To upgrade safety which is required in the event that changing from autonomous driving to manual driving is not performed.SOLUTION: An autonomous driving system 1 includes a determination block 7a that determines each of a plurality of determinants which is conditions for changing from autonomous driving to manual driving, a driving change control block 7b that changes from autonomous driving to manual driving when all results of determination of the plurality of determinants are affirmative, an autonomous halt control block 7c that allows a self vehicle to autonomously halt in a safety zone, and an autonomous driving continuation determination block 7e that determines whether autonomous driving should be continued. Before determining a part or all of the plurality of determinants at timing when the self vehicle passes or has passed a predesignated change determination point, the determination block 7a determines a part or all of the plurality of determinants even at timing before the self vehicle passes the change determination point. When it is determined that the self vehicle cannot be halted in the safety zone, the autonomous driving continuation determination block 7e urges the self vehicle to continue autonomous driving.SELECTED DRAWING: Figure 1
【課題】自動運転から手動運転への切替えが行われない際の安全性を向上させる。【解決手段】自動運転システム1は、自動運転から手動運転に切替える条件である複数の判定項目をそれぞれ判定する判定部7aと、複数の判定項目の全ての判定結果が肯定判定であるときに、自動運転から手動運転に切替える運転切替制御部7bと、自車両を安全地帯に自動停止させる自動停止制御部7cと、自動運転を継続するか否かを判定する自動運転継続判定部7eと、を備え、判定部7aでは、予め設定されている切替判定地点を自車両が通過するか、もしくは通過したタイミングで前記複数の判定項目の一部または全てを判定する前に、切替判定地点を自車両が通過する前のタイミングでも複数の判定項目の一部または全てを判定し、自動運転継続判定部7eでは、自車両を安全地帯に停車させられないと判定される場合には自動運転を継続させる。【選択図】図1
AUTONOMOUS DRIVING SYSTEM AND AUTONOMOUS DRIVING CHANGE METHOD
自動運転システム及び自動運転切替方法
2021-04-08
Patent
Electronic Resource
Japanese
AUTONOMOUS DRIVING SYSTEM, AUTONOMOUS DRIVING METHOD, AND AUTONOMOUS DRIVING PROGRAM
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