AUTOMATIC DRIVING CONTROLLER AND METHOD
An automatic driving controller performs automatic driving using map information. A controller comprises an input unit for inputting vehicle sensor information, position information on a map, and map information, recognition processing in which information for automatic driving is set, and control processing in which information from the recognition processing provides operation target amounts for vehicle control units such as an engine, steering and brakes. The recognition processing comprises: a first unit for correcting the vehicle position information on a map; a second unit for positioning reference points at prescribed intervals on a road center line; a third unit for extracting, at the reference points, points where a line perpendicular to the road center line direction and road width lines intersect; a fourth unit for positioning lane markers at the extracted points; and a fifth unit for adjusting the prescribed intervals according to the road type or speed.
1 . An automatic driving controller for performing automatic driving using map information, the controller comprising:
an input unit for inputting at least vehicle sensor information, vehicle position information on a map, and map information;
a recognition unit that processes the information from the input unit and sets information for automatic driving; and
a control unit which uses the information from the recognition unit to provide operation target amounts for vehicle control units such as an engine, steering, and brakes,
wherein the recognition unit comprises: a first means for correcting the vehicle position information on the map using the vehicle sensor information; a second means for positioning reference points at prescribed intervals on a road described by the map information; and a third means for adjusting the prescribed intervals according to a speed, regarding the prescribed intervals.
2 . The automatic driving controller according to claim 1 , wherein
the third means of the recognition unit adjusts the prescribed intervals according to a road type, regarding the prescribed intervals.
3 . The automatic driving controller according to claim 1 , wherein
the recognition unit comprises: a fourth means for extracting, at the reference points, points where a line perpendicular to a road center line direction and road width lines intersect; and a fifth means for positioning lane markers at the extracted points.
4 . The automatic driving controller according to claim 1 , wherein
the first means generates first lane marker information obtained by correcting past information of lane markers grasped by a camera using GPS and vehicle information, and second lane marker information based on current information of lane markers grasped by the camera, generates third lane marker information obtained by adding lane markers on a map using lane center points obtained using the GPS and a map transmission function, and obtains fourth lane marker information by pattern matching between the second lane marker information and the third lane marker information.
5 . The automatic driving controller according to claim 4 , wherein
the second lane marker information is subjected to pattern matching with the third lane marker information after a lane marker information thinning process.
6 . The automatic driving controller according to claim 4 , wherein
the third lane marker information is subjected to pattern matching with the second lane marker information after a lane marker information interpolation process.
7 . The automatic driving controller according to claim 1 , wherein
the intervals of the reference points positioned on a road center line are set such that the interval of the reference points is short when the speed is low and the interval of the reference points is long when the speed is high.
8 . The automatic driving controller according to claim 1 , wherein
the intervals of the reference points positioned on a road center line are set such that the interval of the reference points is short at an intersection and a parking and stopping passage.
9 . An automatic driving control method for performing automatic driving using at least vehicle sensor information, vehicle position information on a map, and map information, the method comprising:
correcting the vehicle position information on the map using the vehicle sensor information;
positioning reference points at prescribed intervals on a road center line described in the map information;
extracting, at the reference points, points where a line perpendicular to a direction of the road center line and road width lines intersect;
positioning lane markers at the extracted points; and
adjusting the prescribed intervals according to a road type or a speed.
10 . The automatic driving control method according to claim 9 , wherein
the intervals of the reference points positioned on the road center line are set such that the interval of the reference points is short when the speed is low and the interval of the reference points is long when the speed is high.
11 . The automatic driving control method according to claim 9 , wherein
the intervals of the reference points positioned on the road center line are set such that the interval of the reference points is short at an intersection and a parking and stopping passage.
12 . An automatic driving control method for performing automatic driving using map information, the method comprising
adjusting prescribed intervals according to a road type or a speed, regarding the intervals of reference points positioned at the prescribed intervals on a road center line.
13 . The automatic driving control method according to claim 12 , wherein
the intervals of the reference points positioned on the road center line are set such that the interval of the reference points is short when the speed is low and the interval of the reference points is long when the speed is high.
14 . The automatic driving control method according to claim 12 , wherein
the intervals of the reference points positioned on the road center line are set such that the interval of the reference points is short at an intersection and a parking and stopping passage.