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|1. (WO2017154456) SELF-DRIVING CONTROL DEVICE AND SELF-DRIVING SYSTEM|
|Applicants:||PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
|Title:||SELF-DRIVING CONTROL DEVICE AND SELF-DRIVING SYSTEM|
The present invention assists obstacle avoidance in self-driving of a vehicle. An obstacle detection unit of an obstacle detection device detects an obstacle on the basis of output data from a TOF camera. A reliability estimation unit of the obstacle detection device estimates the reliability of an obstacle detection result from the obstacle detection unit on the basis of the intensity of background light. An obstacle information acquisition unit of the automatic drive control device acquires the obstacle detection result and the reliability thereof from the obstacle detection device. In accordance with the obstacle detection result, a behavior determination unit of the automatic drive control device determines a vehicle behavior so as to avoid collision with the obstacle, and determines a different behavior in accordance with the reliability of the obstacle detection result. A drive control unit of the self-driving control device causes the vehicle to execute a behavior determined by the behavior determination unit.