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公开(公告)号：US11618473B2
公开(公告)日：2023-04-04
申请号：US17019804
申请日：2020-09-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takayuki Goto , Yoshinori Watanabe , Nobuhide Kamata , Kazuyuki Fujita , Masahiro Harada
Abstract: A vehicle travel control device executes vehicle travel control such that a vehicle follows a target trajectory. An automated driving control device generates a first target trajectory that is the target trajectory for automated driving of the vehicle. The vehicle travel control device further determines whether or not an activation condition of travel assist control is satisfied. When the activation condition is satisfied, the vehicle travel control device generates a second target trajectory that is the target trajectory for the travel assist control. Even when the second target trajectory is generated during the automated driving, or when the second target trajectory is generated during the automated driving and a priority condition for giving priority to the first target trajectory is satisfied, the vehicle travel control device executes the vehicle travel control by giving more weight to the first target trajectory than to the second target trajectory.
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公开(公告)号：US20210107528A1
公开(公告)日：2021-04-15
申请号：US17069018
申请日：2020-10-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kazuyuki Fujita , Yoshinori Watanabe , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
IPC: B60W60/00 , B60W30/095 , B60W30/09 , B60W40/04 , G06K9/00
Abstract: A vehicle control system includes a first unit configured to generate a target trajectory based on a travel plan of the vehicle, and a second unit configured to execute vehicle travel control such that the vehicle follows the target trajectory. During the automated driving, the first unit transmits automated driving information to the second unit. The system includes a memory device in which driving environment information is stored, and a processor for controlling a travel control amount. During the automated driving, the processor executes preventive safety control for intervening in the travel control amount so as to prevent or avoid a collision between the vehicle and an obstacle based on the driving environment information. In the preventive safety control, the processor changes an intervention degree to the travel control amount based on the automated driving information.
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公开(公告)号：US12258042B2
公开(公告)日：2025-03-25
申请号：US18491394
申请日：2023-10-20
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yoshinori Watanabe , Kazuyuki Fujita , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
Abstract: A vehicle control system for an autonomous vehicle includes: a first control device configured to generate a first driving plan including desired lateral lane driving positions or desired lateral lane driving position ranges; a plurality of first sensors configured to obtain information on motion of the vehicle and information on surroundings of the vehicle; and a second control device configured to communicate with the first control device, generate, based on the first driving plan obtained from the first control device and the information obtained by the first sensors, a second driving plan different from the first driving plan, the second driving plan including target lateral lane driving positions or target lateral lane driving position ranges, and control driving operation of the vehicle based on the second driving plan.
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公开(公告)号：US11724715B2
公开(公告)日：2023-08-15
申请号：US17069213
申请日：2020-10-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Yoshinori Watanabe , Kazuyuki Fujita , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
IPC: B60W60/00 , G01C21/34 , B60W30/095 , B60W30/09
CPC classification number: B60W60/0011 , B60W60/0015 , G01C21/3461 , B60W30/09 , B60W30/0956
Abstract: A vehicle control system generates a first target trajectory, which is a target trajectory for an automated driving of a vehicle, and executes vehicle travel control based on the first target trajectory. The vehicle control system generates a second target trajectory which is a target trajectory which does not conflict with a restrict condition, when the travel based on the first target trajectory conflicts with a safety restrict condition, and executes travel assist control by using the second target trajectory. The vehicle control system judges whether or not a resurgence condition is satisfied by using the first target trajectory that is generated during the execution of the travel assist control. If it is judged that the resurgence condition is satisfied, the vehicle control system returns to the execution of the vehicle travel control from that of the travel assist control.
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公开(公告)号：US11628835B2
公开(公告)日：2023-04-18
申请号：US17069018
申请日：2020-10-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kazuyuki Fujita , Yoshinori Watanabe , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
Abstract: A vehicle control system includes a first unit configured to generate a target trajectory based on a travel plan of the vehicle, and a second unit configured to execute vehicle travel control such that the vehicle follows the target trajectory. During the automated driving, the first unit transmits automated driving information to the second unit. The system includes a memory device in which driving environment information is stored, and a processor for controlling a travel control amount. During the automated driving, the processor executes preventive safety control for intervening in the travel control amount so as to prevent or avoid a collision between the vehicle and an obstacle based on the driving environment information. In the preventive safety control, the processor changes an intervention degree to the travel control amount based on the automated driving information.
