公开(公告)号：US20240067231A1

公开(公告)日：2024-02-29

申请号：US18448362

申请日：2023-08-11

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryusuke Kuroda ,  Kenichiro Aoki ,  Tadashi Okubo ,  Takuya Fujiki ,  Tetsuro Sugiura ,  Kunio Goto

IPC: B60W60/00 ,  B60W50/14

CPC classification number: B60W60/0053 ,  B60W50/14 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2554/4026 ,  B60W2554/80

Abstract: A travel controller of a vehicle that can travel on a road under autonomous driving control detecting two-wheelers, including bicycles, located in surroundings of the vehicle from surrounding data representing the surroundings of the vehicle generated by a surrounding sensor mounted on the vehicle, determining whether a target road on which the vehicle was traveling when the surrounding data in which a two-wheeler was detected was generated is a shared road on which travel by bicycles is permitted, when it is determined that the target road is a shared road, notifying a driver of the vehicle of a transition demand demanding transition in control of the vehicle from autonomous driving control to manual driving control requiring driving operations by the driver of the vehicle, and when it is determined that the target road is not a shared road, not notifying the driver of the transition demand.

公开(公告)号：US20240067168A1

公开(公告)日：2024-02-29

申请号：US18356492

申请日：2023-07-21

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Ryusuke KURODA ,  Kenichiro Aoki ,  Tetsuro Sugiura ,  Takuya Fujiki ,  Hitoshi Kamada ,  Wataru Kawashima ,  Tadashi Okubo

IPC: B60W30/09 ,  B60W30/095 ,  B60W60/00

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W60/0015 ,  B60W60/0053 ,  B60W2554/4044 ,  B60W2554/4046

Abstract: A vehicle controller includes a processor configured to detect a vehicle ahead of a host vehicle from time-series sensor signals obtained by a sensor provided on the host vehicle for sensing objects around the host vehicle, track the vehicle ahead detected from the time-series sensor signals, determine whether the vehicle ahead has performed an avoidance action, based on the result of tracking, detect, when the vehicle ahead has performed an avoidance action, a trajectory of an edge of the vehicle ahead opposite a direction of avoidance in the avoidance action, and control travel of the host vehicle so that an edge of the host vehicle opposite the direction of avoidance moves along the detected trajectory.

公开(公告)号：US20240067165A1

公开(公告)日：2024-02-29

申请号：US18234944

申请日：2023-08-17

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryusuke Kuroda ,  Kenichiro Aoki ,  Tadashi Okubo

IPC: B60W30/09 ,  B60W30/095 ,  B60W50/02

CPC classification number: B60W30/09 ,  B60W30/0956 ,  B60W50/0205 ,  B60W2050/0215 ,  B60W2554/4041

Abstract: A vehicle controller includes a processor configured to sense trouble with a first sensor among sensors that are capable of detecting objects around a host vehicle and whose sensing areas at least partially overlap, detect another vehicle traveling in an area around the host vehicle, based on sensor signals from the respective sensors, and decelerate the host vehicle at first deceleration in the case where trouble with the first sensor is sensed and where the other vehicle is detected on the basis of a sensor signal from a second sensor having lower priority than the first sensor in sensing the other vehicle cutting in front of the host vehicle.

公开(公告)号：US11835956B2

公开(公告)日：2023-12-05

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

IPC: G05D1/02 ,  B60W30/00 ,  B60W60/00

CPC classification number: G05D1/0212 ,  B60W30/00 ,  B60W60/001 ,  B60W60/0016 ,  B60W2420/403 ,  B60W2420/52 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2552/15 ,  B60W2552/30 ,  B60W2554/802 ,  B60W2554/804 ,  B60W2555/20

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.

公开(公告)号：US11820428B2

公开(公告)日：2023-11-21

申请号：US18076926

申请日：2022-12-07

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Kenichiro Aoki

IPC: B62D15/02 ,  G05D1/00 ,  B62D1/28 ,  B60W50/14 ,  B60W50/10 ,  B60W30/12 ,  G05D1/02 ,  B60Q9/00

CPC classification number: B62D15/0255 ,  B60Q9/00 ,  B60W50/10 ,  B60W50/14 ,  B62D1/286 ,  B62D15/025 ,  B62D15/0265 ,  G05D1/0022 ,  G05D1/0061 ,  G05D1/021 ,  B60W30/12 ,  B60W2540/18

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.

公开(公告)号：US11807297B2

公开(公告)日：2023-11-07

申请号：US16920827

申请日：2020-07-06

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Kenichiro Aoki

IPC: B62D15/02 ,  G05D1/00 ,  B60Q9/00 ,  B62D1/28 ,  B60W50/14 ,  B60W50/10 ,  B60W30/12 ,  G05D1/02

CPC classification number: B62D15/0255 ,  B60Q9/00 ,  B60W50/10 ,  B60W50/14 ,  B62D1/286 ,  B62D15/025 ,  B62D15/0265 ,  G05D1/0022 ,  G05D1/0061 ,  G05D1/021 ,  B60W30/12 ,  B60W2540/18

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.

公开(公告)号：US11427252B2

公开(公告)日：2022-08-30

申请号：US16440083

申请日：2019-06-13

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hiroki Fukuda ,  Shota Fujii ,  Kenichiro Aoki

IPC: B62D15/02 ,  B60W30/18 ,  G08G1/16 ,  G05D1/00 ,  B60W30/12 ,  B60W10/18 ,  B60W30/14 ,  B60W10/20

Abstract: An automatic driving system that is mounted in a vehicle includes: an information acquiring device configured to acquire driving environment information indicating a driving environment of the vehicle; and a running control device configured to execute lane change control from a first lane to a second lane, and set a lane change time which is a time required for lane change The running control device is configured to set an initial value of the lane change time, determine whether a moving object having a highest degree of approach to the vehicle is present in the second lane, and change the initial value based on a relative position of the moving object with respect to the vehicle and a relative speed of the vehicle with respect to the moving object when it is determined that the moving object having the highest degree of approach is present in the second lane.

公开(公告)号：US11364916B2

公开(公告)日：2022-06-21

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.

公开(公告)号：US20220113735A1

公开(公告)日：2022-04-14

申请号：US17558948

申请日：2021-12-22

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryuta Hashimoto ,  Yoshinori Watanabe ,  Kenichiro Aoki ,  Tomoyuki Kuriyama

IPC: G05D1/02 ,  B60W40/04 ,  B60W50/14 ,  B60W10/18 ,  B60W10/20 ,  B60W30/14 ,  B60W30/18

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.

公开(公告)号：US10684621B2

公开(公告)日：2020-06-16

申请号：US15423752

申请日：2017-02-03

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Toshiyuki Matsubara ,  Masaki Matsunaga ,  Kenichiro Aoki ,  Yoshinori Watanabe ,  Ryuta Hashimoto

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

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.