Patent application EP18174719A (EP), filed 2018-05-29
Publication number: EP3415389A1
Title: AUTOMATIC DRIVING SYSTEM
Abstract: [0001]    An automatic driving system includes: a vehicle position recognizing unit (11); a vehicle state recognizing unit (13); an external environment recognizing unit (12); a traveling plan creating unit (14) configured to create a traveling plan including a control target value of automatic driving control of a vehicle based on a position of the vehicle of a map, a vehicle state, and an external environment; a vehicle control unit (15); an abnormality value calculating unit (16) configured to calculate an abnormality value; and a determination unit (17) configured to determine, based on the abnormality value, whether the vehicle is an a normal state, an abnormal state, or an intermediate state, wherein the traveling plan creating unit (14) is configured to create an abnormal traveling plan as the traveling plan when the determination unit (17) has determined that the vehicle is in the abnormal state.
IPC codes: B60W  30/    02            A I
B60W  30/   095            A I
B60W  30/    14            A I
B60W  50/    00            A I
Claims: number: 1
text: An automatic driving system comprising:
number: 2
text: The automatic driving system according to claim 1, wherein
the traveling plan creating unit (14) is configured to create the abnormal traveling plan such that at least one of the control target value, the maximum allowable value of the control target value, and the maximum allowable value of the temporal variation of the control target value varies according to the abnormality value when the determination unit (17) has determined that the vehicle is in the abnormal state.
number: 3
text: The automatic driving system according to claim 1 or 2, further comprising
a stabilization target value calculating unit (21) configured to calculate a stabilization target value based on the vehicle state, wherein
the vehicle control unit (15) is configured to
number: 4
text: The automatic driving system according to claim 1, wherein
the abnormal traveling plan is a traveling plan in which at least one of a speed, a speed variation, a steering angle, and a steering angle variation is less than that of the normal traveling plan.
number: 5
text: The automatic driving system according to claim 2, wherein
the traveling plan creating unit (14) is configured to create the abnormal traveling plan as the traveling plan such that the maximum allowable value of the control target value in the abnormal traveling plan decreases as the abnormality value increases.
number: 6
text: The automatic driving system according to claim 1, wherein
the abnormality value calculating unit (16) is configured to calculate the abnormality value based on an absolute value of a difference between the command value and the vehicle state corresponding to the command value.
number: 7
text: The automatic driving system according to claim 6, wherein
the determination unit (17) is configured to
number: 8
text: The automatic driving system according to claim 3, wherein
the vehicle control unit (15) is configured to
number: 9
text: The automatic driving system according to claim 3, wherein
the stabilization target value calculating unit is configured to calculate the stabilization target value, the stabilization target value being a target value for stabilizing behavior of the vehicle.
number: 10
text: The automatic driving system according to claim 9, wherein
the vehicle control unit (15) is configured to calculate the composite target value such that an influence of the stabilization target value on the command value increases as the abnormality value increases.
Office action: search_report, dated 2018-12-19
Prior art cited: ref_id: WO2007141063A1
ref_type: patent
severity: background
ref_id: US2016349751A1
ref_type: patent
severity: background
ref_id: US2004193374A1
ref_type: patent
severity: background
ref_id: US2017115662A1
ref_type: patent
severity: background
ref_id: US2012265409A1
ref_type: patent
severity: background
ref_id: US2004193374
ref_type: patent
severity: background
ref_id: US2012265409
ref_type: patent
severity: background
ref_id: US2016349751
ref_type: patent
severity: background
ref_id: US2017115662
ref_type: patent
severity: background
Final disposition: pending (2018-12-19)