JP6985207B2 - 自動運転システム - Google Patents
自動運転システム Download PDFInfo
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G—PHYSICS
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Description
図1に示されるように、自動運転システム100は、装置を統括的に管理するECU[Electronic Control Unit]10を備えている。ECU10は、CPU[Central Processing Unit]、ROM[Read Only Memory]、RAM[Random Access Memory]等を有する電子制御ユニットである。ECU10では、例えば、ROMに記憶されているプログラムをRAMにロードし、RAMにロードされたプログラムをCPUで実行することにより各種の機能を実現する。ECU10は、複数の電子ユニットから構成されていてもよい。
次に、本実施形態に係る自動運転システム100の地図評価処理について図2を参照して説明する。図2は、地図評価処理の一例を示すフローチャートである。図2に示すフローチャートの処理は、例えばGPS受信部1の故障診断が異常なしとの結果である場合において、自動運転が開始されようとしているとき(例えば運転者により自動運転を開始させるためのHMI6への操作が行われたとき)に実行される。なお、GPS受信部1の故障診断が異常ありとの結果である場合には、自動運転の開始が禁止されてもよい。
以上説明した本実施形態に係る自動運転システム100によれば、地図上相対関係取得部16及び検出相対関係取得部17により、地図上における相対関係である地図上相対関係と、外部センサ2の検出結果に基づく相対関係である検出相対関係と、が取得される。地図精度評価部18により、基準となる検出相対関係に対して地図上相対関係が比較されることで、地図情報の地図精度が評価される。自動運転許可部19により、地図精度の評価結果に基づいて、地図情報を用いる自動運転制御が許可される。したがって、自動運転システム100によれば、地図精度を適切に評価すると共に、地図情報を用いる自動運転制御を適切に許可することができる。
本発明は上述した実施形態に限定されるものではない。本発明は、上述した実施形態を始めとして、当業者の知識に基づいて種々の変更、改良を施した様々な形態で実施することができる。
Claims (2)
- 地図データベースの地図情報に基づいて、車載センサにより検出された物標の地図上の位置である物標位置を認識する物標位置認識部と、
車両の地図上の位置である車両位置を認識する車両位置認識部と、
前記物標位置及び前記車両位置に基づいて、前記車載センサにより検出された前記物標と前記車両との地図上における相対関係である地図上相対関係を取得する地図上相対関係取得部と、
前記車載センサの検出結果に基づいて、前記車載センサにより検出された前記物標と前記車両との相対関係である検出相対関係を取得する検出相対関係取得部と、
前記地図上相対関係及び前記検出相対関係に基づいて、前記地図情報の地図精度を評価する地図精度評価部と、
前記地図精度の評価結果に基づいて、前記地図情報を用いる自動運転制御を許可する自動運転許可部と、
前記物標の種類を認識する物標種類認識部と、を備え、
前記地図上相対関係取得部は、前記車載センサにより複数の前記物標が検出された場合、前記地図上相対関係を取得する対象となる種類の前記物標である対象物標を前記物標の種類に応じて選択し、前記対象物標と前記車両との前記地図上相対関係を取得する、自動運転システム。 - 前記物標の種類を認識する物標種類認識部と、
前記地図精度の評価への影響度に対応する評価重みを前記物標の種類に関連付けて記憶する評価重みデータベースと、を更に備え、
前記地図精度評価部は、前記物標の種類に基づいて前記評価重みを取得し、前記評価重みに基づいて前記地図精度を評価する、請求項1に記載の自動運転システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2018090524A JP6985207B2 (ja) | 2018-05-09 | 2018-05-09 | 自動運転システム |
US16/394,359 US11467576B2 (en) | 2018-05-09 | 2019-04-25 | Autonomous driving system |
CN201910348699.3A CN110471406B (zh) | 2018-05-09 | 2019-04-28 | 自动驾驶*** |
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JP2018090524A JP6985207B2 (ja) | 2018-05-09 | 2018-05-09 | 自動運転システム |
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JP2019197356A JP2019197356A (ja) | 2019-11-14 |
JP6985207B2 true JP6985207B2 (ja) | 2021-12-22 |
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JP2018090524A Active JP6985207B2 (ja) | 2018-05-09 | 2018-05-09 | 自動運転システム |
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US (1) | US11467576B2 (ja) |
JP (1) | JP6985207B2 (ja) |
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