公开(公告)号：US20220242445A1

公开(公告)日：2022-08-04

申请号：US17722861

申请日：2022-04-18

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ikuma SUZUKI ,  Satoshi KATOH ,  Ryo IRIE

IPC: B60W60/00 ,  B60W10/20 ,  B60W50/06

Abstract: A vehicle (10) includes a VP (120) that carries out vehicle control in accordance with a command from an autonomous driving system (202) and a vehicle control interface (110) that interfaces between the autonomous driving system (202) and the VP (120). A tire turning angle command that requests for a wheel steer angle is transmitted from the autonomous driving system (202) to the VP (120). A signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle is transmitted from the VP (120) to the autonomous driving system (202). The VP (120) steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle (10) is in a straight-ahead travel state.

公开(公告)号：US20200238985A1

公开(公告)日：2020-07-30

申请号：US16851613

申请日：2020-04-17

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Atsushi SONE ,  Yoji KUNIHIRO ,  Takahiro YOKOTA ,  Ryo IRIE ,  Yoshinori WATANABE ,  Masateru AMANO

IPC: B60W30/10 ,  G05D1/02 ,  G05D1/00 ,  B62D15/02

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

公开(公告)号：US20180304918A1

公开(公告)日：2018-10-25

申请号：US15902240

申请日：2018-02-22

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoji KUNIHIRO ,  Yoshinori WATANABE ,  Yoshio KUDO ,  Yutaka AOKI ,  Ryo IRIE ,  Masateru AMANO

IPC: B62D5/04 ,  B62D6/00 ,  B62D15/02 ,  B62D6/08

CPC classification number: B62D5/0481 ,  B62D1/286 ,  B62D5/0463 ,  B62D6/002 ,  B62D6/08 ,  B62D15/025

Abstract: The automatic driving system comprises an electric power steering apparatus and a control apparatus that performs automatic steering control. The control apparatus is programmed to perform determining processing and coping processing. In the determining processing, it is determined whether the automatic driving system is working well or not working well, based on tracking condition of the target traveling route by the vehicle. The coping processing is processing to increase a degree with which the steering intervention by the driver is reflected to a control variable of the electric power steering apparatus when the automatic driving system is determined to be not working well.

公开(公告)号：US20180281849A1

公开(公告)日：2018-10-04

申请号：US15890884

申请日：2018-02-07

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryo IRIE ,  Yoji KUNIHIRO ,  Yutaka AOKI ,  Yoshio KUDO

IPC: B62D6/00 ,  B62D5/04 ,  B62D6/08

Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.

公开(公告)号：US20220340157A1

公开(公告)日：2022-10-27

申请号：US17725295

申请日：2022-04-20

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yuji WATARI ,  Masaya SATO ,  Ryo IRIE ,  Takeshi KANOU

IPC: B60W50/12 ,  B60W60/00 ,  G07C5/08

Abstract: A vehicle system, including: an on-board device mounted on a vehicle; and a control device configured to control the on-board device such that the vehicle travels in a target traveling state, wherein the control device includes: a predicting portion that predicts a state of the on-board device when the vehicle travels in the target traveling state; and a modifying portion that modifies the target traveling state when the control device determines based on the state of the on-board device predicted by the predicting portion that an operation of the on-board device needs to be limited.

公开(公告)号：US20220242484A1

公开(公告)日：2022-08-04

申请号：US17722644

申请日：2022-04-18

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ikuma SUZUKI ,  Satoshi KATOH ,  Ryo IRIE

IPC: B62D15/02 ,  B60W60/00 ,  B60W30/182 ,  B60W50/12

Abstract: A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.

公开(公告)号：US20210253164A1

公开(公告)日：2021-08-19

申请号：US17308497

申请日：2021-05-05

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryo IRIE ,  Yoji KUNIHIRO ,  Yutaka AOKI ,  Yoshio KUDO

IPC: B62D6/00 ,  B62D6/08 ,  B62D5/04 ,  B62D15/02

Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.

公开(公告)号：US20210245806A1

公开(公告)日：2021-08-12

申请号：US17154017

申请日：2021-01-21

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ikuma SUZUKI ,  Satoshi KATOH ,  Ryo IRIE

IPC: B62D15/02 ,  B60W60/00 ,  B60W30/182 ,  B60W50/12

Abstract: A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.

公开(公告)号：US20190135279A1

公开(公告)日：2019-05-09

申请号：US16167660

申请日：2018-10-23

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Ryo IRIE ,  Yoji KUNIHIRO ,  Hisaya AKATSUKA

IPC: B60W30/12 ,  G08G1/16 ,  G06K9/00 ,  G06F15/18

Abstract: A driving assistance control system of a vehicle includes a needed information acquisition unit configured to acquire needed information for calculating a target path, a target path deciding unit configured to decide the target path based on the needed information, a vehicle traveling controller configured to perform a path following control for controlling a traveling device of the vehicle such that the vehicle follows the target path, and a system limit identification unit configured to identify a likelihood of reaching a system limit at which the path following control becomes unsuccessful. The system limit identification unit includes a determination model that learns a relationship between a plurality of vehicle feature amounts and the likelihood of reaching the system limit by machine learning in advance, and outputs an identification result of the likelihood of reaching the system limit corresponding to the input vehicle feature amounts using the determination model.

公开(公告)号：US20190071125A1

公开(公告)日：2019-03-07

申请号：US16047635

申请日：2018-07-27

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoji KUNIHIRO ,  Yoshio KUDO ,  Takahiro KOJO ,  Yutaka AOKI ,  Ryo IRIE ,  Satoshi TAKAHASHI ,  Masateru AMANO

IPC: B62D15/02 ,  G01L5/22

Abstract: A steering assistance device includes a steering wheel to which a driver of a vehicle inputs steering torque, a steering shaft connected to the steering wheel, a steering mechanism configured to convert a rotation of the steering shaft into a steering angle for steering target wheels, a steering actuator configured to drive the steering mechanism such that a steering angle corresponding to a command value is generated, a steering torque sensor configured to detect torque acting on the steering shaft, an information providing unit configured to provide road information of a scheduled passage area extending in a traveling direction of the vehicle, and an electronic control unit configured to control the steering actuator, based on an output of the steering torque sensor and the road information.