公开(公告)号：US20200148223A1

公开(公告)日：2020-05-14

申请号：US16674671

申请日：2019-11-05

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryosuke FUKATANI ,  Nobuhide KAMATA

IPC: B60W50/14 ,  G05D1/00 ,  B60W30/18

Abstract: A vehicle control device controlling a vehicle capable of switching between an automatic driving mode and a driver involvement mode in which a driver is involved includes a blind spot boundary specifying unit configured to specify a boundary of a region becoming a blind spot of the vehicle, a traveling plan generation unit configured to generate a traveling plan in which the vehicle does not collide with a moving body assumed to be positioned on the blind spot boundary specified by the blind spot boundary specifying unit, a determination unit configured to determine whether or not the traveling plan generated by the traveling plan generation unit satisfies a predetermined condition, and a switching unit configured to switch the vehicle from the automatic driving mode to the driver involvement mode when the determination unit determines that the traveling plan satisfies the predetermined condition.

公开(公告)号：US20190079529A1

公开(公告)日：2019-03-14

申请号：US16042525

申请日：2018-07-23

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Nobuhide KAMATA

IPC: G05D1/02 ,  G06T7/246 ,  G06T7/73 ,  B60Q9/00

Abstract: A vehicle control device includes a tracking unit estimating a motion of a moving object, a model selection unit selecting a motion model corresponding to a moving object type, an abnormality determination unit determining a presence or absence of an abnormality of the estimation of the motion of the moving object based on the estimated moving object motion and the motion indicated by the motion model, and a control unit. A control mode in which the control unit controls traveling of a host vehicle when the abnormality determination unit determines that the abnormality is present differs from a control mode in which the control unit controls the traveling of the host vehicle when the abnormality determination unit determines that the abnormality is absent.

公开(公告)号：US20220083060A1

公开(公告)日：2022-03-17

申请号：US17538541

申请日：2021-11-30

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yasunao YOSHIZAKI ,  Koji TAGUCHI ,  Masaki WASEKURA ,  Nobuhide KAMATA

IPC: G05D1/00 ,  B60W30/00 ,  G05D1/02

Abstract: An autonomous driving vehicle provides a driverless transportation service for a user. An alarming phenomenon is a natural phenomenon that potentially causes a disaster. The autonomous driving vehicle recognizes, based on driving environment information, the alarming phenomenon at a current location of the autonomous driving vehicle or on a planned travel route from the current location to a destination. When recognizing the alarming phenomenon, the autonomous driving vehicle determines whether to continue or halt vehicle travel control in accordance with a current travel plan. When determining to halt the vehicle travel control in accordance with the current travel plan, the autonomous driving vehicle sets an emergency plan depending on a type of the alarming phenomenon and controls the autonomous driving vehicle in accordance with the emergency plan.

公开(公告)号：US20210107513A1

公开(公告)日：2021-04-15

申请号：US17019804

申请日：2020-09-14

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takayuki GOTO ,  Yoshinori WATANABE ,  Nobuhide KAMATA ,  Kazuyuki FUJITA ,  Masahiro HARADA

IPC: B60W60/00 ,  B60W10/20 ,  G01C21/34 ,  B60W30/09 ,  B60W30/095

Abstract: A vehicle travel control device executes vehicle travel control such that a vehicle follows a target trajectory. An automated driving control device generates a first target trajectory that is the target trajectory for automated driving of the vehicle. The vehicle travel control device further determines whether or not an activation condition of travel assist control is satisfied. When the activation condition is satisfied, the vehicle travel control device generates a second target trajectory that is the target trajectory for the travel assist control. Even when the second target trajectory is generated during the automated driving, or when the second target trajectory is generated during the automated driving and a priority condition for giving priority to the first target trajectory is satisfied, the vehicle travel control device executes the vehicle travel control by giving more weight to the first target trajectory than to the second target trajectory.

