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公开(公告)号：US12112279B2
公开(公告)日：2024-10-08
申请号：US17485893
申请日：2021-09-27
发明人： Yusuke Hayashi , Taichi Kawanai , Daichi Hotta
CPC分类号： G06N7/01 , G05B13/0265
摘要： A distribution calculation process, a similarity level calculation process, a similarity level evaluation process, and a collision determination process are executed. In the distribution calculation process, a probability density distribution related to a future position of a moving object is calculated for each behavior pattern using position data and speed data of the moving object, error data thereof, and a plurality of behavior models set for each behavior pattern corresponding to a type of the moving object. In the similarity level calculation process, a similarity level between the probability density distribution and a reference probability density distribution is calculated for each behavior pattern. In the similarity level evaluation process, the similarity level is evaluated. The similarity level includes an out-of-range level falling below a similarity allowable range. In the similarity level evaluation process, the behavior pattern having the out-of-range level is excluded from a target of the collision determination process.
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公开(公告)号：US11634132B2
公开(公告)日：2023-04-25
申请号：US16996442
申请日：2020-08-18
发明人： Taichi Kawanai
摘要： In deceleration set processing, first-class and second-class deceleration are specified. The first-class deceleration is deceleration of the vehicle corresponding to a first-class state. The first-class state is a state of a slowdown target of the vehicle. The second-class deceleration is deceleration of a following moving body corresponding to a second-class state. The second-class state is a state of the vehicle as viewed from the following moving body. If a minimum value of the first-class deceleration (a first-class minimum value) is equal to or greater than a minimum value of the second-class deceleration (a second-class minimum value), target deceleration is set to the first-class minimum value. Otherwise, based on a second-class minimum value phase, the target deceleration is set to deceleration equal to or greater than the second-class minimum value. The second-class minimum value phase is a phase to which the second-class minimum value belongs in a second deceleration feature.
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公开(公告)号：US20220289247A1
公开(公告)日：2022-09-15
申请号：US17684857
申请日：2022-03-02
发明人： Daichi Hotta , Taichi Kawanai , Yusuke Hayashi
IPC分类号： B60W60/00
摘要： A processor of a vehicle determines whether remote assistance from a remote facility is necessary during autonomous driving control. When determination is made that the remote assistance is necessary, the processor generates a target trajectory of the vehicle that includes an expected waiting position. The expected waiting position is a position where the vehicle is expected to wait for reception of an assistance signal from the remote facility. The processor calculates a traveling efficiency level indicating a level of traveling efficiency required in the vehicle, and calculates, based on the traveling efficiency level, a request timing to transmit a request signal for the remote assistance to the remote facility. When the traveling efficiency level is low in calculation of the request timing, the processor outputs a late timing.
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公开(公告)号：US20220172089A1
公开(公告)日：2022-06-02
申请号：US17485893
申请日：2021-09-27
发明人： Yusuke Hayashi , Taichi Kawanai , Daichi Hotta
摘要： A distribution calculation process, a similarity level calculation process, a similarity level evaluation process, and a collision determination process are executed. In the distribution calculation process, a probability density distribution related to a future position of a moving object is calculated for each behavior pattern using position data and speed data of the moving object, error data thereof, and a plurality of behavior models set for each behavior pattern corresponding to a type of the moving object. In the similarity level calculation process, a similarity level between the probability density distribution and a reference probability density distribution is calculated for each behavior pattern. In the similarity level evaluation process, the similarity level is evaluated. The similarity level includes an out-of-range level falling below a similarity allowable range. In the similarity level evaluation process, the behavior pattern having the out-of-range level is excluded from a target of the collision determination process.
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公开(公告)号：US11017247B2
公开(公告)日：2021-05-25
申请号：US16875042
申请日：2020-05-15
发明人： Yusuke Hayashi , Taichi Kawanai , Kentaro Ichikawa
摘要： Camera image information includes an image that is imaged by a camera installed on a vehicle. Lamp pattern information, which is information on a traffic signal having plural lamp parts, indicates a relative positional relationship between the plural lamp parts and an appearance of each lamp part when lighted. A system detects a subject traffic signal around the the vehicle based on the camera image information to acquire traffic signal detection information that indicates at least an appearance of each of plural detected parts of the subject traffic signal. The system compares the traffic signal detection information with the lamp pattern information. The system recognizes a lighting state of the plural lamp parts that is consistent with the appearance of each of the plural detected parts of the subject traffic signal as a lighting state of the subject traffic signal.
