Granted Patent B2

US 12,214,810 · App. 17/734,513 · Granted Feb 4, 2025

Inventors: Takayuki Iwamoto (Shizuoka-ken, JP); Kunihito Satou (Mishima, JP); Takefumi Goto (Gotemba, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

B60W60/005B60W2556/45

Abstract

Claims (32)

1. An autonomous driving system configured to control an autonomous driving vehicle that is a target of remote assistance, the autonomous driving system comprising:

one or more storage devices configured to store specific position information indicating specific positions at which there is a possibility that the remote assistance is required; and

one or more processors configured to:

determine presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;

set, when the abnormality is detected in the remote assistance system, any one of the specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on the specific position information;

set a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and

control the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, wherein the one or more processors are further configured to:

acquire a first specific position closest to the current position on the target route based on the specific position information;

determine, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;

acquire, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;

set, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position; and

set, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.

2. An autonomous driving control method, executed by one or more processors and controlling an autonomous driving vehicle that is a target of remote assistance, the autonomous driving control method comprising:

determining presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;

setting, when the abnormality is detected in the remote assistance system, any one of specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on specific position information, the specific position information indicating the specific positions at which there is a possibility that the remote assistance is required;

setting a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and

controlling the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, the autonomous driving control method further comprising:

acquiring a first specific position closest to the current position on the target route based on the specific position information;

determining, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;

acquiring, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;

setting, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position; and

setting, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.

3. A non-transitory storage medium storing instructions that are executable by a computer and that causes the computer to perform functions for controlling an autonomous driving vehicle that is a target of remote assistance, the functions comprising:

determining presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;

setting, when the abnormality is detected in the remote assistance system, any one of specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on specific position information, the specific position information indicating the specific positions at which there is a possibility that the remote assistance is required;

setting a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and

controlling the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, the functions further comprising:

acquiring a first specific position closest to the current position on the target route based on the specific position information;

determining, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;

acquiring, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;

setting, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position; and

setting, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (9)