To provide an automatic driving system, an automatic driving method, and an automatic driving program capable of suppressing an erroneous recognition of an obstacle based on image data of an imaging device installed at a specific location in an external environment of an automatic driving vehicle.SOLUTION: An automatic driving system (100) comprises: a recognition unit (31B) for recognizing an obstacle based on image data obtained by capturing a predetermined area including a road on which an automatic driving vehicle travels with an infrastructure camera (30) installed at a specific location in an external environment of the automatic driving vehicle; a feature quantity distribution creating unit (21B) that creates a feature quantity distribution representing a distribution of a feature quantity relating to a previously recognized obstacle; and an erroneous recognition determination unit (21C) that compares the created feature quantity distribution with a feature quantity of the obstacle recognized as an evaluation target to determine an erroneous recognition of the obstacle recognized as the evaluation target.SELECTED DRAWING: Figure 2

    【課題】自動運転車両の外部環境における特定の場所に設置された撮影装置の画像データに基づく障害物の誤認識を抑制することができる自動運転システム、自動運転方法、及び自動運転プログラムを提供する。【解決手段】自動運転システム(100)は、自動運転車両の外部環境における特定の場所に設置されたインフラカメラ(30)によって自動運転車両が走行する道路を含む所定領域を撮影して得られた画像データに基づいて、障害物を認識する認識部(31B)と、過去に認識された障害物に関する特徴量の分布を表す特徴量分布を作成する特徴量分布作成部(21B)と、作成された特徴量分布と、評価対象として認識された障害物の特徴量とを比較し、評価対象として認識された障害物の誤認識を判定する誤認識判定部(21C)と、を備える。【選択図】図2


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    Title :

    AUTOMATIC DRIVING SYSTEM, AUTOMATIC DRIVING METHOD, AND AUTOMATIC DRIVING PROGRAM


    Additional title:

    自動運転システム、自動運転方法、及び自動運転プログラム


    Contributors:

    Publication date :

    2022-09-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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