Autonomous driving system

1. An autonomous driving system comprising:

a positioning unit configured to measure a position of a vehicle;

a map database that stores map information;

a first vehicle position detection unit configured to detect a first vehicle position based on a measurement result of the positioning unit and the map information, the first vehicle position being a vehicle position on a map;

a traveling scene identification unit configured to identify a traveling scene of the vehicle based on the first vehicle position and the map information;

a second vehicle position detection unit configured to detect a second vehicle position by preforming position detection processing, associated in advance with the traveling scene, based on a captured image of a camera mounted on the vehicle or a detection result of a radar sensor mounted on the vehicle, the measurement result of the positioning unit, and the map information, the second vehicle position being a vehicle position on the map;

a determination unit configured to determine whether a distance between the first vehicle position and the second vehicle position is equal to or smaller than a threshold; and

an autonomous driving control unit that performs autonomous driving control of the vehicle based on the second vehicle position if it is determined that the distance between the first vehicle position and the second vehicle position is equal to or smaller than the threshold or that performs the autonomous driving control of the vehicle based on the first vehicle position if it is determined that the distance between the first vehicle position and the second vehicle position is not equal to or smaller than the threshold.

2. The autonomous driving system according to claim 1 , wherein

if it is determined that the distance between the first vehicle position and the second vehicle position is not equal to or smaller than the threshold or if an intervention operation has been performed by a driver of the vehicle during execution of autonomous driving, the second vehicle position detection unit redetects the second vehicle position by changing the position detection processing used for detecting the second vehicle position, and associates the changed position detection processing, corresponding to a time at which it is determined that a distance between the redetected second vehicle position and the first vehicle position is equal to or smaller than the threshold, with the traveling scene.

3. The autonomous driving system according to claim 1 , further comprising:

a traveling result database that stores past traveling trajectories of the vehicle traveled under the autonomous driving control based on the second vehicle position, the position detection processing used for detecting the second vehicle position, and the traveling scene, the past traveling trajectories are provided for a plurality of traveling scenes and each traveling scene is associated with at least one of a plurality of position detection processing used for detecting the second vehicle position, at least one of the past traveling trajectories of the vehicle traveled under the autonomous driving control based on the second vehicle position, the position detection processing used for detecting the second vehicle position, and the traveling scene are associated with the map information; and

a changing unit that calculates, for each of the traveling scenes, a variance of the traveling trajectories, generated by the autonomous driving control that is based on the second vehicle position detected by the same position detection processing, and changes the position detection processing for the traveling scene where the variance is equal to or larger than a variance threshold.

4. An autonomous driving system comprising:

a positioning unit that measures a position of a vehicle;

a map database that stores map information;

an actuator that controls traveling of the vehicle; and

an electronic controller configured to process:

a detection of a first vehicle position based on a measurement result of the positioning unit and the map information stored in the map database, the first vehicle position being a vehicle position on a map;

an identification of a traveling scene of the vehicle based on the first vehicle position and the map information;

a detection of a second vehicle position by preforming position detection processing, associated in advance with the traveling scene, based on a captured image of a camera mounted on the vehicle or a detection result of a radar sensor mounted on the vehicle, the measurement result of the positioning unit, and the map information stored in the map database, the second vehicle position being a vehicle position on the map; and

a control of the actuator based on the second vehicle position if a distance between the first vehicle position and the second vehicle position is equal to or smaller than a threshold or a control of the actuator based on the first vehicle position if the distance between the first vehicle position and the second vehicle position is not equal to or smaller than the threshold.

5. The autonomous driving system according to claim 4 , wherein

if the distance between the first vehicle position and the second vehicle position is not equal to or smaller than the threshold or if an intervention operation has been performed by a driver of the vehicle during the control of the actuator, the electronic controller redetects the second vehicle position by changing the position detection processing used for detecting the second vehicle position, and associates the changed position detection processing, corresponding to a time at which it is determined that a distance between the redetected second vehicle position and the first vehicle position is equal to or smaller than the threshold, with the traveling scene and stores the associated position detection processing and the traveling scene.

6. The autonomous driving system according to claim 4 , further comprising:

a traveling result database that stores past traveling trajectories of the vehicle traveled under vehicle traveling control based on the second vehicle position, the position detection processing used for detecting the second vehicle position, and the traveling scene, the past traveling trajectories are provided for a plurality of traveling scenes and each traveling scene is associated with at least one of a plurality of position detection processing used for detecting the second vehicle position, at least one of the past traveling trajectories of the vehicle traveled under the autonomous driving control based on the second vehicle position, the position detection processing used for detecting the second vehicle position, and the traveling scene are associated with the map information, wherein

the electronic controller calculates, for each of the traveling scenes, a variance of the traveling trajectories, generated by the vehicle traveling control that is based on the second vehicle position detected by the same position detection processing, and changes the position detection processing for the traveling scene where the variance is equal to or larger than a predetermined threshold.