To determine a safer driving action during automated driving.SOLUTION: An automated driving apparatus 1 that determines the driving action of an own vehicle on the basis of a potential field, includes: a first calculation section 144 that sequentially obtains, at prescribed intervals, basic travel potentials each indicating the recommendation degree of a travel position where the own vehicle is to travel in the future; a second calculation section 145 that obtains, as an actual risk shown by an object around the own vehicle, a maximum collision risk of the own vehicle with respect to the object; and a driving action determination section 148 that obtains values minimizing a cost function including the cumulative value of the basic travel potentials sequentially obtained by the first calculation section 144 and the maximum collision risk obtained by the second calculation section 145 and having the driving action of the own vehicle as a parameter, and thereby determines the driving action.SELECTED DRAWING: Figure 2
【課題】自動運転中により安全な運転行動を決定する。【解決手段】ポテンシャル場に基づいて自車両の運転行動を決定する自動運転装置1は、自車両が将来走行する走行位置の推奨度合いを示す基本走行ポテンシャルを、所定間隔で順次求める第1算出部144と、自車両の周囲の物体により示される顕在リスクとして、自車両の物体に対する最大衝突リスクを求める第2算出部145と、第1算出部144が順次求めた基本走行ポテンシャルの累積値と、第2算出部145が求めた最大衝突リスクとを含み、自車両の運転行動をパラメータとするコスト関数を最小化する値を求めて、運転行動を決定する運転行動決定部148とを備える。【選択図】図2
AUTOMATED DRIVING APPARATUS
自動運転装置
05.04.2022
Patent
Elektronische Ressource
Japanisch
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