Automatic driving vehicle system

Patent metadata

Field	Value
Publication number	US-2016313738-A1
Application number	US-201615138845-A
Country	US
Kind code	A1
Filing date	Apr 26, 2016
Priority date	Apr 27, 2015
Publication date	Oct 27, 2016
Grant date	—

Abstract

An automatic driving vehicle system includes: a surrounding information recognition unit that recognizes surrounding information of a vehicle; a vehicle state recognition unit that recognizes a vehicle state of the vehicle; a running plan generation unit that generates a running plan based on the surrounding information of the vehicle and that generates a control band of a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information; a first computation unit that computes a command control value such that the vehicle state becomes a target vehicle state corresponding to the target control value, based on the running plan, the vehicle state and the control band; and an actuator that controls the running of the vehicle based on the command control value. The system may also include an actuator control unit.

First claim

What is claimed is:

1 . An automatic driving vehicle system comprising:
a surrounding information recognizer configured to recognize surrounding information of a vehicle; a vehicle state recognizer configured to recognize a vehicle state of the vehicle; a running plan generator configured to generate a running plan based on the surrounding information of the vehicle and generate a control band of a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information; a computer configured to compute a command control value such that the vehicle state becomes a target vehicle state corresponding to the target control value, based on the running plan, the vehicle state and the control band; and an actuator configured to control running of the vehicle based on the command control value.

2 . The automatic driving vehicle system according to claim 1 , wherein
in a case where the current vehicle state is a vehicle state corresponding to the inside of the control band, the computer is configured to compute the command control value such that the vehicle state comes close to the target vehicle state more gradually compared to a case where the current vehicle state is a vehicle state corresponding to the outside of the control band.

3 . The automatic driving vehicle system according to claim 1 , wherein
the running plan generator is included in a first ECU, and the computer is included in a second ECU that is different from the first ECU.

4 . The automatic driving vehicle system according to claim 1 , wherein the running plan generator is configured to generate two control bands for a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information.

5 . The automatic driving vehicle system according to claim 1 , wherein the running plan generator is configured to generate three or more control bands for a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information.

6 . The automatic driving vehicle system according to claim 1 , wherein the running plan generator is configured to modify the range of the control band in response to changes in surrounding information.

7 . The automatic driving vehicle system according to claim 1 , wherein the running plan generator is configured to modify the range of the control band in response to changes in the vehicle state.

8 . An automatic driving vehicle system comprising:
a surrounding information recognizer configured to recognize surrounding information of a vehicle; a vehicle state recognizer configured to recognize a vehicle state of the vehicle; a running plan generator configured to generate a running plan based on the surrounding information of the vehicle and generate a control band of a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information; a computer configured to compute a command control value such that the vehicle state becomes a target vehicle state corresponding to the target control value, based on the running plan; an actuator configured to control running of the vehicle by an output corresponding to the command control value; and an actuator controller configured to control a parameter for the actuator based on the vehicle state and the control band.

9 . The automatic driving vehicle system according to claim 8 , wherein
in a case where the current vehicle state is a vehicle state corresponding to the inside of the control band, the actuator controller is configured to alter the parameter such that the current output of the actuator comes close to the output corresponding to the command control value more gradually compared to a case where the current vehicle state is a vehicle state corresponding to the outside of the control band.

10 . The automatic driving vehicle system according to claim 8 , wherein
the running plan generator is included in a first ECU, and the computer is included in a second ECU that is different from the first ECU.

11 . The automatic driving vehicle system according to claim 8 , wherein the running plan generator is configured to generate two control bands for a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information.

12 . The automatic driving vehicle system according to claim 8 , wherein the running plan generator is configured to generate three or more control bands for a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information.

13 . The automatic driving vehicle system according to claim 8 , wherein the running plan generator is configured to modify the range of the control band in response to changes in surrounding information.

14 . The automatic driving vehicle system according to claim 8 , wherein the running plan generator is configured to modify the range of the control band in response to changes in the vehicle state.

15 . An automatic driving vehicle system comprising:
an electronic control unit including a processor configured to:
recognize surrounding information of a vehicle;
recognize a vehicle state of the vehicle;
generate a running plan based on the surrounding information of the vehicle;
generate a control band of a target control value for the vehicle in the running plan, based on at least one of the vehicle state or the surrounding information;
compute a command control value such that the vehicle state becomes a target vehicle state corresponding to the target control value, based on the running plan, the vehicle state and the control band; and
an actuator configured to control the running of the vehicle based on the command control value received from the electronic control unit.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kindo Toshiki
• Watanabe Yoshinori

Classifications

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B62D15/0255

  Automatic changing of lane, e.g. for passing another vehicle · CPC title

• G08G1/16 Primary

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• G01C21/3415

  Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents · CPC title

• B62D1/28 Primary

  non-mechanical {, e.g. following a line or other known markers} · CPC title