CONTROL SYSTEM OF AUTOMATED DRIVING VEHICLE

摘要

At the time of automated driving, a plurality of vehicle running paths which show changes along with time of a speed and advancing direction of the vehicle are generated based on the information on the surroundings of the vehicle which is detected by an external sensor. At the time of a manual driving mode, the running paths of the vehicle at the different driving scenes are stored as specific vehicle running paths which show the driving characteristics of the driver. At the time of automated driving, when the driving scene becomes a driving scene for which the specific vehicle running path is stored, a vehicle running path close to the stored specific vehicle running path is selected from among the plurality of generated vehicle running paths, and the vehicle is automatically driven along this selected vehicle running path.

主权项

1. A control system of an automated driving vehicle comprising an external sensor which detects information of surroundings of a host vehicle, a storage device which stores map information, and an electronic control unit, said electronic control unit comprising:
a driving plan generation unit which generates a plurality of vehicle running paths which show changes along with time of a speed and advancing direction of the host vehicle based on the map information stored in the storage device and the information of surroundings of the host vehicle which is detected by the external sensor and decides on a single vehicle running path from among these plurality of vehicle running paths, a driving scene judgment unit which determines a driving scene of the vehicle based on the information of the surroundings of the host vehicle which is detected by the external sensor, a driving mode switching unit which switches a driving mode of the host vehicle between a manual driving mode where the vehicle is driven by operations of a driver and an automated driving mode where the vehicle is driven without operations of the driver, and a storage unit which stores a running path of the host vehicle in a preset driving scene at the time of the manual driving mode as a specific vehicle running path which represents the driving characteristics of the driver in said preset driving scene, at the time of the automated driving mode, said driving plan generation unit selecting a vehicle running path from the plurality of vehicle running paths when the driving scene becomes a driving scene for which the specific vehicle running path is stored in such a way that the selected vehicle running path is closer to the specific vehicle running path compared with the single vehicle running path which is determined by the driving plan generation unit when no specific vehicle running path is stored, and said driving plan generation unit making the host vehicle be automated driven along with the selected vehicle running path.