US 12,444,207 B2
Automated driving management system and automated driving management method
Taichi Kawanai, Susono (JP); Yusuke Hayashi, Susono (JP); and Daichi Hotta, Tokyo-to (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 17, 2023, as Appl. No. 18/222,520.
Claims priority of application No. 2022-118084 (JP), filed on Jul. 25, 2022.
Prior Publication US 2024/0029450 A1, Jan. 25, 2024
Int. Cl. B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC G06V 20/588 (2022.01) [B60W 60/00 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2556/40 (2020.02)] 10 Claims
OG exemplary drawing
 
1. An automated driving management system applied to a vehicle that performs automated driving by using a perception sensor for perceiving a surrounding situation, the automated driving management system comprising:
one or more processors configured to acquire first sensor perception information indicating a result of perception by the perception sensor; and
one or more memory devices configured to store reference information indicating a correspondence relationship between a vehicle position and expected sensor perception information that is the first sensor perception information expected when an automated driving condition is satisfied, wherein the one or more processors are further configured to:
acquire, based on the reference information, the expected sensor perception information associated with a determination target position;
determine whether or not the automated driving condition is satisfied at the determination target position by comparing the first sensor perception information acquired at the determination target position with the expected sensor perception information associated with the determination target position; and
perform the automated driving in response to determining whether the automated driving condition is satisfied, wherein:
the perception sensor includes a laser imaging detection and ranging,
the first sensor perception information includes a result of measurement by the laser imaging detection and ranging,
the laser imaging detection and ranging emits beams and detects a reflected beam reflected at a reflection point to measure a relative position of the reflection point,
a number of first reflection points is a number of reflection points on a stationary object that are measured during one frame,
a number of noise reflection points is a number of reflection points in air that are measured during the one frame,
a number of no-reflection points is a number of beams for which the reflected beam is not detected during the one frame,
the first sensor perception information includes at least one of the number of first reflection points, the number of noise reflection points, and the number of no-reflection points,
a first reflection point corresponds to a reflection point on the stationary object of a road surface or a road structure, a second reflection point corresponds to a reflection point on a moving object of a surrounding vehicle or a pedestrian; and a third reflection point corresponds to a reflection point caused by raindrops or dust in the air,
of the first, second, and third reflection points, the first and second reflection points are detected spatially continuously, and
the one or more processors are further configured to classify a discontinuous reflection point whose distance difference from a reflection point for an adjacent beam is equal to or greater than a predetermined value as the third reflection point.