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公开(公告)号：US20240157967A1
公开(公告)日：2024-05-16
申请号：US18506832
申请日：2023-11-10
发明人： Takahiro Yokota , Atsushi Kodama , Hiroki Fukuda , Taichi Kawanai , Daichi Hotta , Nobuhide Kamata
CPC分类号： B60W60/001 , B60W10/18 , B60W30/02 , B60W2552/10 , B60W2552/15 , B60W2556/40 , B60W2710/18 , B60W2720/10
摘要： A vehicle control apparatus for performing autonomous driving of a host vehicle. The vehicle control apparatus includes an operating section information acquisition unit configured to acquire operating section information that is information of an operating section in which vehicle stability control by brake control has been operated in a vehicle in autonomous driving in the past; an operation plan generation unit configured to generate an operation plan of autonomous driving of the host vehicle based on a preset target route and map information; and a vehicle controller configured to perform autonomous driving along the operation plan, wherein the operation plan generation unit generates the operation plan so that the host vehicle does not stop in the operating section.
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公开(公告)号：US11899113B2
公开(公告)日：2024-02-13
申请号：US17483362
申请日：2021-09-23
发明人： Yusuke Hayashi , Taichi Kawanai , Sadayuki Abe
CPC分类号： G01S17/89 , G01J1/4204 , G01S7/4808 , G01S17/46
摘要： The vehicle position estimation apparatus that estimates the position of the host vehicle includes: a laser light irradiation unit configured to illuminate laser light; a light reception element configured to receive reflection light of the laser light and reflection light of ambient light which is light other than the laser light and be able to detect an intensity of each of the received reflection light; and a host position estimation unit configured to estimate the position of the host vehicle, based on a result of light reception of the reflection light of the laser light received by the light reception element and a result of light reception of the reflection light of the ambient light.
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公开(公告)号：US11709239B2
公开(公告)日：2023-07-25
申请号：US16823735
申请日：2020-03-19
发明人： Taichi Kawanai
IPC分类号： G01S7/497 , G01S17/931
CPC分类号： G01S7/497 , G01S17/931
摘要： The vehicle control system comprises a vehicle speed acquisition device, a rotary-typed LIDAR and a controller. The vehicle speed acquisition device is configured to acquire traveling speed of a vehicle. The LIDAR is configured to acquire surrounding information of the vehicle using a laser beam. The controller is configured to control a rotational movement of the LIDAR. The controller is configured to execute processing to set a cycle of the rotational movement based on the traveling speed. In the setting processing, the controller is configured to set the cycle during the traveling speed is relatively fast to a longer cycle than that during the traveling speed is relatively slow.
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公开(公告)号：US11680821B2
公开(公告)日：2023-06-20
申请号：US17548116
申请日：2021-12-10
发明人： Taichi Kawanai , Yasuhiro Takagi , Masahiro Harada , Nobuhide Kamata , Eiji Sakaguchi , Keisuke Hokai , Hideyuki Matsui , Kazuhiko Kamikado , Yusuke Hayashi , Hideo Fukamachi
IPC分类号： G01C21/00 , B60W30/09 , B60W30/182 , B60W50/00 , G01C21/34 , G08G1/0967 , G08G1/16
CPC分类号： G01C21/387 , B60W30/09 , B60W30/182 , B60W50/0098 , G01C21/3407 , G01C21/3896 , G08G1/096791 , G08G1/161 , G08G1/166 , B60W2556/50
摘要： A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.
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公开(公告)号：US20220137196A1
公开(公告)日：2022-05-05
申请号：US17483186
申请日：2021-09-23
发明人： Yusuke HAYASHI , Taichi Kawanai , Sadayuki Abe
摘要： The object detection apparatus detects an object target by using the LIDAR and the camera. The object detection apparatus includes a calibration processing unit that is configured to perform calibration of the LIDAR and the camera. The LIDAR includes a light reception element configured to receive reflection light of irradiated laser light and reflection light of ambient light which is light other than the laser light and to detect an intensity of the received reflection light of the ambient light. The calibration processing unit is configured to perform the calibration, based on a result of light reception of the received reflection light of the ambient light and the camera image captured by the camera.
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