Autonomous driving control system for vehicle

Patent metadata

Field	Value
Publication number	US-9182761-B2
Application number	US-201214238342-A
Country	US
Kind code	B2
Filing date	Aug 23, 2012
Priority date	Aug 25, 2011
Publication date	Nov 10, 2015
Grant date	Nov 10, 2015

Abstract

Information regarding a vehicle is acquired by a vehicle information acquisition unit provided in the vehicle, and an object to be avoided is detected by an avoidance-target object detection unit. On the basis of the vehicle information and the distance and angle of the object to be avoided, the location and amount of movement of the object to be avoided are calculated by a peripheral information recognition unit, and the calculation accuracy of the location and amount of movement of the object to be avoided are determined by a driving maneuver determination unit. On the basis of the calculation accuracy of the location and amount of movement of the object to be avoided, a driving maneuver for avoiding the object to be avoided is determined, and autonomous driving control is implemented in accordance with the driving maneuver that is determined.

First claim

The invention claimed is:

1. An autonomous driving control system for a vehicle for detecting the positions of an own vehicle and an avoidance object existing around the own vehicle, determining a course to a destination, and carrying out autonomous driving control, comprising:
a driving strategy determination unit programmed to determine computing accuracy levels of a position and computing accuracy levels of a moving amount of the avoidance object of at least either high or low, and further programmed to determine a driving strategy to avoid the avoidance object according to a distance between the own vehicle and the avoidance object and the computation accuracy levels of a position and moving amount of the avoidance object, wherein
the autonomous driving control system is programmed to control the own vehicle according to a control instruction value that is determined to execute autonomous driving control on the own vehicle and corresponds to the driving strategy determined by the driving strategy determination unit.

2. The autonomous driving control system for a vehicle according to claim 1 , wherein
the driving strategy determination unit is programmed to determine that the computation accuracy of the position of the avoidance object is high and the avoidance object is at a distance nearer than a threshold value and that the computation accuracy of the moving amount of the avoidance object is low, and
the driving strategy determination unit is further programmed to determine a driving strategy to avoid the avoidance object as an object that approaches at a predetermined speed.

3. The autonomous driving control system for a vehicle according to claim 2 , wherein
the driving strategy determination unit is programmed to determine that the computation accuracy of the position of the avoidance object is high and the avoidance object is at a distance nearer than the threshold value and that the computation accuracy of the moving amount of the avoidance object is high, and
the driving strategy determination unit is further programmed to determine a driving strategy to avoid the avoidance object as an object that moves at a detected speed.

4. The autonomous driving control system for a vehicle according to claim 1 , wherein
the driving strategy determination unit is programmed to determine that the computation accuracy of the position of the avoidance object is high and the avoidance object is at a distance farther than a threshold value and that the computation accuracy of the moving amount of the avoidance object is low, and
the driving strategy determination unit is further programmed to determine a driving strategy to avoid the avoidance object as an object that is stationary.

5. The autonomous driving control system for a vehicle according to claim 4 , wherein
the driving strategy determination unit is programmed to determine that the computation accuracy of the position of the avoidance object is high and the avoidance object is at a distance farther than the threshold value and that the computation accuracy of the moving amount of the avoidance object is high, and
the driving strategy determination unit is further programmed to determine a driving strategy to avoid the avoidance object as an object that moves at a detected speed.

6. The autonomous driving control system for a vehicle according to claim 1 , wherein the driving strategy determination unit has:
a system configuration database that that is programmed to store the computation accuracy of a position of the avoidance object, the computation accuracy of a moving amount thereof, and a system configuration to execute a driving strategy corresponding to these pieces of computation accuracy; and
a system operation level judgment part that is programmed to judge and determine a system configuration to execute autonomous driving control according to the computation accuracy of the position of the avoidance object and the computation accuracy of the moving amount thereof.

7. The autonomous driving control system for a vehicle according to claim 6 , wherein the driving strategy determination unit is programmed to judge that:
(i) the computation accuracy of the position of the avoidance object is high based on the position of the avoidance object being directly obtained and based on the avoidance object and own vehicle being detected at a distance equal to or lower than a distance threshold;
(ii) the computation accuracy of the position of the avoidance object is low based on the position of the avoidance object being not directly obtained and based on the avoidance object and own vehicle being detected at a distance greater than the distance threshold;
(iii) the computation accuracy of the moving amount of the avoidance object is high if it based on judgments that the computation accuracy of the position of the avoidance object and that of a moving amount of the own vehicle are high; and
(iv) the computation accuracy of the moving amount of the avoidance object is low based on judgment that the computation accuracy of at least one of the position of the avoidance object and the moving amount of the own vehicle is low.

8. The autonomous driving control system for a vehicle according to claim 6 , wherein the driving strategy determination unit is programmed to judge that:
the detection accuracy of the moving amount of the own vehicle is high based on the own vehicle not driving on a slippery road; and
the detection accuracy of the moving amount of the own vehicle is low based on the own vehicle driving on a slippery road.

9. The autonomous driving control system for a vehicle according to claim 7 , wherein:
the system operation level judgment part has an position accuracy judgment part of own vehicle, the position accuracy judgment part of own vehicle is programmed to judge
that the detection accuracy of a position of the own vehicle is high based on the position of the own vehicle being detected in the order of a first threshold that is preset as a judgment value to judge a detection accuracy level of the position of the own vehicle and
that the detection accuracy of the position of the own vehicle is low based on the position of the own vehicle being detected in the order of a second threshold that is preset as a judgment value to judge a detection accuracy level of the position of the own vehicle; and

the driving strategy determination unit is programmed to determine a driving strategy involving driving control to a predetermined destination according to the detection accuracy of the position of the own vehicle judged by the position accuracy judgment part of own vehicle.

10. The autonomous driving control system for a vehicle according to claim 7 , wherein the driving strategy determination unit is programmed to avoid the avoidance object according to a recognition state of the moving amount of the avoidance object at the timing determined by a predetermined collision time and vehicle-to-vehicle time interval.

11. The autonomous driving control system for a vehicle according to claim 9 , wherein
the position accuracy judgment part of own vehicle is programmed to determine that the detection accuracy of the position of the own vehicle is low, and
the driving control to the predetermined destination is programmed to be suspended for a judged period and only the driving control to avoid the avoidance object is programmed to be carried out.

12. The autonomous driving control system for a vehicle according to claim 11 , wherein
the detection accuracy of the position of the own vehicle is judged to be low and only the driving control to avoid the avoidance object is carried out,
the suspended dri

Assignees

• Fujita Susumu
• Nissan Motor

Inventors

• Fujita Susumu

Classifications

• B60W2554/4041

  Position · CPC title

• B60W2554/801

  Lateral distance · CPC title

• B60W2554/804

  Relative longitudinal speed · CPC title

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title