公开(公告)号：US20180304890A1

公开(公告)日：2018-10-25

申请号：US15899822

申请日：2018-02-20

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

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

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

CPC classification number: B60W30/10 ,  G05D1/0088 ,  G05D1/0212

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.