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公开(公告)号：US20200180641A1
公开(公告)日：2020-06-11
申请号：US16682287
申请日：2019-11-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryo Hashimoto , Yoshinori Watanabe , Masaaki Yamaoka , Kenichiro Aoki
IPC: B60W30/18 , B60W40/105 , G06K9/00
Abstract: A vehicle controller includes: a determination unit configured to determine a preparatory speed of a vehicle in a merging lane based on a relative speed between a first main lane vehicle traveling on a main lane and the vehicle, the first main lane vehicle being detected by a front sensor of the vehicle; a preparation unit configured to adjust speed of the vehicle such that the speed of the vehicle coincides with the preparatory speed; and a merging control unit configured to merge the vehicle into the main lane from the merging lane based on at least a detection result of a side sensor of the vehicle and the speed of the vehicle, when the vehicle is in a situation where the main lane vehicle is recognizable based on the detection result of the side sensor, after the preparation unit starts speed adjustment of the vehicle.
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公开(公告)号：US10663973B2
公开(公告)日：2020-05-26
申请号：US15669049
申请日：2017-08-04
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.
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公开(公告)号：US20200094836A1
公开(公告)日：2020-03-26
申请号：US16506477
申请日：2019-07-09
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kenichiro Aoki , Tadashi Omachi
Abstract: A vehicle control system includes: a vehicle recognition unit configured to recognize a rear lateral vehicle in an area rearward of the host vehicle; a remaining distance acquisition unit configured to acquire a remaining distance from a current position of the host vehicle to a position at which the host vehicle completes a lane change; a lane change availability determination unit configured to determine whether the lane change is available; and a vehicle control unit configured to control, when the lane change availability determination unit determines that the lane change is not available and the remaining distance is shorter than a first determination distance, steering of the host vehicle such that a position of the host vehicle in a vehicle width direction becomes a position closer to the second lane than a position when the remaining distance is longer than or equal to the first determination distance.
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公开(公告)号：US20180043897A1
公开(公告)日：2018-02-15
申请号：US15667055
申请日：2017-08-02
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
CPC classification number: B60W30/18163 , B60W2550/20 , G05D1/0214 , G05D2201/0213 , G08G1/166 , G08G1/167
Abstract: An autonomous driving system acquires information concerning an empty space situation in an adjacent lane, and information concerning an entry frequency with which other vehicles enter into an own lane from the adjacent lane, when an own vehicle travels on a road having a plurality of lanes. The autonomous driving system determines whether or not to select the adjacent lane as an own vehicle travel lane in accordance with the empty space situation in the adjacent lane and the entry frequency. However, when the entry frequency is a threshold value or more, determination not to select the adjacent lane as the own vehicle travel lane is kept irrespective of the empty space situation in the adjacent lane. The autonomous driving system performs lane change to the adjacent lane autonomously when the adjacent lane is selected as the own vehicle travel lane.
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公开(公告)号：US11921501B2
公开(公告)日：2024-03-05
申请号：US17457429
申请日：2021-12-02
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takaaki Tanaka , Kenichiro Aoki , Masayuki Katoh
CPC classification number: G05D1/0061 , B60W30/181 , G05D1/0223 , B60W2555/20 , B60W2555/60 , B60W2720/10 , G05D2201/0213
Abstract: An automatic driving system includes a control device that controls automatic driving of a vehicle, and a storage device that contains external environment information indicating an external environment of the vehicle. A driving transition zone is a zone in which a driver of the vehicle takes over at least a part of driving of the vehicle, from the control device. A termination target velocity is a target velocity of the vehicle at an end point of the driving transition zone. The control device variably sets the termination target velocity, depending on the external environment at the end point or the external environment surrounding the end point. Then, the control device controls the velocity of the vehicle in the driving transition zone, such that the velocity of the vehicle at the end point is the termination target velocity.
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Patent Agency Ranking
公开(公告)号：US11703876B2
公开(公告)日：2023-07-18
申请号：US17558948
申请日：2021-12-22
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
CPC classification number: G05D1/0223 , B60W10/18 , B60W10/20 , B60W30/143 , B60W30/18163 , B60W40/04 , B60W50/14 , B60W2050/0075 , B60W2420/42 , B60W2420/52 , B60W2520/10 , B60W2520/14 , B60W2552/05 , B60W2554/00 , B60W2554/4041 , B60W2554/801 , B60W2554/804 , B60W2556/45 , B60W2720/10 , B60W2720/14 , B60W2754/10 , B60W2754/30 , B60W2754/50 , G05D1/0248 , G05D1/0276 , G05D2201/0213
Abstract: An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.
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公开(公告)号：US20230115658A1
公开(公告)日：2023-04-13
申请号：US18082118
申请日：2022-12-15
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.
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公开(公告)号：US20230097498A1
公开(公告)日：2023-03-30
申请号：US18076926
申请日：2022-12-07
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kenichiro Aoki
Abstract: The autonomous LC control is started in response to receiving a start instruction of autonomous lane change. When the driver performs a steering intervention in a same direction as a direction of steering requested by the autonomous LC control, and establishment of a stop condition of lane change is not recognized, during execution of the autonomous LC control, the autonomous driving control is continued. When the steering intervention in the same direction is performed, and establishment of the stop condition is recognized, during execution of the autonomous LC control, termination of the autonomous driving control is announced.
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公开(公告)号：US11192555B2
公开(公告)日：2021-12-07
申请号：US16682287
申请日：2019-11-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryo Hashimoto , Yoshinori Watanabe , Masaaki Yamaoka , Kenichiro Aoki
IPC: B60W30/18 , B60W40/105 , G06K9/00
Abstract: A vehicle controller includes: a determination unit configured to determine a preparatory speed of a vehicle in a merging lane based on a relative speed between a first main lane vehicle traveling on a main lane and the vehicle, the first main lane vehicle being detected by a front sensor of the vehicle; a preparation unit configured to adjust speed of the vehicle such that the speed of the vehicle coincides with the preparatory speed; and a merging control unit configured to merge the vehicle into the main lane from the merging lane based on at least a detection result of a side sensor of the vehicle and the speed of the vehicle, when the vehicle is in a situation where the main lane vehicle is recognizable based on the detection result of the side sensor, after the preparation unit starts speed adjustment of the vehicle.
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公开(公告)号：US10983516B2
公开(公告)日：2021-04-20
申请号：US16211862
申请日：2018-12-06
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kenichiro Aoki , Akira Ito
Abstract: When generating a traveling path for divergent event, a traveling path generation portion judges an occurrence of a traffic jam on a divergent lane. The occurrence of the traffic jam on the divergent lane is judged based on whether or not a surrounding vehicle which satisfies a predetermined condition exist in a search region. If it is judged that the traffic jam is occurring on the divergent lane, a notice for handover from an automatic divergent operation to a manual divergent operation is given to a driver.
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