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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
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：US10464604B2
公开(公告)日：2019-11-05
申请号：US15665863
申请日：2017-08-01
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: Each of a plurality of autonomous driving vehicles configuring an autonomous driving system executes lane selection determination processing of acquiring information concerning an empty space situation in an adjacent lane that is adjacent to a lane where an own vehicle is traveling, and determining whether or not to select the adjacent lane as an own vehicle travel lane in accordance with an empty space situation in the adjacent lane. When the adjacent lane is selected as the own vehicle travel lane by the lane selection determination processing, lane change to the adjacent lane is performed autonomously, or lane change to the adjacent lane is proposed to a driver. The autonomous driving system gives variation to an execution interval of the lane selection determination processing among the plurality of autonomous driving vehicles.
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公开(公告)号：US10392028B1
公开(公告)日：2019-08-27
申请号：US16220090
申请日：2018-12-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Akira Ito
Abstract: An autonomous driving system issues a notification to a driver of a vehicle during autonomous driving. The notification is a proposal or a previous notice of a vehicle action, or a request for manual driving. A notification timing is a timing to issue the notification to the driver. Necessary vehicle control required in connection with the notification includes acceleration/deceleration control and steering control. A start timing limit is a slowest timing to start the necessary vehicle control with which acceleration/deceleration and a steering speed during the necessary vehicle control can be respectively suppressed to predetermined values or lower. In a situation where the start timing limit is earlier than the notification timing, the autonomous driving system starts preliminary control, which is at least a part of the necessary vehicle control, at or before the start timing limit.
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公开(公告)号：US20180178801A1
公开(公告)日：2018-06-28
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 , B60W30/12 , B60W30/095
CPC classification number: B60W30/18163 , B60W30/0956 , B60W30/12 , B62D15/025 , G05D1/0088 , G05D2201/0213
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：US20180157257A1
公开(公告)日：2018-06-07
申请号：US15819645
申请日：2017-11-21
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe
CPC classification number: G05D1/0088 , B62D15/0255 , G05D2201/0213
Abstract: 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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Patent Agency Ranking
公开(公告)号：US09963149B2
公开(公告)日：2018-05-08
申请号：US15423795
申请日：2017-02-03
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kenichiro Aoki , Ryuta Hashimoto
CPC classification number: B60W30/18163 , B60W40/04 , B60W2550/30 , G08G1/167
Abstract: A passing restraint flag for restraining a host vehicle from passing a preceding vehicle ahead is established by a passing restraint determination unit of the vehicle control device. In addition, when the passing restraint flag is established, a traveling plan for the host vehicle not to pass the preceding vehicle ahead is generated by a traveling plan generation unit of the vehicle control device. The passing restraint determination unit establishes the passing restraint flag when there is the possibility of an inappropriate operation of passing occurring such as when a distance between a merging point of a traveling lane along which the host vehicle travels and a merging lane merging into the traveling lane, and a position of the preceding vehicle having passed through the merging point is equal to or less than a third threshold.
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公开(公告)号：US12122405B2
公开(公告)日：2024-10-22
申请号：US17656990
申请日：2022-03-29
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takahiro Kawano , Ryuta Hashimoto , Takahiro Seta , Kota Harada , Yuki Mori
CPC classification number: B60W50/14 , G01C21/3461 , G01C21/387 , G01C21/3896 , B60W2050/146 , B60W2420/403 , B60W2554/4045
Abstract: A vehicle control device has a processor configured to determine whether a first road exists where the vehicle is to exit from the traveling road, and when a first road exists, to set a lane change schedule zone based on a first connecting location, to determine whether a second road located on the same side of the traveling direction of the vehicle as the first road exists between the current location of the vehicle and the first connecting location, to change a start location of the lane change schedule zone based on a second connecting location, when a second road exists and the start location of the lane change schedule zone is at a second connecting location, or before the second connecting location, and to notify the driver of the plan to move the vehicle between lanes while the vehicle is traveling in the lane change schedule zone.
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公开(公告)号：US11932252B2
公开(公告)日：2024-03-19
申请号：US17160773
申请日：2021-01-28
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Eiki Kitagawa , Yuma Ito
IPC: B60W30/18 , B60W40/09 , B60W50/10 , B60W50/12 , B60W60/00 , G06V10/764 , G06V20/56 , G06V20/58 , G06V20/59
CPC classification number: B60W30/18163 , B60W40/09 , B60W50/10 , B60W50/12 , B60W60/0059 , G06V10/764 , G06V20/58 , G06V20/588 , G06V20/59 , B60W2420/403 , B60W2420/52 , B60W2554/4045 , B60W2554/4049
Abstract: A vehicle control device has a processor configured to decide on standby time for waiting until a vehicle that is capable of automatic control for at least one vehicle operation from among driving, braking and steering is to begin the operation for the lane change, based on either first information indicating the degree to which the driver contributes to control of the vehicle or second information representing the extent to which manual control of the vehicle by the driver is possible, the greater the degree to which the driver contributes to control of the vehicle, represented by the first information, or the extent to which manual control of the vehicle by the driver is possible, represented by the second information, the shorter the standby time.
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公开(公告)号：US11834062B2
公开(公告)日：2023-12-05
申请号：US17363730
申请日：2021-06-30
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Yuma Ito
CPC classification number: B60W50/14 , B60W30/18163 , B60W40/06 , B60W60/0053 , B60W60/0057 , B60W2050/146
Abstract: A notification location setting device comprises a notification device, and a processor configured to set on a traveling road a notification location where the driver is to be notified of a control switching request for switching operation of the vehicle from automatic control to manual control, based on the shape of a width-varying zone where the width of the traveling road varies before a merging location, in a case where a merging location where the traveling road on which the vehicle is traveling within a traveling route toward the destination location of the vehicle merges with another road, and to notify the driver of the control switching request via the notification device when the vehicle has not entered the other road at the notification location.
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公开(公告)号：US11797002B2
公开(公告)日：2023-10-24
申请号：US17564957
申请日：2021-12-29
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto
CPC classification number: G05D1/0061 , B60W50/14 , G05D1/0088 , B60K2370/175 , B60K2370/186 , 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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