US 12,459,537 B2
Autonomous driving apparatus and rule determination apparatus
Shunya Kumano, Nisshin (JP); Satoru Yoshikawa, Nisshin (JP); and Hiroyuki Osawa, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jun. 15, 2022, as Appl. No. 17/807,012.
Application 17/807,012 is a continuation of application No. PCT/JP2020/047068, filed on Dec. 17, 2020.
Claims priority of application No. 2019-228547 (JP), filed on Dec. 18, 2019.
Prior Publication US 2022/0348225 A1, Nov. 3, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/16 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); B60W 50/02 (2012.01); H04W 4/40 (2018.01)
CPC B60W 60/0011 (2020.02) [B60W 30/16 (2013.01); B60W 40/04 (2013.01); B60W 50/0205 (2013.01); B60W 60/0015 (2020.02); H04W 4/40 (2018.02); B60W 2050/0043 (2013.01); B60W 2050/0215 (2013.01); B60W 2554/4046 (2020.02); B60W 2554/80 (2020.02); B60W 2556/45 (2020.02)] 14 Claims
OG exemplary drawing
 
1. An autonomous driving apparatus used in a subject vehicle capable of performing an autonomous driving, the autonomous driving apparatus comprising:
a deviation value determination unit determining a deviation value of each of one or more candidate routes based on a comparison result between an inter-vehicle distance and a minimum control permission distance, the inter-vehicle distance being a distance between the subject vehicle and a peripheral vehicle existing around the subject vehicle, the deviation value indicating a possibility of the subject vehicle deviating from a traveling rule in a case where the subject vehicle travels along the corresponding candidate route, the one or more candidate routes being planned by a route planning unit such that each of the one or more candidate routes enables the subject vehicle to continue traveling;
a control execution determination unit selecting, from the one or more candidate routes, one candidate route having the deviation value within a control permission range as a target route of the subject vehicle, and outputting an instruction for controlling the subject vehicle to travel along the selected target route to a traveling unit, which executes a traveling control of the subject vehicle; and
a rule update unit updating a determination rule of the deviation value, which is used by the deviation value determination unit to determine the deviation value, in response to a change in a sensor, which detects a behavior of at least one of the subject vehicle or the peripheral vehicle.