To obtain a driving action capable of appropriately ensuring an inter-vehicle distance on the basis of a risk estimation during automated driving.SOLUTION: An automated driving apparatus 1 that determines the driving action of an own vehicle on the basis of a potential field obtained during a prescribed prediction period, includes: a body information acquisition section 142 that acquires speed information on bodies around the own vehicle; a potential generation section 145 that generates a potential extended in a movement direction from an object corresponding to each body according to the movement speed of the body and the prediction period; and a risk assessment section 146 that assesses the risk of collision of the own vehicle during the prediction period with respect to the object having the potential generated.SELECTED DRAWING: Figure 2
【課題】自動運転時にリスク推定に基づき車間距離を適切に確保できる運転行動を得る。【解決手段】所定の予測期間で求めたポテンシャル場に基づいて、自車両の運転行動を決定する自動運転装置1は、自車両の周囲の物体の速度情報を取得する物体情報取得部142と、物体の移動速度と予測期間とに応じて、物体に対応するオブジェクトから移動方向へ延伸させるポテンシャルを生成するポテンシャル生成部145と、ポテンシャルが生成されたオブジェクトに対する自車両の予測期間中の衝突のリスクを評価するリスク評価部146とを備える。【選択図】図2
AUTOMATED DRIVING APPARATUS
自動運転装置
2022-04-05
Patent
Electronic Resource
Japanese
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