Control systems for autonomous vehicles

Abstract

To provide a control device of an automatic driving vehicle that can suppress behavior of a vehicle from changing into behavior not intended by a person on board, when supporting running of the vehicle on the basis of behavior of the vehicle and an external situation of the vehicle.SOLUTION: A control device, which enables a vehicle to run by automatic driving on the basis of a target track calculated based on a current position on map data on the vehicle presumed by the map data, a behavior detection sensor and an external detection sensor, presumes the current position of the vehicle by correcting a position of the vehicle on the map data, in accordance with a relative position of the vehicle on a running road, and determines a correction amount for the position (a step S1), predicts variation of the correction amount using the map data and the external detection sensor (a step S2), and changes control gain in control-input at the time of making the vehicle run by automatic driving, in accordance with the change of the correction amount, so as to change characteristics of the running control (a step S3).SELECTED DRAWING: Figure 3

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