To determine travel which is not obviously abnormal, however, deviated from planned travel or the optimal travel in automatic driving.SOLUTION: An automatic driving control device (20) comprises: a driving data collection unit (21A) which collects driving data including a self-state quantity representing a state of an own vehicle from an automatic driving vehicle whose driving trajectory is preliminarily planned; a driving trajectory model generation unit (21B) which generates a driving trajectory model representing a specific value of the self-state quantity in a time series manner on the basis of the collected driving data; and an abnormality degree determination unit (21C) which compares a reference driving trajectory representing a driving trajectory to be a reference obtained from the generated driving trajectory model with an evaluation object driving trajectory representing a driving trajectory considered as an evaluation object for the automatic driving vehicle to determine an abnormality degree represented as a degree of deviation between the reference driving trajectory and the evaluation object driving trajectory.SELECTED DRAWING: Figure 2
【課題】自動運転において明らかな異常ではないが、計画された走行又は最適な走行からずれた走行を判定する。【解決手段】自動運転制御装置(20)は、予め運転軌道が計画された自動運転車両から、自車両の状態を表す自己状態量を含む運転データを収集する運転データ収集部(21A)と、収集された運転データに基づいて、自己状態量の特定の値を時系列で表す運転軌道モデルを生成する運転軌道モデル生成部(21B)と、生成された運転軌道モデルから得られる基準となる運転軌道を表す基準運転軌道と、自動運転車両について評価対象とする運転軌道を表す評価対象運転軌道とを比較し、基準運転軌道と評価対象運転軌道とのずれの度合いとして表される異常度を判定する異常度判定部(21C)と、を備える。【選択図】図2
AUTOMATIC DRIVING CONTROL DEVICE, AUTOMATIC DRIVING CONTROL METHOD, AND AUTOMATIC DRIVING CONTROL PROGRAM
自動運転制御装置、自動運転制御方法、及び自動運転制御プログラム
2022-09-15
Patent
Electronic Resource
Japanese
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 / G16Y |
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