自動運転車両の周辺状況を検出する外部センサ群31と、外部センサ群31により検出された周辺状況に応じて、自動運転車両の行動計画を生成する行動計画生成部45と、行動計画生成部45により生成された行動計画に応じて自動運転車両の走行用アクチュエータACを制御する走行制御部46と、を備える。行動計画生成部45は、自動運転車両を、第1車線の第1地点で停車させた後に第2車線の第2地点で第1車両とその後方の第2車両との間に合流させる行動計画を生成するとき、自動運転車両の停止状態から発生し得る最大加速度が大きいほど、第1地点を車両進行方向側に設定する。【選択図】図2


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    Title :

    AUTOMATIC OPERATION VEHICLE SYSTEM


    Additional title:

    自動運転車両システム


    Contributors:

    Publication date :

    2020-07-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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