Autonomous driving system and control method of autonomous driving system
An autonomous driving system configured to perform an autonomous driving of a vehicle includes a trigger input request unit configured to perform a trigger input request for requesting a driver of the vehicle to perform a trigger input for causing the vehicle to pass through a target point if the autonomously driving vehicle approaches the target point set in advance and positioned on a traveling route of the vehicle, a trigger input detection unit configured to detect the driver's trigger input, and a vehicle control unit configured to cause the vehicle to pass through the target point if the trigger input is detected, and causes the vehicle to decelerate and stop without passing through the target point if the trigger input is not detected.
1. An autonomous driving system configured to perform an autonomous driving of a vehicle, comprising:
an electronic control unit (ECU) including a processor programmed to:
perform a trigger input request for requesting a driver of the vehicle to perform a trigger input for causing the vehicle to pass through a target point if the autonomously driving vehicle approaches the target point set in advance and positioned on a traveling route of the vehicle;
detect the driver's trigger input;
cause the vehicle to pass through the target point if the trigger input is detected, and cause the vehicle to decelerate and stop without passing through the target point if the trigger input is not detected;
recognize a lighting state of a traffic signal which is located in the target point and is corresponding to a traveling route of the vehicle;
notify the driver that the traffic signal is recognized as not being in a passing permitted state and perform a trigger input re-request if the traffic signal is recognized as not being in the passing permitted state and the trigger input is detected; and
cause the vehicle to pass through the target point without temporarily stopping if the trigger input is detected after the trigger input re-request, and cause the autonomously driving vehicle to decelerate and stop without passing through the target point if the trigger input is not detected after the trigger input re-request.
2. The autonomous driving system according to claim 1 ,
wherein the ECU is programmed to cause the vehicle to pass through the target point without performing the deceleration of the vehicle if the trigger input is detected before starting the deceleration of the vehicle for causing the vehicle to stop without passing through the target point.
3. The autonomous driving system according to claim 2 ,
wherein the ECU is programmed to cause the vehicle to stop the deceleration and to pass through the target point if the trigger input is detected after starting the deceleration of the vehicle for causing the vehicle to stop without passing through the target point.
4. The autonomous driving system according to claim 1 ,
wherein the ECU is programmed to cause the vehicle to stop the deceleration and to pass through the target point if the trigger input is detected after starting the deceleration of the vehicle for causing the vehicle to stop without passing through the target point.
5. The autonomous driving system according to claim 1 ,
wherein the ECU is programmed to notify the driver that the switching of the traffic signal to a state other than the passing permitted state is recognized and to perform the trigger input re-request if the switching of the traffic signal to the state other than the passing permitted state is recognized after the trigger input is detected, and
wherein the ECU is programmed to cause the vehicle to pass through the target point if the trigger input is detected after the trigger input re-request, and to cause the autonomously driving vehicle to decelerate and stop without passing through the target point if the trigger input is not detected after the trigger input re-request.
6. The autonomous driving system according to claim 1 ,
wherein the ECU is programmed to detect at least two inputs as the trigger input among an input by a driver's manual operation to a trigger input unit provided in the vehicle, an input by a driver's acceleration operation to an accelerator pedal of the vehicle, and an input by a driver's contact to a touch sensor of the vehicle, and request the driver to perform one type of the trigger input in the trigger input request, and request the driver to perform a plurality of types of the trigger input in the trigger input re-request.
7. A control method of an autonomous driving system that performs an autonomous driving of a vehicle, the method comprising:
requesting a driver of the vehicle to perform a trigger input for causing the vehicle to pass through a target point if the autonomously driving vehicle approaches the target point set in advance;
detecting the driver's trigger input;
controlling the autonomously driving vehicle to pass through the target point if the trigger input is detected, and to decelerate and stop without passing through the target point if the trigger input is not detected;
recognizing a lighting state of a traffic signal which is located in the target point and is corresponding to a traveling route of the vehicle; and
first re-requesting for notifying the driver that the traffic signal is recognized as not being in a passing permitted state and performing a trigger input re-request if the traffic signal is recognized as not being in the passing permitted state and the trigger input is detected,
wherein, in the step of controlling the vehicle, the vehicle is caused to pass through the target point without temporarily stopping if the trigger input is detected after the trigger input re-request, and the autonomously driving vehicle is caused to decelerate and stop without passing through the target point if the trigger input is not detected after the trigger input re-request.
8. The control method of the autonomous driving system according to claim 7 ,
wherein, in the step of controlling the vehicle, the vehicle is caused to pass through the target point without performing a deceleration of the vehicle if the trigger input is detected before starting the deceleration of the vehicle for causing the vehicle to stop without passing through the target point.
9. The control method of the autonomous driving system according to claim 8 ,
wherein, in the step of controlling the vehicle, the vehicle is caused to stop the deceleration and to pass through the target point if the trigger input is detected after starting the deceleration of the vehicle for causing the vehicle to stop without passing through the target point.
10. The control method of the autonomous driving system according to claim 7 ,
wherein, in the step of controlling the vehicle, the vehicle is caused to stop the deceleration and to pass through the target point if the trigger input is detected after starting the deceleration of the vehicle for causing the vehicle to stop without passing through the target point.
11. The control method of the autonomous driving system according to claim 7 , further comprising:
second re-requesting for notifying the driver that the switching of the traffic signal to a state other than the passing permitted state is recognized and performing the trigger input re-request if the switching of the traffic signal to the state other than the passing permitted state is recognized after the trigger input is detected, and request the driver to perform one type of the trigger input in the trigger input request, and request the driver to perform a plurality of types of the trigger input in the trigger input re-request.
12. The control method of the autonomous driving system according to claim 7 ,
wherein, in the step of detecting the trigger input, at least two inputs are detected as the trigger input, among an input by a driver's manual operation to a trigger input unit provided in the vehicle, an input by a driver's acceleration operation to an accelerator pedal of the vehicle, and an input by a driver's contact to a touch sensor of the vehicle, and
wherein, in the step of requesting the trigger input, in the trigger input re-request, the driver is requested to perform an input of which the type is different from that of the trigger input before the re-request.