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公开(公告)号：US10895875B2
公开(公告)日：2021-01-19
申请号：US15806801
申请日：2017-11-08
Applicant: Toyota Jidosha Kabushiki Kaisha , Denso Corporation
Inventor： Ryuta Hashimoto , Kenichiro Aoki , Yoshinori Watanabe , Daisuke Satoh
Abstract: An autonomous driving system includes: a driver information acquisition device that acquires driver information indicating an action and a state of a driver of a vehicle; and a control device that performs autonomous driving control that controls autonomous driving of the vehicle. The autonomous driving control includes: deactivating action detection processing that detects, based on the driver information, a deactivating action of the driver to deactivate the autonomous driving; ready state detection processing that detects, based on the driver information, a ready state indicating that the driver is ready for manual driving; and deactivation processing that deactivates the autonomous driving when the ready state is detected after the deactivating action is detected.
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公开(公告)号：US20200331530A1
公开(公告)日：2020-10-22
申请号：US16920827
申请日：2020-07-06
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：US20200301431A1
公开(公告)日：2020-09-24
申请号：US16867854
申请日：2020-05-06
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toshiyuki MATSUBARA , Masaki Matsunaga , Kenichiro Aoki , Yoshinori Watanabe , Ryuta Hashimoto
Abstract: A vehicle control device includes a scene determination unit determining whether or not a current traveling scene is a traveling-restricted scene, an order setting unit setting priorities corresponding to a restriction with respect to driving behaviors previously classified for different purposes in a case where it is determined that the traveling scene is the traveling-restricted scene and setting priorities with respect to the plurality of driving behaviors in a case where it is not determined that the traveling scene is the traveling-restricted scene, a traveling plan generating unit generating traveling plans corresponding to the plurality of priority-set driving behaviors, an executability determination unit determining executability of each of the plurality of generated driving behaviors, a traveling plan selection unit selecting the traveling plan corresponding to the driving behavior with the highest priority, and a traveling control unit controlling the traveling of the host vehicle based on the traveling plan.
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公开(公告)号：US20200094844A1
公开(公告)日：2020-03-26
申请号：US16536635
申请日：2019-08-09
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kenichiro Aoki , Tadashi Omachi
IPC: B60W40/072 , B60W40/105 , B60W30/12
Abstract: A vehicle control apparatus includes an electronic control unit configured to: acquire lane information including a curvature of a curve located ahead in a traveling direction of the vehicle; acquire target vehicle information as information on a target vehicle, based on the lane information and the target vehicle information, a target trajectory; perform a target trajectory modification process for offsetting the target trajectory determined from the lane information in such a direction as to move away from the target vehicle, when the vehicle approaches the target vehicle; set an offset amount of the target trajectory in accordance with the curvature of the curve, when the vehicle approaches the target vehicle from an outer side of the curve, in the target trajectory modification process; and cause the vehicle to automatically run along the target trajectory modified through the target trajectory modification process.
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公开(公告)号：US10202123B2
公开(公告)日：2019-02-12
申请号：US15372558
申请日：2016-12-08
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kenichiro Aoki
Abstract: The vehicle control system includes a turning signal control unit configured to switch a turning signal of the vehicle between an off state and an on state according to the lane change control. The turning signal control unit maintains the turning signal in the on state until predetermined release conditions are satisfied when the lane change control in process is cancelled and the vehicle is switched to the manual driving mode.
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Patent Agency Ranking
公开(公告)号：US20180154939A1
公开(公告)日：2018-06-07
申请号：US15819662
申请日：2017-11-21
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：US20180150074A1
公开(公告)日：2018-05-31
申请号：US15806801
申请日：2017-11-08
Applicant: Toyota Jidosha Kabushiki Kaisha , Denso Corporation
Inventor： Ryuta Hashimoto , Kenichiro Aoki , Yoshinori Watanabe , Daisuke Satoh
CPC classification number: G05D1/0061 , B60K28/02 , B60K2370/175 , B60W2040/0872 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2540/22 , G05D1/021
Abstract: An autonomous driving system includes: a driver information acquisition device that acquires driver information indicating an action and a state of a driver of a vehicle; and a control device that performs autonomous driving control that controls autonomous driving of the vehicle. The autonomous driving control includes: deactivating action detection processing that detects, based on the driver information, a deactivating action of the driver to deactivate the autonomous driving; ready state detection processing that detects, based on the driver information, a ready state indicating that the driver is ready for manual driving; and deactivation processing that deactivates the autonomous driving when the ready state is detected after the deactivating action is detected.
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公开(公告)号：US20180043935A1
公开(公告)日：2018-02-15
申请号：US15665863
申请日：2017-08-01
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: Each of a plurality of autonomous driving vehicles configuring an autonomous driving system executes lane selection determination processing of acquiring information concerning an empty space situation in an adjacent lane that is adjacent to a lane where an own vehicle is traveling, and determining whether or not to select the adjacent lane as an own vehicle travel lane in accordance with an empty space situation in the adjacent lane. When the adjacent lane is selected as the own vehicle travel lane by the lane selection determination processing, lane change to the adjacent lane is performed autonomously, or lane change to the adjacent lane is proposed to a driver. The autonomous driving system gives variation to an execution interval of the lane selection determination processing among the plurality of autonomous driving vehicles.
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公开(公告)号：US12005904B2
公开(公告)日：2024-06-11
申请号：US18082118
申请日：2022-12-15
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
CPC classification number: B60W30/18163 , B60W10/18 , B60W10/20 , B60W30/143 , B60W40/04 , B60W50/14 , B60W2050/0075 , B60W2420/403 , B60W2420/408 , B60W2520/10 , B60W2520/14 , B60W2552/05 , B60W2552/50 , B60W2554/00 , B60W2554/20 , B60W2554/4026 , B60W2554/4029 , B60W2554/4041 , B60W2554/406 , B60W2554/801 , B60W2554/802 , B60W2554/804 , B60W2556/45 , B60W2720/10 , B60W2720/14 , B60W2754/10 , B60W2754/30 , B60W2754/50 , G05D1/0248 , G05D1/0276
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：US20240067233A1
公开(公告)日：2024-02-29
申请号：US18449146
申请日：2023-08-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Wataru Kawashima , Ryusuke Kuroda , Kenichiro Aoki , Takehiko Hanada , Takuya Fujiki
IPC: B60W60/00
CPC classification number: B60W60/0059 , B60W2540/10 , B60W2540/18
Abstract: When an object that may possibly collide with a vehicle is detected from a sensor signal of one of sensors mounted on the vehicle, a vehicle controller changes the level of autonomous driving control applied to the vehicle from a first level that does not require a driver to operate an accelerator and steering and does not require the driver to look around the vehicle to a second level that requires the driver to look around the vehicle but does not require the driver to operate an accelerator and steering. When an object that may possibly collide with the vehicle is detected from sensor signals of two or more of the sensors, the vehicle controller changes the level of autonomous driving control from the first level to a third level that requires the driver to operate at least an accelerator or steering.
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