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公开(公告)号：US11220262B2
公开(公告)日：2022-01-11
申请号：US15899822
申请日：2018-02-20
发明人： Atsushi Sone , Yoji Kunihiro , Takahiro Yokota , Ryo Irie , Yoshinori Watanabe , Masateru Amano
摘要： 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.
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公开(公告)号：US11192555B2
公开(公告)日：2021-12-07
申请号：US16682287
申请日：2019-11-13
IPC分类号： B60W30/18 , B60W40/105 , G06K9/00
摘要： A vehicle controller includes: a determination unit configured to determine a preparatory speed of a vehicle in a merging lane based on a relative speed between a first main lane vehicle traveling on a main lane and the vehicle, the first main lane vehicle being detected by a front sensor of the vehicle; a preparation unit configured to adjust speed of the vehicle such that the speed of the vehicle coincides with the preparatory speed; and a merging control unit configured to merge the vehicle into the main lane from the merging lane based on at least a detection result of a side sensor of the vehicle and the speed of the vehicle, when the vehicle is in a situation where the main lane vehicle is recognizable based on the detection result of the side sensor, after the preparation unit starts speed adjustment of the vehicle.
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公开(公告)号：US11110794B2
公开(公告)日：2021-09-07
申请号：US16285890
申请日：2019-02-26
摘要： A vehicle control apparatus executes braking assist control to decelerate a vehicle by automatic operation of a braking device. When the vehicle control apparatus obtains a deceleration request from a driver during execution of the braking assist control, while a driver request deceleration requested to the braking device by the driver is constant or in an increasing trend, the vehicle control apparatus executes first arithmetic processing to suppress a system request deceleration requested to the braking device by the braking assist control from being decreased by the braking assist control.
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公开(公告)号：US11022979B2
公开(公告)日：2021-06-01
申请号：US16218080
申请日：2018-12-12
摘要： An autonomous driving system controls autonomous driving of a vehicle and calculates an interest level of a driver of the vehicle for the autonomous driving. In a driver-oriented mode, the autonomous driving system gives priority to at least one of setting by the driver, will of the driver, and ride quality. In a performance-oriented mode, the autonomous driving system gives priority to at least one of increase in a safety margin, reduction in a time to arrive at a destination, improvement in fuel economy, improvement in motion performance, and reduction in a frequency of notification to the driver. The autonomous driving system controls the autonomous driving in the driver-oriented mode in a case of a normal state, and controls the autonomous driving in the performance-oriented mode in a case of a low interest state where the interest level is lower than the normal state.
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公开(公告)号：US20210107522A1
公开(公告)日：2021-04-15
申请号：US17021558
申请日：2020-09-15
IPC分类号： B60W60/00 , B60W30/095
摘要： A vehicle travel control device executes vehicle travel control such that a vehicle follows a target trajectory. An automated driving control device generates a first target trajectory that is the target trajectory for automated driving of the vehicle. The vehicle travel control device further determines whether or not an activation condition of travel assist control is satisfied. When the activation condition is satisfied, the vehicle travel control device generates a second target trajectory that is the target trajectory for the travel assist control. When the second target trajectory is generated during the automated driving, or when the second target trajectory is generated during the automated driving and a priority condition for giving priority to the second target trajectory is satisfied, the vehicle travel control device executes the vehicle travel control by giving more weight to the second target trajectory than to the first target trajectory.
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公开(公告)号：US20210107516A1
公开(公告)日：2021-04-15
申请号：US17069106
申请日：2020-10-13
摘要： A vehicle control system generates at least one primary candidate of a target trajectory for an automated driving of a vehicle and executes a primary evaluation. An evaluation index of the primary evaluation includes a travel safety level of a travel to follow the primary candidate. The primary candidate having highest travel safety level is selected as at least one strong candidate of the target trajectory. If only one is selected as the strong candidate, the vehicle control system determines the selected strong candidate as a finalist candidate of the target trajectory. If two or more strong candidates are selected, the vehicle control system executes a secondary evaluation for the strong candidates to determine the finalist candidate. An additional evaluation index is used in the secondary evaluation.
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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
摘要： 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：US20200301431A1
公开(公告)日：2020-09-24
申请号：US16867854
申请日：2020-05-06
摘要： 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：US10466701B2
公开(公告)日：2019-11-05
申请号：US15819645
申请日：2017-11-21
摘要： An autonomous driving system includes: an information acquisition device that acquires surrounding situation information indicating a surrounding situation around a vehicle; and a lane change control device that controls lane change of the vehicle. An influence degree represents influence of the lane change on traffic flow around the vehicle. The lane change control device performs: acceptable range setting processing that sets an acceptable upper limit of the influence degree as a function of a position along a travel lane in which the vehicle travels; influence degree calculation processing that calculates the influence degree based on the surrounding situation information; and lane change determination processing that prohibits the lane change when the influence degree is greater than the acceptable upper limit while executes the lane change when the influence degree is equal to or less than the acceptable upper limit.
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公开(公告)号：US10427712B2
公开(公告)日：2019-10-01
申请号：US15902240
申请日：2018-02-22
发明人： Yoji Kunihiro , Yoshinori Watanabe , Yoshio Kudo , Yutaka Aoki , Ryo Irie , Masateru Amano
摘要： The automatic driving system comprises an electric power steering apparatus and a control apparatus that performs automatic steering control. The control apparatus is programmed to perform determining processing and coping processing. In the determining processing, it is determined whether the automatic driving system is working well or not working well, based on tracking condition of the target traveling route by the vehicle. The coping processing is processing to increase a degree with which the steering intervention by the driver is reflected to a control variable of the electric power steering apparatus when the automatic driving system is determined to be not working well.
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