公开(公告)号：US20210055741A1

公开(公告)日：2021-02-25

申请号：US16944307

申请日：2020-07-31

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Taichi KAWANAI ,  Kazuhiko KAMIKADO ,  Hideyuki MATSUI ,  Hayato ITO ,  Nobuhide KAMATA ,  Tomoyuki KURIYAMA ,  Yasuhiro KOBATAKE

IPC: G05D1/02 ,  G05D1/00 ,  G08G1/16

Abstract: An autonomous driving system that performs a traveling of an autonomous driving vehicle based on a remote instruction by a remote commander includes: a vehicle position acquisition unit configured to acquire a position of the autonomous driving vehicle on the map; an external environment recognition unit configured to recognize an external environment of the autonomous driving vehicle; a remote instruction location situation recognition unit configured to recognize a remote instruction location situation on a target route of the autonomous driving vehicle set in advance based on the target route, the position of the autonomous driving vehicle on the map, and map information; and a remote instruction request determination unit configured to determine whether or not to request the remote commander for the remote instruction with regard to the remote instruction location situation, based on the external environment of the autonomous driving vehicle.

公开(公告)号：US20190147671A1

公开(公告)日：2019-05-16

申请号：US16135129

申请日：2018-09-19

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yasunao YOSHIZAKI ,  Koji TAGUCHI ,  Masaki WASEKURA ,  Nobuhide KAMATA

IPC: G07C5/08

Abstract: A driverless transportation system includes an autonomous driving vehicle and a management server. A check code includes: a vehicle code unique to the autonomous driving vehicle; and a passcode whose value changes each time it is generated. In deactivation processing, the autonomous driving vehicle newly generates the passcode, stores the check code including the newly-generated passcode, as a first check code, and transmits the first check code to the management server. The management server stores the first check code as a stored check code. In order to activate the autonomous driving vehicle, the management server transmits an activation instruction and the stored check code to the autonomous driving vehicle. In response to that, the autonomous driving vehicle reads the check code from its memory device, as a second check code, and determines whether or not the second check code and the stored check code match.

公开(公告)号：US20190139328A1

公开(公告)日：2019-05-09

申请号：US16125849

申请日：2018-09-10

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yasunao YOSHIZAKI ,  Koji TAGUCHI ,  Masaki WASEKURA ,  Nobuhide KAMATA

IPC: G07C5/00 ,  G05D1/02 ,  G07C5/08 ,  G06K9/00 ,  G06K9/62

Abstract: A driverless transportation system includes: an autonomous driving vehicle that a user boards; and an abnormal event check device that checks whether or not an abnormal event exists in a passenger room of the autonomous driving vehicle after the user gets off. The autonomous driving vehicle uses a passenger room monitor to acquire, as a comparison-target image, an image of the passenger room after the user gets off the autonomous driving vehicle. The abnormal event check device: acquires a reference image being an image of the passenger room before the user boards the autonomous driving vehicle; acquires the comparison-target image; compares the comparison-target image with the reference image to determine whether or not the abnormal event exists; and notifies the user terminal or a management center, when it is determined that the abnormal event exists.

公开(公告)号：US20190129420A1

公开(公告)日：2019-05-02

申请号：US16120760

申请日：2018-09-04

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yasunao YOSHIZAKI ,  Koji TAGUCHI ,  Masaki WASEKURA ,  Nobuhide KAMATA

IPC: G05D1/00 ,  G05D1/02

Abstract: An autonomous driving vehicle provides a driverless transportation service for a user. An alarming phenomenon is a natural phenomenon that potentially causes a disaster. The autonomous driving vehicle recognizes, based on driving environment information, the alarming phenomenon at a current location of the autonomous driving vehicle or on a planned travel route from the current location to a destination. When recognizing the alarming phenomenon, the autonomous driving vehicle determines whether to continue or halt vehicle travel control in accordance with a current travel plan. When determining to halt the vehicle travel control in accordance with the current travel plan, the autonomous driving vehicle sets an emergency plan depending on a type of the alarming phenomenon and controls the autonomous driving vehicle in accordance with the emergency plan.