To make a vehicle perform automatic driving on a snow removed region while ensuring redundancy of automatic driving when traveling on the snow removed region of a snowfall section.SOLUTION: A control system 200 includes a snow removing information collecting unit 201 for collecting snow removing information related to a snow removed region from at least one of a snow removing vehicle and an automatic driving vehicle, and a snow removing traveling environment information calculating unit 202 for calculating traveling environment information of the snow removed region based on the snow removing information. A vehicle control system 10 includes a first automatic driving control unit 21 for executing first automatic driving control which is made redundant by a control system for automatic driving based on map information and position information of an own vehicle and an automatic driving control system based on external environment recognition information of the own vehicle and a second automatic driving control unit 22 for executing second automatic driving control that is made redundant by a control system for automatic driving based on map information corrected by the traveling environment information of the snow removed area and the position information of the own vehicle and a control system for automatic driving based on the external environment recognition information of the own vehicle.SELECTED DRAWING: Figure 1
【課題】積雪区間の除雪済み領域を走行する際に、自動運転の冗長性を確保しながら除雪済み領域を自動運転で走行させる。【解決手段】管制システム200は、除雪済み領域に係る除雪情報を除雪車両と自動運転車両との少なくとも一方から収集する除雪情報収集部201と、除雪情報に基づいて除雪済み領域の走行環境情報を算出する除雪走行環境情報算出部202とを備えている。車両制御システム10は、自車両の地図情報と位置情報とに基づく自動運転の制御系と、自車両の外部環境認識情報に基づく自動運転の制御系とによって冗長化される第1の自動運転制御を実施する第1自動運転制御部21と、除雪済み領域の走行環境情報で補正した地図情報と自車両の位置情報とに基づく自動運転の制御系と、自車両の外部環境認識情報に基づく自動運転の制御系とによって冗長化される第2の自動運転制御を実施する第2自動運転制御部22とを備える。【選択図】図1
TRAFFIC CONTROL SYSTEM OF AUTOMATED DRIVING VEHICLE
自動運転車両の交通制御システム
2020-09-24
Patent
Electronic Resource
Japanese
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