公开(公告)号：US20200070875A1

公开(公告)日：2020-03-05

申请号：US16504429

申请日：2019-07-08

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Go INOUE ,  Masaki SHIOTA ,  Hirotaka TOKORO

IPC: B62D6/00

Abstract: A vehicle control system installed on a vehicle executes turning control that controls a turning device configured to turn a wheel of the vehicle. The turning control includes: first turning control that generates a target trajectory and makes the vehicle follow the target trajectory; and second turning control that is executed independently of the first turning control without depending on the target trajectory. When the first turning control and the second turning control are executed simultaneously, the vehicle control system determines whether the first turning control counteracts turning by the second turning control. When the first turning control counteracts the turning by the second turning control, the vehicle control system replans the target trajectory by designating at least one of a current position and a current yaw angle of the vehicle as a starting point of the target trajectory.

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：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.