US 11,858,534 B2
Automated driving system
Hiroshi Nakamura, Tokyo (JP); Akihide Tachibana, Tokyo (JP); Katsuhiro Sakai, Kawasaki (JP); Kentaro Ichikawa, Shizuoka-ken (JP); and Taisuke Sugaiwa, Chofu (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed on Feb. 17, 2021, as Appl. No. 17/177,602.
Claims priority of application No. 2020-060836 (JP), filed on Mar. 30, 2020.
Prior Publication US 2021/0300434 A1, Sep. 30, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01)
CPC B60W 60/00253 (2020.02) [B60W 30/181 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2552/00 (2020.02); B60W 2554/802 (2020.02)] 3 Claims
OG exemplary drawing
 
1. An automated driving system that controls an automated driving vehicle providing a driverless transportation service to a user, wherein a pick-up and drop-off area is a predetermined area in which the automated driving vehicle stops to pick up or drop off the user,
the automated driving system comprising:
a processor configured to control the automated driving vehicle so as to stop in a target stop space in the pick-up and drop-off area; and
a memory configured to store standard stop position information indicating a position of a standard stop space in the pick-up and drop-off area and surrounding situation information indicating a situation around the automated driving vehicle, wherein
a direction of vehicle travel in the pick-up and drop-off area is a first direction that is predetermined,
the pick-up and drop-off area includes a downstream area existing in the first direction from the standard stop space and an upstream area existing in a second direction opposite to the first direction from the standard stop space, and
the processor is further configured to:
determine, based on the surrounding situation information, whether or not the standard stop space indicated by the standard stop position information is available for the automated driving vehicle to stop;
when the standard stop space is available for the automated driving vehicle to stop, set the standard stop space as the target stop space; and
when the standard stop space is not available for the automated driving vehicle to stop to drop off the user, search for an upstream available space in the upstream area in which the automated driving vehicle can be stopped based on the surrounding situation information, and automatically set the upstream available space as the target stop space, wherein
when the standard stop space is not available for the automated driving vehicle to stop to drop off the user, the processor searches for a first upstream available space closest to the standard stop space,
when a distance between the standard stop space and the first upstream available space exceeds a threshold, the processor searches for a downstream available space in the downstream area in which the automated driving vehicle can be stopped based on the surrounding situation information, and sets the downstream available space as the target stop space, and
when the automated driving vehicle drops off the user in the upstream area prior to the pick up of another user, the processor sets the downstream available space closest to the standard stop space as the target stop space for the pick up.