Autonomous Driving Vehicle and Autonomous Driving System

摘要

In an autonomous driving system in which a plurality of autonomous driving vehicles drive under the control by occlusion control, such a situation is prevented that a vehicle is disabled to drive by a failure of an external world sensor for recognizing an obstacle and stops in an occlusion region thereby to obstruct advancement of overall succeeding vehicles to remarkably degrade the efficiency of the overall transportation work. In the autonomous driving system of the present invention, an autonomous driving vehicle which detects an obstacle or a driving road by a sensor and performs autonomous driving includes sensor state evaluation means configured to evaluate a state of performance degradation of the sensor, speed and steering angle control value setting means configured to provide limit values to the driving speed and the steering angle based on a state of performance degradation of the sensor, and movement obstacle evaluation means configured to evaluate an influence on movement of other vehicles when the vehicle stops at a position at present. When the sensor suffers from performance degradation, the vehicle stops after it drives within the set limit values to the speed and the steering angle to a point at which the vehicle does not obstruct movement of other vehicles.

主权项

1. An autonomous driving vehicle which autonomously drives with an external world recognition sensor, comprising:
map information storage means configured to store map information of a driving path of the vehicle therein; sensor state evaluation means configured to evaluate a state of performance degradation of a sensor; movement obstacle evaluation means configured to evaluate, from a position at present of the vehicle and the map information, an influence on movement of other vehicles when the vehicle stops at the position; and speed limit value setting means configured to set a limit value to a speed when the vehicle drives in response to a result of the evaluation of the sensor state evaluation means; and wherein, when the result of the evaluation of the sensor state evaluation means is within a first range, if a result of the evaluation of the movement obstacle evaluation means is without a second range, then a speed limit value is set based on the result of the evaluation of the sensor state evaluation means and then driving is continued within a range of the limit value.