To enable the execution of a safe driving action with respect to a risk suddenly occurring during automated driving.SOLUTION: An automated driving apparatus includes: a short-term prediction section 143 that calculates, for each of a plurality of driving actions, a short-term cost function including, as a parameter, a short-term collision risk during traveling from the present time to a short-term prediction time; an ultra-short-term prediction section 144 that, when all the short-term collision risks calculated by the short-term prediction section 143 are equal to or greater than a threshold, or when the short-term collision risk in the case of the short-term cost function being minimized is equal to or greater than the threshold, calculates an ultra-short-term collision risk during traveling from the present time to an ultra-short-term prediction time shorter than the short-term prediction time, and an ultra-short-term cost function including the ultra-short-term collision risk as a parameter; and a driving action determination section 145 that, when the ultra-short-term prediction section 144 calculates the ultra-short-term cost function, determines the driving action on the basis of the ultra-short-term cost function, and that, when the ultra-short-term prediction section does not calculate the ultra-short-term cost function, determines the driving action on the basis of the short-term cost function.SELECTED DRAWING: Figure 4
【課題】自動運転中に急激に生じるリスクに対して安全な運転行動を実行できるようにする。【解決手段】自動運転装置は、現在から短期予測時間までの間の走行中の短期衝突リスクをパラメータとして含む短期コスト関数を複数の運転行動それぞれに対して算出する短期予測部143と、短期予測部143が算出した全ての短期衝突リスクが閾値以上である場合、又は短期コスト関数が最小になる場合の短期衝突リスクが閾値以上である場合に、現在から短期予測時間よりも短い超短期予測時間までの間の走行中の超短期衝突リスクと、超短期衝突リスクをパラメータとして含む超短期コスト関数と、を算出する超短期予測部144と、超短期予測部144が超短期コスト関数を算出した場合、超短期コスト関数に基づいて運転行動を決定し、超短期予測部が超短期コスト関数を算出していない場合、短期コスト関数に基づいて運転行動を決定する運転行動決定部145と、を備える。【選択図】図4
AUTOMATED DRIVING APPARATUS
自動運転装置
2022-04-06
Patent
Electronic Resource
Japanese
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