Control system, control method, control program, control device, autonomous driving device

Abstract

To provide a control system that ensures the accuracy of permitting or denying crossing by autonomous vehicles at pedestrian crossings. [Solution] The processor in the control system for controlling the autonomous driving of the host vehicle, which is an autonomous driving device, is configured to perform the following actions: select a target user from other road users who cross a pedestrian crossing where crossing is permitted by a signal indication, and who will be made to follow the host vehicle while crossing the pedestrian crossing in the same direction as the host vehicle; and determine whether or not to allow the host vehicle to follow the target user at the pedestrian crossing, according to the movement predicted by the target user.

Claims

[Claim 1] A control system having a processor (12) for controlling the autonomous driving of a host driving device (1), which is an autonomous driving device, The aforementioned processor, From among other road users (8) crossing a pedestrian crossing (92) where crossing is permitted by signal markings (MS), a target user (800) is selected to be followed by the host vehicle while crossing the pedestrian crossing in the same direction as the host vehicle. A control system configured to perform follow-the-crossing, where the host vehicle follows the target user at the aforementioned pedestrian crossing, by determining whether or not to allow the host vehicle to follow the target user, according to the movement predicted by the target user. [Claim 2] The decision on whether or not to allow the aforementioned following crossing is, In accordance with the predicted movements of the target user, the completion timing (TC) of the follow-ahead crossing at the pedestrian crossing is estimated. The control system according to claim 1, which includes making a decision to permit following crossing when the completion timing is earlier than the transition timing (TT) to the signal marking in which crossing at the pedestrian crossing is prohibited. [Claim 3] The decision on whether or not to allow the aforementioned following crossing is, The control system according to claim 1 or 2, further comprising determining whether or not to allow the following crossing in accordance with the movements predicted for the target user, as well as the movements predicted for other road users crossing the pedestrian crossing other than the target user. [Claim 4] Selecting the aforementioned target users is The control system according to claim 1, which includes selecting the target user located closest to the host driving device from among other road users crossing the pedestrian crossing in the same direction as the host driving device. [Claim 5] Selecting the aforementioned target users is The control system according to claim 1, further comprising selecting a target user from among other road users crossing the pedestrian crossing in the same direction as the host driving device, and outside of a direct facing area (AO) which is directly facing the other road users crossing the pedestrian crossing in the opposite direction to the host driving device. [Claim 6] Selecting the aforementioned target users is The control system according to claim 1, further comprising selecting the target user in a group state from among other road users crossing the pedestrian crossing in the same direction as the host driving device. [Claim 7] A control method executed by a processor (12) to control the autonomous driving of a host driving device (1), which is an autonomous driving device, From among other road users (8) crossing a pedestrian crossing (92) where crossing is permitted by signal markings (MS), a target user (800) is selected to be followed by the host vehicle while crossing the pedestrian crossing in the same direction as the host vehicle. A control method comprising determining whether or not to allow the host vehicle to follow the target user in a pedestrian crossing, according to the movement expected of the target user. [Claim 8] A control program stored in a storage medium (11) for controlling the autonomous driving of a host driving device (1), which is an autonomous driving device, and which includes instructions for causing a processor (12) to execute said control, From among other road users (8) crossing a pedestrian crossing (92) where crossing is permitted by signal markings (MS), a target user (800) is selected to be followed by the host vehicle while crossing the pedestrian crossing in the same direction as the host vehicle. A control program including the command for causing the host vehicle to follow the target user across the pedestrian crossing, to determine whether or not to allow the host vehicle to follow the target user, in accordance with the movement expected of the target user. [Claim 9] A control device having a processor (12) for controlling the autonomous driving of a host driving device (1), which is an autonomous driving device, and configured to be mounted on the host driving device, The aforementioned processor, From among other road users (8) crossing a pedestrian crossing (92) where crossing is permitted by signal markings (MS), a target user (800) is selected to be followed by the host vehicle while crossing the pedestrian crossing in the same direction as the host vehicle. A control device configured to perform follow-the-target crossing, where the host vehicle follows the target user, at the aforementioned pedestrian crossing, by determining whether or not to allow the host vehicle to follow the target user, according to the movement predicted by the target user. [Claim 10] An autonomous driving device equipped with the control device (10) described in claim 9 as the host driving device.

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