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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
IPC分类号： B60W60/00 , B60W10/20 , G01C21/34 , B60W30/09 , B60W30/095 , B60W10/18 , B60W10/06 , B60W10/08
摘要： 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：US11529970B2
公开(公告)日：2022-12-20
申请号：US16801912
申请日：2020-02-26
发明人： Go Inoue , Yoshinori Watanabe , Hirotaka Tokoro
摘要： 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.
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公开(公告)号：US11352058B2
公开(公告)日：2022-06-07
申请号：US16364442
申请日：2019-03-26
发明人： Yutaro Hayashi , Yoshinori Watanabe
摘要： A vehicle traveling controller according to the present disclosure performs automatic steering so that a vehicle travels along a target path. The vehicle traveling controller allows a driver to intervene in steering. When the driver intervenes in steering and thereby a traveling position of the vehicle deviates outside from a threshold line set apart from the target path in a lane width direction, the vehicle traveling controller increases a steering reaction force acting on steering operation by the driver.
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公开(公告)号：US11275382B2
公开(公告)日：2022-03-15
申请号：US16848156
申请日：2020-04-14
IPC分类号： G05D1/02 , B60W40/04 , B60W50/14 , B60W10/18 , B60W10/20 , B60W30/14 , B60W30/18 , B60W50/00
摘要： 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：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：US20210107528A1
公开(公告)日：2021-04-15
申请号：US17069018
申请日：2020-10-13
IPC分类号： B60W60/00 , B60W30/095 , B60W30/09 , B60W40/04 , G06K9/00
摘要： 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：US20200307625A1
公开(公告)日：2020-10-01
申请号：US16829424
申请日：2020-03-25
发明人： Go Inoue , Yoshinori Watanabe , Hirotaka Tokoro
摘要： A vehicle has first and second wheels arranged in a longitudinal direction. In vehicle travel control, a control device calculates a control amount based on a parameter detected by a sensor and controls vehicle travel in accordance with the control amount. Modes of the vehicle travel control include first and second modes. In the first mode, a forward direction is from the second wheel toward the first wheel. In the second mode, the forward direction is from the first wheel toward the second wheel. The control device holds definition information that defines at least one of the detected parameter and the control amount. In the first mode, the control device executes the vehicle travel control in accordance with first definition information for the first mode. In the second mode, the control device executes the vehicle travel control in accordance with second definition information for the second mode.
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公开(公告)号：US10761540B2
公开(公告)日：2020-09-01
申请号：US15824674
申请日：2017-11-28
IPC分类号： G05D1/02 , G05D1/00 , G08G1/0967 , G06K9/00
摘要： An autonomous driving system has: an information acquisition device configured to acquire driving environment information indicating driving environment for a vehicle; and an autonomous driving control device configured to control autonomous driving of the vehicle based on the driving environment information. A forward event is an event that exists in front of the vehicle and causes the autonomous driving control device to change a travel state of the vehicle. The autonomous driving control device performs: event detection processing that detects the forward event based on the driving environment information; visually-recognizing timing estimation processing that estimates a visually-recognizing timing at which a driver of the vehicle is able to visually-recognize the forward event; and travel control processing that proposes or executes, at or after the visually-recognizing timing, travel control that changes the travel state according to the forward event.
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公开(公告)号：US20200272147A1
公开(公告)日：2020-08-27
申请号：US15931889
申请日：2020-05-14
摘要： A blinker judgment device mounted on a vehicle includes an information acquisition device configured to acquire surrounding situation information indicating a situation around the vehicle; and a control device configured to: recognize blinker flashing of a target vehicle based on image information of the target vehicle, check, based on the surrounding situation information, whether or not there is a cause for the target vehicle to make a lane change, in response to recognition of the blinker flashing based on the image information, judge that the recognition of the blinker flashing based on the image information is falsely positive in response to determining that the cause does not exist, and devise a travel plan based on the recognition of the blinker flashing in response to determining that the cause exists.
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公开(公告)号：US10723336B2
公开(公告)日：2020-07-28
申请号：US15264973
申请日：2016-09-14
发明人： Hiroki Fukuda , Yoshinori Watanabe
IPC分类号： B60T8/74 , B60W10/184 , B60W10/04 , B60W30/14 , B60T8/1755
摘要： An automatic deceleration control device includes an electronic control unit including a central processing unit, the electronic control unit configured to: acquire road-type information that is information about a type of a road on which a vehicle is traveling; set a maximum deceleration based on the road-type information; and output a signal to decelerate the vehicle at a first deceleration that is equal to or lower than the maximum deceleration, when an actual vehicle speed of the vehicle exceeds a target vehicle speed of the vehicle.
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