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Patent Agency Ranking
公开(公告)号：US20210146956A1
公开(公告)日：2021-05-20
申请号：US17098808
申请日：2020-11-16
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kazuyuki Fujita , Yoshinori Watanabe , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
Abstract: A vehicle traveling control system according to the example in the present disclosure communicates with an automatic operation control system which drafts a traveling plan of the vehicle, and performs an automatic traveling control for automatically running the vehicle along the traveling plan received from the automatic operation control system. The vehicle traveling control system predicts a risk based on information about surrounding environment of the vehicle, and performs, when the risk is predicted, a risk avoidance control to intervene in the automatic traveling control in order to avoid the risk. When the risk avoidance control is executed, the vehicle traveling control system transmits information on the risk avoidance control to the automatic operation control system.
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公开(公告)号：US12017682B2
公开(公告)日：2024-06-25
申请号：US17069106
申请日：2020-10-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kazuyuki Fujita , Yoshinori Watanabe , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
CPC classification number: B60W60/0011 , B60W30/146 , B60W60/0015 , G01C21/3461
Abstract: A vehicle control system generates at least one primary candidate of a target trajectory for an automated driving of a vehicle and executes a primary evaluation. An evaluation index of the primary evaluation includes a travel safety level of a travel to follow the primary candidate. The primary candidate having highest travel safety level is selected as at least one strong candidate of the target trajectory. If only one is selected as the strong candidate, the vehicle control system determines the selected strong candidate as a finalist candidate of the target trajectory. If two or more strong candidates are selected, the vehicle control system executes a secondary evaluation for the strong candidates to determine the finalist candidate. An additional evaluation index is used in the secondary evaluation.
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公开(公告)号：US11834068B2
公开(公告)日：2023-12-05
申请号：US17029517
申请日：2020-09-23
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yoshinori Watanabe , Kazuyuki Fujita , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
CPC classification number: B60W60/0011 , B60W30/12 , B60W30/18163 , B60W2552/10 , B60W2554/20 , B60W2554/40
Abstract: A vehicle control system for an autonomous vehicle includes: a first control device configured to generate a first driving plan including desired lateral lane driving positions or desired lateral lane driving position ranges; a plurality of first sensors configured to obtain information on motion of the vehicle and information on surroundings of the vehicle; and a second control device configured to communicate with the first control device, generate, based on the first driving plan obtained from the first control device and the information obtained by the first sensors, a second driving plan different from the first driving plan, the second driving plan including target lateral lane driving positions or target lateral lane driving position ranges, and control driving operation of the vehicle based on the second driving plan.
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公开(公告)号：US20210107517A1
公开(公告)日：2021-04-15
申请号：US17069213
申请日：2020-10-13
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Yoshinori Watanabe , Kazuyuki Fujita , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
Abstract: A vehicle control system generates a first target trajectory, which is a target trajectory for an automated driving of a vehicle, and executes vehicle travel control based on the first target trajectory. The vehicle control system generates a second target trajectory which is a target trajectory which does not conflict with a restrict condition, when the travel based on the first target trajectory conflicts with a safety restrict condition, and executes travel assist control by using the second target trajectory. The vehicle control system judges whether or not a resurgence condition is satisfied by using the first target trajectory that is generated during the execution of the travel assist control. If it is judged that the resurgence condition is satisfied, the vehicle control system returns to the execution of the vehicle travel control from that of the travel assist control.
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公开(公告)号：US20210107514A1
公开(公告)日：2021-04-15
申请号：US17029517
申请日：2020-09-23
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yoshinori WATANABE , Kazuyuki Fujita , Takayuki Goto , Masahiro Harada , Nobuhide Kamata
Abstract: A vehicle control system for an autonomous vehicle includes: a first control device configured to generate a first driving plan including desired lateral lane driving positions or desired lateral lane driving position ranges; a plurality of first sensors configured to obtain information on motion of the vehicle and information on surroundings of the vehicle; and a second control device configured to communicate with the first control device, generate, based on the first driving plan obtained from the first control device and the information obtained by the first sensors, a second driving plan different from the first driving plan, the second driving plan including target lateral lane driving positions or target lateral lane driving position ranges, and control driving operation of the vehicle based on the second driving plan.
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