AUTONOMOUS DRIVING VEHICLE SYSTEM

摘要

An autonomous driving vehicle system includes a travel plan generation unit configured to generate a travel plan and a control width of a target control value, a travel control unit configured to calculate an instruction control value, and a behavior determination unit configured to determine whether or not a behavior change which is opposite to the most recent behavior change is performed. In a case where it is determined that the opposite behavior change is performed, the travel control unit is configured to calculate the instruction control value such that a behavior change amount of the most recent behavior change is smaller and becomes in the restricted vehicle state corresponding to the state within the control width compared to the case where the current vehicle state is caused to follow the target vehicle state when it is determined that the opposite behavior change is not performed.

主权项

1. An autonomous driving vehicle system comprising:
a surrounding information recognition unit configured to recognize surrounding information of a vehicle; a travel plan generation unit configured to generate a travel plan along a pre-set target route based on the surrounding information of the vehicle and generate a control width of a target control value of the vehicle in the travel plan; a vehicle state recognition unit configured to recognize a vehicle state of the vehicle; a calculation unit configured to calculate an instruction control value such that the vehicle state is to become a target vehicle state corresponding to the target control value based on the travel plan, the control width, and the vehicle state; an actuator configured to control the vehicle state based on the instruction control value; and a behavior determination unit configured to determine whether or not a behavior change which is opposite to a most recent behavior change is performed within a first time from a current time with respect to the most recent behavior change of the vehicle occurs according to the travel plan, wherein, in a case where it is determined by the behavior determination unit that the opposite behavior change is performed, the calculation unit is configured to calculate the instruction control value such that a behavior change amount of the most recent behavior change is smaller and becomes to be in the restricted vehicle state corresponding to the state within the control width compared to the case where the current vehicle state is caused to follow the target vehicle state when it is determined that the opposite behavior change is not performed.