公开(公告)号：US11834047B2

公开(公告)日：2023-12-05

申请号：US17372621

申请日：2021-07-12

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryuta Hashimoto

IPC: B60W30/18 ,  B60Q1/34

CPC classification number: B60W30/18163 ,  B60Q1/34 ,  B60W2552/10 ,  B60W2554/4041 ,  B60W2554/4045

Abstract: A traveling lane planning device has a processor configured to assess whether or not an approach zone exists on an adjacent lane between an event location and the current location of a vehicle, when the traveling lane plan includes a lane change from the traveling lane to the adjacent lane before the event location, to create a lane change plan in which the vehicle moves from the traveling lane to the adjacent lane after the vehicle has passed along the approach zone of the adjacent lane when it has assessed that the approach zone exists and to cause the vehicle to carry out a notification action which gives notice to the surrounding area of the vehicle that the vehicle will make a lane change from the traveling lane to the adjacent lane while the vehicle is traveling in the traveling lane along the approach zone of the adjacent lane.

公开(公告)号：US20230373535A1

公开(公告)日：2023-11-23

申请号：US18184140

申请日：2023-03-15

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takahiro Seta ,  Ryuta Hashimoto ,  Kota Harada ,  Soichi Yoshino

IPC: B60W60/00 ,  B60W40/06

CPC classification number: B60W60/0053 ,  B60W60/0059 ,  B60W40/06 ,  B60W2552/00 ,  B60W2556/45

Abstract: A vehicle controller detects a travel lane on which a vehicle is traveling, and determines whether the position of the detected travel lane relative to an edge of a road may differ from an actual position. The vehicle controller further identifies first control of the vehicle required on the travel lane and second control of the vehicle required on an adjoining lane. The vehicle controller transfers control of the vehicle to a driver in the case where the position of the detected travel lane may differ from the actual position and where both the first control and the second control may compromise safety of the vehicle or prevent completion of a predetermined action to be completed before reaching a predetermined distance.

公开(公告)号：US20230294689A1

公开(公告)日：2023-09-21

申请号：US18157927

申请日：2023-01-23

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takahiro SETA ,  Ryuta Hashimoto ,  Kota Harada ,  Soichi Yoshino

IPC: B60W30/12 ,  B60W40/04 ,  G06V20/56

CPC classification number: B60W30/12 ,  B60W40/04 ,  G06V20/588 ,  B60W2420/42 ,  B60W2552/53 ,  B60W2554/4041 ,  B60W2554/4044 ,  B60W2556/20 ,  B60W2556/40 ,  B60W2556/45

Abstract: A vehicle controller includes a processor configured to detect a lane on which a vehicle is traveling, determine whether the position of the detected lane relative to an edge of a road being traveled by the vehicle may differ from an actual position, identify first control of the vehicle required to execute on the detected lane and second control of the vehicle required to execute on an adjoining lane adjoining the detected lane, omit to execute the first control when the position of the detected lane may differ from the actual position and the first control is prohibited on the adjoining lane, and execute the second control when the position of the detected lane may differ from the actual position and the second control exists.

公开(公告)号：US20220121209A1

公开(公告)日：2022-04-21

申请号：US17565143

申请日：2021-12-29

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

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

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

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.

公开(公告)号：US11014572B2

公开(公告)日：2021-05-25

申请号：US16204619

申请日：2018-11-29

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ryuta Hashimoto ,  Yoshinori Watanabe

IPC: B60W50/08 ,  G05D1/00 ,  B60W40/09 ,  B60W10/04 ,  B60W30/18 ,  B60W30/09 ,  B60W40/08

Abstract: An autonomous driving system mounted on a vehicle includes: a vehicle behavior control device configured to perform vehicle behavior control that controls behavior of the vehicle; and an awareness level calculation device configured to calculate an awareness level of a driver of the vehicle. A low awareness state is a state where the awareness level is lower than a normal state. The vehicle behavior control device performs the vehicle behavior control such that another vehicle around the vehicle predicts or recognizes the behavior of the vehicle more easily in a case of the low awareness state than in a case of the normal state.

公开(公告)号：US10935976B2

公开(公告)日：2021-03-02

申请号：US15931889

申请日：2020-05-14

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Ryuta Hashimoto ,  Yoshinori Watanabe

IPC: G05D1/00 ,  G06K9/00 ,  G08G1/16

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.

公开(公告)号：US20200241547A1

公开(公告)日：2020-07-30

申请号：US16848156

申请日：2020-04-14

Applicant: Toyota Jidosha Kabushiki Kaisha

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

IPC: G05D1/02 ,  B60W30/18 ,  B60W40/04 ,  B60W10/18 ,  B60W10/20 ,  B60W50/14 ,  B60W30/14 ,  B60W50/00

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：US10562532B2

公开(公告)日：2020-02-18

申请号：US15729141

申请日：2017-10-10

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Ryuta Hashimoto ,  Yoshinori Watanabe

IPC: B60W30/18 ,  G06K9/00 ,  B62D15/02

Abstract: An autonomous driving system includes: an information acquisition device configured to acquire driving environment information indicating driving environment for a vehicle; and a lane change control device configured to control lane change of the vehicle based on the driving environment information. When determining that the lane change can be started at a standard timing, the lane change control device performs delay processing that delays an actual start timing of the lane change from the standard timing. The lane change control device variably sets a delay time from the standard timing to the actual start timing according to the driving environment.

公开(公告)号：US20180181138A1

公开(公告)日：2018-06-28

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 ,  G06K9/00 ,  G08G1/0967

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.

公开(公告)号：US20180164816A1

公开(公告)日：2018-06-14

申请号：US15826307

申请日：2017-11-29

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Ryuta Hashimoto ,  Yoshinori Watanabe

IPC: G05D1/00 ,  G06K9/00

Abstract: A blinker judgment device for a vehicle includes: an information acquisition device that acquires surrounding situation information indicating a situation around the vehicle; and a control device that performs blinker judgment processing based on the surrounding situation information. The surrounding situation information includes image information of a target vehicle imaged by a camera. The control device performs: recognizing blinker flashing of the target vehicle based on the image information; checking, based on the surrounding situation information, whether or not there is a reasonable cause for the target vehicle to make a lane change, when the blinker flashing is recognized; and judging that the target vehicle is not in a process of the blinker flashing when the cause does not exist while judges that the target vehicle is in a process of the blinker flashing when the cause exists.