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Autonomous driving systems and autonomous vehicles

A technology of automatic driving and vehicles, which is applied in motor vehicles, anti-collision systems, traffic control systems, etc., and can solve problems such as traffic imbalance and obstruction of traffic

Active Publication Date: 2021-08-27
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, when many self-driving vehicles use the same route determination method, many vehicles will make the same decision in the same environment, which will easily make the traffic flow unbalanced
More specifically, there will be situations where many autonomous vehicles equally want to change lanes at the same location, potentially obstructing traffic

Method used

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  • Autonomous driving systems and autonomous vehicles
  • Autonomous driving systems and autonomous vehicles
  • Autonomous driving systems and autonomous vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0148] [Hardware Configuration of Embodiment 1]

[0149] figure 1 It is a figure which shows the hardware structure of the autonomous vehicle 10 which concerns on Embodiment 1 of this invention. Such as figure 1 As shown, a stereo camera 12 is mounted on a vehicle 10 . The stereo camera 12 can stereoscopically photograph the front of the vehicle 10 from a predetermined angle of view. In addition, the stereo camera 12 may be replaced with a monocular camera.

[0150] In addition, a plurality of LIDAR (Laser Imaging Detection and Ranging, ie, laser radar) units 14 are mounted on the vehicle 10 so as to surround the vehicle. More specifically, a total of six LIDAR units 14 are mounted, and the vehicle front, vehicle front left and right, vehicle rear, and vehicle rear left and right are detection areas. With the LIDAR unit 14, the outline of an object present in each detection area and the distance to the object can be detected.

[0151] A plurality of millimeter-wave rad...

Embodiment approach 2

[0187] Next, refer to Image 6 Embodiment 2 of the present invention will be described. The self-driving vehicle 10 of the present embodiment has the same hardware configuration as that of the first embodiment. In this embodiment, the ECU20 can execute Image 6 The flow shown is realized by performing the lane determination processing without performing the above-mentioned Figure 5 process shown.

[0188] and Figure 5 In the same flow shown, the ECU 20 starts from recognizing the lane reselection instruction Image 6 The flow shown (step 44). Below, for Image 6 neutralize Figure 5 Steps that are the same as or correspond to the illustrated steps are given common symbols, and descriptions thereof are omitted or simplified.

[0189] Image 6 After the flow shown starts, firstly, a driving lane is tentatively determined (step 62). Here, the driving lane is tentatively determined based on the recognition result of the surrounding objects and the recognition result of...

Embodiment approach 3

[0195] Next, refer to Figure 7 and Figure 8 Embodiment 3 of the present invention will be described. The self-driving vehicle 10 of the present embodiment has the same hardware configuration as that of the first embodiment. This embodiment has the following characteristics, that is, the automatic driving vehicle 10 determines the distribution target of the vehicle in combination with the driving route, and makes the standard driving lane dispersive so as to achieve the distribution target.

[0196] Figure 7 It is a block diagram showing the characteristic part of ECU20 in this embodiment. Below, for Figure 7 neutralize Figure 4 Elements that are the same as or correspond to the elements shown are given common symbols, and descriptions thereof are omitted or simplified.

[0197] In the present embodiment, the lane selection unit 38 includes a travel lane specifying unit and a distribution target specifying unit 74 . The driving lane specifying unit 72 executes the d...

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PUM

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Abstract

The invention relates to an automatic driving system and an automatic driving vehicle, the object of which is to avoid local imbalances in a traffic flow comprising a plurality of automatic driving vehicles with a route determination function. The self-driving vehicle sets the drivable area that can be driven while driving to the destination. In the multi-lane area including more than two lanes in the drivable area, one lane is determined as the standard driving lane (steps 46-60). The process of determining the standard driving lane is configured such that the standard driving lanes determined by a plurality of autonomous vehicles are dispersed in the same multi-lane area in the same environment.

Description

technical field [0001] The present invention relates to an automatic driving system and an automatic driving vehicle, in particular to an automatic driving system realized by using a plurality of automatic driving vehicles, and a preferred automatic driving vehicle as a constituent element of the system. Background technique [0002] Patent Document 1 discloses a vehicle route determination method that can be used to determine a driving route of an autonomous vehicle. In this method, first, the routes of the vehicle and other vehicles are predicted. Afterwards, based on the probability of interference between the vehicle and other vehicles, multiple route options with high safety are selected. Then, compare the driving efficiency of each of the above multiple alternatives. The driving efficiency takes the time to reach the destination and the fuel consumption as evaluation items. Then, a route with high driving efficiency is selected from the route candidates with high sa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16G08G1/00
CPCG08G1/166G08G1/22G05D1/0289G05D2201/0213G01C21/3658G06V20/588G05D1/0212B60W30/14G05D1/0287B60Y2300/14G08G1/16B60W30/00G08G1/0125G08G1/167
Inventor 桥本竜太渡边义德青木健一郎栗山智行
Owner TOYOTA JIDOSHA KK
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