公开(公告)号：US20230286578A1

公开(公告)日：2023-09-14

申请号：US18091685

申请日：2022-12-30

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yuji WATARI ,  Ryo MATSUMOTO ,  Ryo IRIE

IPC: B62D6/10 ,  B62D5/04

CPC classification number: B62D6/10 ,  B62D5/0424

Abstract: A vehicle includes a steering device, a torque sensor, and an electronic control unit. The steering device includes a rack shaft, a steering shaft, and a turning actuator including an electric motor connected to the rack shaft or the steering shaft via a motion conversion mechanism. The torque sensor is configured to detect a steering torque by a driver, the torque sensor being attached to the steering shaft. The electronic control unit is configured to switch from turning of the wheels by an automatic steering control to turning of the wheels based on at least a steering operation by the driver in a case where a torque detected by the torque sensor exceeds a torque threshold value during execution of the automatic steering control of the wheels. The torque threshold value is changed in accordance with a temperature of the motion conversion mechanism.

公开(公告)号：US20230110521A1

公开(公告)日：2023-04-13

申请号：US17947691

申请日：2022-09-19

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ikuma SUZUKI ,  Yuji WATARI ,  Eisuke ANDO

IPC: B62D6/00 ,  B60W60/00

Abstract: An ADS performs processing including setting an initial value of a wheel steer angle command when an autonomous state has been set to an autonomous mode, obtaining a limitation of a rate, setting a wheel steer angle limitation as the wheel steer angle command when magnitude of the initial value is larger than the wheel steer angle limitation, and transmitting the wheel steer angle command.

公开(公告)号：US20230110748A1

公开(公告)日：2023-04-13

申请号：US17946350

申请日：2022-09-16

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ikuma SUZUKI ,  Yuji WATARI ,  Eisuke ANDO

IPC: B60W10/20 ,  B60W40/109 ,  B60W60/00

Abstract: An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and communication module configured to communicate with the VP. The compute assembly obtains from the VP, a prescribed reference on which control of a wheel steer angle is premised, calculates the steer angle in accordance with a driving plan for autonomous driving based on the obtained prescribed reference, and transmits a wheel steer angle command indicating the calculated steer angle to the VP. When the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, without storage of the prescribed reference on which control of the wheel steer angle is premised in advance in the ADK, control suited to a base vehicle can be carried out.

公开(公告)号：US20230112480A1

公开(公告)日：2023-04-13

申请号：US17947609

申请日：2022-09-19

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Ikuma SUZUKI ,  Yuji WATARI ,  Eisuke ANDO

IPC: B62D6/00 ,  B62D15/02 ,  B62D5/04

Abstract: An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and a communication module configured to communicate with the VP. The compute assembly obtains from the VP, a torque value relating to a steering system 33 through the communication module and transmits to the VP, a wheel steer angle command indicating the wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value. Even when a user intervenes with an operation while the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, stable steering can be achieved.

公开(公告)号：US20220340157A1

公开(公告)日：2022-10-27

申请号：US17725295

申请日：2022-04-20

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yuji WATARI ,  Masaya SATO ,  Ryo IRIE ,  Takeshi KANOU

IPC: B60W50/12 ,  B60W60/00 ,  G07C5/08

Abstract: A vehicle system, including: an on-board device mounted on a vehicle; and a control device configured to control the on-board device such that the vehicle travels in a target traveling state, wherein the control device includes: a predicting portion that predicts a state of the on-board device when the vehicle travels in the target traveling state; and a modifying portion that modifies the target traveling state when the control device determines based on the state of the on-board device predicted by the predicting portion that an operation of the on-board device needs to be limited.