公开(公告)号：US20160282874A1

公开(公告)日：2016-09-29

申请号：US15032972

申请日：2013-11-08

Applicant: HITACHI, LTD.

Inventor： Kenichirou KURATA ,  Hiroto MORIZANE ,  Shigeru MATSUO

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0223 ,  G05D1/0088 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0289 ,  G05D2201/021

Abstract: In an autonomous driving system in which a plurality of autonomous driving vehicles drive under the control by occlusion control, such a situation is prevented that a vehicle is disabled to drive by a failure of an external world sensor for recognizing an obstacle and stops in an occlusion region thereby to obstruct advancement of overall succeeding vehicles to remarkably degrade the efficiency of the overall transportation work. In the autonomous driving system of the present invention, an autonomous driving vehicle which detects an obstacle or a driving road by a sensor and performs autonomous driving includes sensor state evaluation means configured to evaluate a state of performance degradation of the sensor, speed and steering angle control value setting means configured to provide limit values to the driving speed and the steering angle based on a state of performance degradation of the sensor, and movement obstacle evaluation means configured to evaluate an influence on movement of other vehicles when the vehicle stops at a position at present. When the sensor suffers from performance degradation, the vehicle stops after it drives within the set limit values to the speed and the steering angle to a point at which the vehicle does not obstruct movement of other vehicles.

Abstract translation: 在多个自主驾驶车辆通过遮挡控制的控制下驾驶的自主驾驶系统中，防止了由于外部世界传感器的故障而使车辆无法驾驶以识别障碍物而停止的情况， 从而阻碍整体后续车辆的进步，显着降低整体运输工作的效率。 在本发明的自主驾驶系统中，由传感器检测障碍物或驾驶道路进行自主驾驶的自主驾驶车辆包括传感器状态评价单元，其被配置为评估传感器的性能劣化状态，速度和转向角度 控制值设定单元，其被配置为基于所述传感器的性能劣化的状态来提供对所述驱动速度和所述转向角的限制值;以及运动障碍物评估装置，被配置为评估当所述车辆停止在位置时对其他车辆的移动的影响 现在。 当传感器遭受性能下降时，车辆在其设定的限制值内驱动到车辆不阻碍其他车辆的移动的速度和转向角度时停止。