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公开(公告)号：US10761540B2
公开(公告)日：2020-09-01
申请号：US15824674
申请日：2017-11-28
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe
IPC: G05D1/02 , G05D1/00 , G08G1/0967 , G06K9/00
Abstract: An autonomous driving system has: an information acquisition device configured to acquire driving environment information indicating driving environment for a vehicle; and an autonomous driving control device configured to control autonomous driving of the vehicle based on the driving environment information. A forward event is an event that exists in front of the vehicle and causes the autonomous driving control device to change a travel state of the vehicle. The autonomous driving control device performs: event detection processing that detects the forward event based on the driving environment information; visually-recognizing timing estimation processing that estimates a visually-recognizing timing at which a driver of the vehicle is able to visually-recognize the forward event; and travel control processing that proposes or executes, at or after the visually-recognizing timing, travel control that changes the travel state according to the forward event.
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公开(公告)号：US20200272147A1
公开(公告)日：2020-08-27
申请号：US15931889
申请日：2020-05-14
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe
Abstract: A blinker judgment device mounted on a vehicle includes an information acquisition device configured to acquire surrounding situation information indicating a situation around the vehicle; and a control device configured to: recognize blinker flashing of a target vehicle based on image information of the target vehicle, check, based on the surrounding situation information, whether or not there is a cause for the target vehicle to make a lane change, in response to recognition of the blinker flashing based on the image information, judge that the recognition of the blinker flashing based on the image information is falsely positive in response to determining that the cause does not exist, and devise a travel plan based on the recognition of the blinker flashing in response to determining that the cause exists.
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公开(公告)号：US10699579B2
公开(公告)日：2020-06-30
申请号：US15644136
申请日：2017-07-07
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: An autonomous driving vehicle sets a travelable area in which the autonomous driving vehicle can travel in a process of going to a destination. In a multiple-lane area including two or more lanes in the travelable area, one lane is determined as a standard travel lane. Processing of determining the standard travel lane is configured so that dispersion occurs to standard travel lanes which are determined by a plurality of autonomous driving vehicles in a same multiple-lane area placed under a same environment.
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公开(公告)号：US10538247B2
公开(公告)日：2020-01-21
申请号：US15824671
申请日：2017-11-28
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe
IPC: B60W30/18 , G05D1/00 , B60W30/095 , B60W30/12 , B62D15/02
Abstract: An autonomous driving system mounted on a vehicle, includes: an information acquisition device configured to acquire driver operation information indicating an operation by a driver of the vehicle; and an autonomous driving control device configured to perform autonomous driving control of the vehicle. The autonomous driving control device performs: default lane setting processing that sets a default lane in which the vehicle travels; and vehicle travel control processing that controls the vehicle to travel in the default lane when there is no departure reason for departing from the default lane and to travel away from the default lane until there is no departure reason when there is the departure reason. In the default lane setting processing, the autonomous driving control device refers to the driver operation information to set the default lane according to the driver's intention.
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公开(公告)号：US10343686B2
公开(公告)日：2019-07-09
申请号：US15667055
申请日：2017-08-02
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
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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Patent Agency Ranking
公开(公告)号：US09902399B2
公开(公告)日：2018-02-27
申请号：US14979746
申请日：2015-12-28
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Haruto Torii , Ryuta Hashimoto , Tetsuya Taira
CPC classification number: B60W30/16 , B60W30/12 , B60W50/14 , B60W2550/302 , B60W2550/306 , B60W2550/308
Abstract: A vehicle travelling control device is configured to cause a vehicle to automatically travel along the target lateral position set in a travelling lane in advance. The device includes a peripheral information detection unit configured to detect peripheral information of the vehicle, a preceding vehicle recognition unit configured to recognize a position of the preceding vehicle in an adjacent lane which is adjacent to the travelling lane based on the peripheral information detection unit, and a travel control unit configured to cause the vehicle to automatically travel along a separated lateral position which is separated from the target lateral position at the opposite side of the adjacent lane side in a case where a lost duration that is a continuous period of time during which the position of the preceding vehicle is lost in the preceding vehicle recognition unit reaches a first predetermined time.
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公开(公告)号：US20180046196A1
公开(公告)日：2018-02-15
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：US12181883B2
公开(公告)日：2024-12-31
申请号：US18090220
申请日：2022-12-28
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：US12032372B2
公开(公告)日：2024-07-09
申请号：US18063420
申请日：2022-12-08
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto
CPC classification number: G05D1/0061 , B60W50/14 , G05D1/0088 , B60K35/28 , B60K35/29 , B60K2360/175 , B60K2360/186 , B60W2050/0072 , B60W2050/0091 , B60W2540/215
Abstract: An autonomous driving system includes: a Human Machine Interface; and a control device configured to control autonomous driving of a vehicle, present a first operation instruction to a driver of the vehicle during the autonomous driving, the first operation instruction requesting the driver to perform a first response operation performed in response to a first request or a first proposal by presenting the first request or the first proposal to the driver via the Human Machine Interface, and prohibit presenting a second operation instruction different from the first operation instruction until the first response operation is completed or until a timing at which the first response operation is predicted to be completed, the second operation instruction requesting the driver to perform a second response operation performed in response to a second request or a second proposal by presenting the second request or the second proposal.
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公开(公告)号：US11920936B2
公开(公告)日：2024-03-05
申请号：US17656792
申请日：2022-03-28
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takahiro Seta , Ryuta Hashimoto , Kota Harada , Soichi Yoshino
IPC: G01C21/32
CPC classification number: G01C21/32
Abstract: A vehicle controller determines whether the position of a detected travel lane relative to an edge of a road being traveled by a vehicle may differ from an actual position; estimates a first required time for an action, which is required before the vehicle reaches a predetermined location, for the case that the position of the detected lane relative to the edge of the road is correct; estimates a second required time for the action for the case that the position of the detected lane differs from the actual position by a predetermined number of lanes; and sets start timing of the action, based on the second required time, so that the action will finish before the vehicle reaches the predetermined location, when the position of the detected lane may differ from the actual position and the second required time is longer than the first required time.
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