Patent attributes
An automatic driving vehicle system includes: a surrounding information recognition unit that recognizes surrounding information of a vehicle; a vehicle state recognition unit that recognizes a vehicle state of the vehicle; a running plan generation unit that generates a running plan based on the surrounding information of the vehicle and that generates a control band of a target control value for the vehicle in the running plan, based on at least one of the vehicle state and the surrounding information; a first computation unit that computes a command control value such that the vehicle state becomes a target vehicle state corresponding to the target control value, based on the running plan, the vehicle state and the control band; and an actuator that controls the running of the vehicle based on the command control value. The system may also include an actuator control unit.
