US 12,214,810 B2
Autonomous driving system, autonomous driving control method, and nontransitory storage medium
Takayuki Iwamoto, Shizuoka-ken (JP); Kunihito Satou, Mishima (JP); and Takefumi Goto, Gotemba (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on May 2, 2022, as Appl. No. 17/734,513.
Claims priority of application No. 2021-080494 (JP), filed on May 11, 2021.
Prior Publication US 2022/0363291 A1, Nov. 17, 2022
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/005 (2020.02) [B60W 2556/45 (2020.02)] 3 Claims
OG exemplary drawing
 
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.