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公开(公告)号：US12210347B2
公开(公告)日：2025-01-28
申请号：US17565143
申请日：2021-12-29
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：US20250026353A1
公开(公告)日：2025-01-23
申请号：US18631830
申请日：2024-04-10
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Takahiro Seta
Abstract: A vehicle control device has a processor configured to determine whether a difficult traveling zone exists between a lane change completion location and a current location of the vehicle, to calculate a first distance between an end point of the difficult traveling zone in the traveling direction of the vehicle and the lane change completion location when the difficult traveling zone exists, to determine whether the first distance is at least a reference distance, and to decide to execute a lane change for movement of the vehicle to the target lane after the vehicle has passed through the difficult traveling zone when the first distance is at least the reference distance or to decide to execute a lane change for movement of the vehicle to the target lane before the vehicle reaches the difficult traveling zone when the first distance is less than the reference distance.
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公开(公告)号：US12157466B2
公开(公告)日：2024-12-03
申请号：US18157927
申请日：2023-01-23
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takahiro Seta , Ryuta Hashimoto , Kota Harada , Soichi Yoshino
Abstract: A vehicle controller includes a processor configured to detect a lane on which a vehicle is traveling, determine whether the position of the detected lane relative to an edge of a road being traveled by the vehicle may differ from an actual position, identify first control of the vehicle required to execute on the detected lane and second control of the vehicle required to execute on an adjoining lane adjoining the detected lane, omit to execute the first control when the position of the detected lane may differ from the actual position and the first control is prohibited on the adjoining lane, and execute the second control when the position of the detected lane may differ from the actual position and the second control exists.
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公开(公告)号：US11681290B2
公开(公告)日：2023-06-20
申请号：US17529888
申请日：2021-11-18
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Hiroki Fukuda , Akira Ito
CPC classification number: G05D1/0061 , B60Q9/00 , B60W30/18163 , B60W50/082 , B60W50/14 , G05D1/0088 , G05D1/0212 , B60W2520/10 , B60W2552/00 , B60W2554/80 , B60W2720/106 , G05D2201/0213
Abstract: When conditions have not been satisfied from a timing at which a first position of the interflow zone was set to a timing at which the subject vehicle reaches the first position, the first position is set as a start position where a notification for urging a handover of a central player of the subject vehicle is performed. When the condition for automatic interflow is satisfied for the first time at the timing at which the subject vehicle reaches the first position, a second position between the first position and a distal end of the interflow zone is set as the start position.
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公开(公告)号：US10981569B2
公开(公告)日：2021-04-20
申请号：US16135384
申请日：2018-09-19
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Hiroki Fukuda , Akira Ito
Abstract: An autonomous driving system includes a lane change control device that performs lane change control for making a lane change from a first lane to a second lane during autonomous driving of a vehicle. From start to completion of the lane change control, the lane change control device determines whether or not a driver's operation is performed as an abort request operation that requests to abort the lane change control. Specifically, the lane change control device: calculates abort necessity level indicating necessity to abort the lane change control, based on driving environment information indicating driving environment for the vehicle; sets criterion for determination such that the criterion becomes more easily satisfied as the abort necessity level increases; and when the driver's operation satisfies the criterion for determination, determines that the driver's operation is performed as the abort request operation.
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Patent Agency Ranking
公开(公告)号：US10788825B2
公开(公告)日：2020-09-29
申请号：US16131293
申请日：2018-09-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto
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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公开(公告)号：US10691125B2
公开(公告)日：2020-06-23
申请号：US15826307
申请日：2017-11-29
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe
Abstract: A blinker judgment device for a vehicle includes: an information acquisition device that acquires surrounding situation information indicating a situation around the vehicle; and a control device that performs blinker judgment processing based on the surrounding situation information. The surrounding situation information includes image information of a target vehicle imaged by a camera. The control device performs: recognizing blinker flashing of the target vehicle based on the image information; checking, based on the surrounding situation information, whether or not there is a reasonable cause for the target vehicle to make a lane change, when the blinker flashing is recognized; and judging that the target vehicle is not in a process of the blinker flashing when the cause does not exist while judges that the target vehicle is in a process of the blinker flashing when the cause exists.
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公开(公告)号：US10663973B2
公开(公告)日：2020-05-26
申请号：US15669049
申请日：2017-08-04
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.
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公开(公告)号：US20190248382A1
公开(公告)日：2019-08-15
申请号：US16220090
申请日：2018-12-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Ryuta Hashimoto , Akira Ito
CPC classification number: B60W50/14 , B60W10/02 , B60W10/08 , B60W2050/143 , G05D1/0061 , G05D1/0088 , G05D2201/0213
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：US20180148060A1
公开(公告)日：2018-05-31
申请号：US15729141
申请日：2017-10-10
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe
IPC: B60W30/18
Abstract: An autonomous driving system includes: an information acquisition device configured to acquire driving environment information indicating driving environment for a vehicle; and a lane change control device configured to control lane change of the vehicle based on the driving environment information. When determining that the lane change can be started at a standard timing, the lane change control device performs delay processing that delays an actual start timing of the lane change from the standard timing. The lane change control device variably sets a delay tune from the standard timing to the actual start timing according to the driving environment.
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