公开(公告)号：US20220306114A1

公开(公告)日：2022-09-29

申请号：US17656348

申请日：2022-03-24

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Yoji KUNIHIRO ,  Takahiro KOJO ,  Hisaya AKATSUKA ,  Hirotaka TOKORO

IPC: B60W30/18 ,  B60W30/12 ,  B60W50/08 ,  B60W10/20 ,  G06V20/56

Abstract: A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.

公开(公告)号：US20200339152A1

公开(公告)日：2020-10-29

申请号：US16801912

申请日：2020-02-26

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Go INOUE ,  Yoshinori WATANABE ,  Hirotaka TOKORO

IPC: B60W60/00 ,  B60W30/12

Abstract: A vehicle travel control device executes trajectory following control to make the vehicle follow a target trajectory. A delay time represents control delay of the trajectory following control. A delay compensation time is at least a part of the delay time. The trajectory following control includes: displacement estimation processing that estimates a displacement of the vehicle in the delay compensation time; and delay compensation processing that corrects a deviation between the vehicle and the target trajectory based on the estimated displacement to compensate the control delay. The displacement estimation processing is effective in an effective period and ineffective in an ineffective period. When the ineffective period is included in the delay time of the trajectory following control, the displacement estimation processing is executed in a temporary mode by using sensor-detected information in the effective period without using the sensor-detected information in the ineffective period.

公开(公告)号：US20180057053A1

公开(公告)日：2018-03-01

申请号：US15683575

申请日：2017-08-22

Applicant: DENSO CORPORATION

Inventor： Hirotaka TOKORO

IPC: B62D15/02 ,  B60W30/12

CPC classification number: B62D15/025 ,  B60W10/20 ,  B60W30/10 ,  B60W30/12 ,  B60W2050/0008 ,  B60W2520/14 ,  B60W2550/146 ,  B60W2720/14

Abstract: An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory by transmitting a control command value to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a first control command value calculator is configured to calculate a first control command value used to calculate the control command value. A straight-driving stabilizing compensator is configured to, when the mobile object is driving straight, calculate a first control command compensation value by decreasing the first control command value. A second control command value calculator is configured to calculate a second control command value used to calculate the control command value. A third control command value calculator is configured to calculate a final control command value based on the first control command compensation value and the second control command value.

公开(公告)号：US20210316724A1

公开(公告)日：2021-10-14

申请号：US17221345

申请日：2021-04-02

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA ,  DENSO CORPORATION

Inventor： Takahiro KOJO ,  Yoji KUNIHIRO ,  Hisashi KAJITA ,  Hisaya AKATSUKA ,  Hirotaka TOKORO

IPC: B60W30/12 ,  B60W60/00 ,  B60W40/072 ,  B60W10/20 ,  G06K9/00

Abstract: A vehicle control system includes an information acquirer configured to acquire vehicle surrounding information, and a controller configured to execute driving assistance control. The controller is configured to set a first line as a target traveling line when an operation status of the driving assistance control is ON. The controller is configured to set, when a driving switching request is made, the target traveling line to cause a vehicle to travel along a second line displaced from the first line by a predetermined displacement amount after a specific timing that is a timing when a predetermined time has elapsed from a requested timing.

公开(公告)号：US20180057054A1

公开(公告)日：2018-03-01

申请号：US15683585

申请日：2017-08-22

Applicant: DENSO CORPORATION

Inventor： Hirotaka TOKORO

IPC: B62D15/02 ,  B60K31/00 ,  B60R11/04 ,  B60T7/22 ,  B60W10/20 ,  G06K9/00 ,  G08G1/16

CPC classification number: B62D15/025 ,  B60K31/0008 ,  B60R11/04 ,  B60T7/18 ,  B60T7/22 ,  B60T8/1755 ,  B60T8/17557 ,  B60T2201/022 ,  B60T2201/089 ,  B60W10/20 ,  B62D6/002 ,  G06K9/00791 ,  G06K9/00805 ,  G06T2207/30261 ,  G08G1/167

Abstract: An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory (La) by transmitting a control command value (δ) to a yaw moment controller capable of controlling a yaw moment of the mobile object. In the apparatus, a setpoint trajectory setter is configured to set the setpoint trajectory (La) of the mobile object. A control command value calculator is configured to calculate the control command value (δ) based on an integrated value (δI) of a lateral error that is an error between a position of the mobile object and the setpoint trajectory. The control command value calculator is further configured to decrease the integrated value (δI) with decreasing a curvature (ρ) of a road on which the mobile object is traveling.

公开(公告)号：US20180056970A1

公开(公告)日：2018-03-01

申请号：US15683626

申请日：2017-08-22

Applicant: DENSO CORPORATION

Inventor： Hirotaka TOKORO ,  Hiroshi INOU

IPC: B60W10/20 ,  B60W40/072

CPC classification number: B60W10/20 ,  B60W30/10 ,  B60W40/072 ,  B60W50/0097 ,  B60W2550/146 ,  B60W2710/207 ,  B60W2720/14

Abstract: An apparatus for performing driving aid control to cause a travel trajectory of a mobile object to follow a setpoint trajectory by transmitting a control command value to a yaw moment controller. In the apparatus, a setpoint trajectory setter sets the setpoint trajectory of the mobile object. A first control command value calculator calculates a first control command value by performing target-position following control to cause a position of the mobile object to follow a future target position of the mobile object set on the setpoint trajectory. A second control command value calculator calculates a second control command value by performing setpoint-trajectory following control based on a current lateral error that is a lateral error between a current position of the mobile object and the setpoint trajectory. A third control command value calculator calculates the control command value based on the first control command value and the second control command value.