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公开(公告)号：US20220063611A1
公开(公告)日：2022-03-03
申请号：US17522053
申请日：2021-11-09
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：US10649454B2
公开(公告)日：2020-05-12
申请号：US15843986
申请日：2017-12-15
发明人： Yoji Kunihiro , Yoshio Kudo , Takahiro Kojo , Masateru Amano
摘要： An autonomous vehicle having a control unit that is configured to perform autonomous driving in which a steered angle of steered wheels is changed by a steering device so that a steering angle becomes a target steering angle for making the vehicle travel along a target trajectory, and to control the steering device so that a lane change is performed in a standard manner when the lane change is necessary. In a situation where the lane change is necessary and a steering operation is being performed by a driver, when a magnitude of an index value based on a parameter that changes according to the steering operation is smaller than a termination reference value, the control device does not terminate the autonomous driving and changes a target trajectory of the lane change according to the magnitude of the index value.
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公开(公告)号：US11188076B2
公开(公告)日：2021-11-30
申请号：US16243613
申请日：2019-01-09
摘要： An autonomous driving system installed on a vehicle includes: an information acquisition device configured to acquire driving environment information indicating driving environment for the vehicle; and an autonomous driving control device configured to control autonomous driving of the vehicle based on the driving environment information. The driving environment information includes: map information; and size information indicating a size of a routing object that moves integrally with the vehicle. The autonomous driving control device refers to the map information and the size information to determine a travel route through which the routing object can pass without protruding from a roadway as a target travel route to a destination.
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公开(公告)号：US20180203461A1
公开(公告)日：2018-07-19
申请号：US15868628
申请日：2018-01-11
发明人： Shuichi Yokokawa , Koji Taguchi , Yutaka Aoki , Masateru Amano
CPC分类号： G05D1/0274 , B60W40/06 , B60W2550/141 , G01C21/30 , G05D1/0088 , G05D1/0278 , G05D2201/0213 , G06K9/00798 , G06K9/00805
摘要： A vehicle control system includes a vehicle-mounted sensor, a map database, a control rule database, and an electronic control unit. The electronic control unit is configured to recognize the position of a vehicle on a map; control traveling of the vehicle by using one of a plurality of control rules based on the position of the vehicle on the map, map information, and a detection result of the vehicle-mounted sensor; recognize a road section in the traveling direction of the vehicle based on the position of the vehicle on the map and the map information; specify a control rule used in the road section based on the recognized road section and control rule data; and control traveling of the vehicle in the road section by using the specified control rule.
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公开(公告)号：US11479244B2
公开(公告)日：2022-10-25
申请号：US16851613
申请日：2020-04-17
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：US10990108B2
公开(公告)日：2021-04-27
申请号：US15868628
申请日：2018-01-11
发明人： Shuichi Yokokawa , Koji Taguchi , Yutaka Aoki , Masateru Amano
摘要： A vehicle control system includes a vehicle-mounted sensor, a map database, a control rule database, and an electronic control unit. The electronic control unit is configured to recognize the position of a vehicle on a map; control traveling of the vehicle by using one of a plurality of control rules based on the position of the vehicle on the map, map information, and a detection result of the vehicle-mounted sensor; recognize a road section in the traveling direction of the vehicle based on the position of the vehicle on the map and the map information; specify a control rule used in the road section based on the recognized road section and control rule data; and control traveling of the vehicle in the road section by using the specified control rule.
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公开(公告)号：US10336366B2
公开(公告)日：2019-07-02
申请号：US15655343
申请日：2017-07-20
发明人： Yoji Kunihiro , Yoshio Kudo , Takahiro Kojo , Yoshiaki Suzuki , Masao Ueyama , Takeshi Goto , Yukihide Kimura , Masateru Amano
IPC分类号： B62D6/00 , B62D7/15 , B62D15/02 , B60W40/068 , B60W40/072
摘要： A driving support apparatus for a vehicle comprising a steering device that steers steerable wheels, and a control unit configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device, the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate a target change amount of the steered angle based on the index value deviation, to control the steering device so that a change amount of the steered angle conforms to the target change amount, and to limit a magnitude of a time change rate of the steered angle changed by the running control when one of a magnitude of the index value deviation and a magnitude of the target change amount exceeds a reference value.
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公开(公告)号：US11180138B2
公开(公告)日：2021-11-23
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：US10752234B2
公开(公告)日：2020-08-25
申请号：US15901440
申请日：2018-02-21
发明人： Yoji Kunihiro , Hiroki Asada , Yoshio Kudo , Takahiro Yokota , Masateru Amano
IPC分类号： B60W10/06 , B60W10/20 , B60W30/12 , B62D15/02 , F02D17/04 , F02D29/02 , F02N11/08 , F02D41/06 , F02D41/04
摘要： A SS control device is configured to: be allowed to stop an internal combustion engine when a required voltage is smaller than or equal to a first voltage value under a state where a stopping condition is satisfied, and be prohibited from stopping the internal combustion engine when the required voltage is larger than the first voltage value under a state where the stopping condition is satisfied; and be allowed to restart the internal combustion engine when the required voltage is smaller than or equal to a second voltage value smaller than the first voltage value under a state where the restart condition is satisfied, and be prohibited from restarting the internal combustion engine when the required voltage is larger than the second voltage value under a state where the restart condition is satisfied.
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公开(公告)号：US20190265695A1
公开(公告)日：2019-08-29
申请号：US16243613
申请日：2019-01-09
摘要： An autonomous driving system installed on a vehicle includes: an information acquisition device configured to acquire driving environment information indicating driving environment for the vehicle; and an autonomous driving control device configured to control autonomous driving of the vehicle based on the driving environment information. The driving environment information includes: map information; and size information indicating a size of a routing object that moves integrally with the vehicle. The autonomous driving control device refers to the map information and the size information to determine a travel route through which the routing object can pass without protruding from a roadway as a target travel route to a destination.
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