CPC G05D 1/0088 (2013.01) [B60W 30/12 (2013.01); B62D 1/28 (2013.01); B62D 15/025 (2013.01); G01S 19/42 (2013.01); G05D 1/0055 (2013.01); G05D 1/0246 (2013.01); G08G 1/00 (2013.01); G08G 1/16 (2013.01); G08G 1/167 (2013.01); B60W 2420/42 (2013.01); B60W 2556/50 (2020.02); G05D 2201/0213 (2013.01)] | 7 Claims |
1. An automated driving apparatus mounted to a vehicle, comprising:
an automated driving control circuit that
based on a detection result of a camera mounted to the vehicle, outputs a control signal for automated driving to an actuator for vehicle traveling,
wherein the automated driving control circuit:
acquires position information of a road marker arranged along a road, from a detector-and-acquirer which detects the road marker;
acquires, from map data, information on a sign arranged at a location ahead of the road marker;
acquires an image of the location ahead of the road marker captured by the camera;
performs a determination of whether the sign acquired from the map data was detected by the camera in the image of the location ahead of the road marker captured by the camera; and
in response to determining that the sign acquired from the map data was not detected by the camera in the image of the location ahead of the road marker captured by the camera, (a) determines that the camera is not operating normally, and (b) determines not to perform automated driving using the camera.
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