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公开(公告)号：US20230072740A1
公开(公告)日：2023-03-09
申请号：US18056575
申请日：2022-11-17
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Go INOUE , Yoshinori Watanabe , Hirotaka Tokoro
Abstract: 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：US20200339152A1
公开(公告)日：2020-10-29
申请号：US16801912
申请日：2020-02-26
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Go INOUE , Yoshinori WATANABE , Hirotaka TOKORO
Abstract: 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：US20230356749A1
公开(公告)日：2023-11-09
申请号：US18355184
申请日：2023-07-19
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Go INOUE , Yoshinori Watanabe , Hirotaka Tokoro
CPC classification number: B60W60/0011 , B60W60/0015 , B60W30/12
Abstract: 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：US20200070875A1
公开(公告)日：2020-03-05
申请号：US16504429
申请日：2019-07-08
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Go INOUE , Masaki SHIOTA , Hirotaka TOKORO
IPC: B62D6/00
Abstract: A vehicle control system installed on a vehicle executes turning control that controls a turning device configured to turn a wheel of the vehicle. The turning control includes: first turning control that generates a target trajectory and makes the vehicle follow the target trajectory; and second turning control that is executed independently of the first turning control without depending on the target trajectory. When the first turning control and the second turning control are executed simultaneously, the vehicle control system determines whether the first turning control counteracts turning by the second turning control. When the first turning control counteracts the turning by the second turning control, the vehicle control system replans the target trajectory by designating at least one of a current position and a current yaw angle of the vehicle as a starting point of the target trajectory.
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公开(公告)号：US20240400011A1
公开(公告)日：2024-12-05
申请号：US18665779
申请日：2024-05-16
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Go INOUE , Noritsugu IWAZAKI , Takeshi KANOU , Yuki OKAMOTO , Yoshinori WATANABE , Daiki YOKOYAMA , Kento IWAHORI
IPC: B60T7/12
Abstract: A control device configured to remotely control mobile objects includes: a generation section configured to generate a control command corresponding to each mobile object; a transmission section configured to transmit, to each mobile object, the control command corresponding to the mobile object; an information acquisition section configured to acquire command information related to the control command, internal sensor information related to a state of movement of the mobile object detected by an internal sensor mounted in the mobile object, and external sensor information related to a state of movement of the mobile object detected by an external sensor located outside the mobile object; and a detection section configured to detect that the control command is transmitted from the transmission section to one of the mobile objects not corresponding to the control command, by comparing at least two of the command information, the internal sensor information, and the external sensor information.
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Patent Agency Ranking
公开(公告)号：US20180181130A1
公开(公告)日：2018-06-28
申请号：US15796056
申请日：2017-10-27
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Go INOUE , Mitsutaka TANIMOTO , Takahiro YOKOTA , Yoshio KUDO , Yutaka AOKI
CPC classification number: G05D1/021 , B62D1/28 , B62D5/008 , B62D5/0457 , B62D5/0472 , B62D15/025
Abstract: A vehicle travel control device includes: an EPS device turning a wheel of a vehicle; a VCRS device capable of changing a ratio of a steering wheel angle and a steering angle of the wheel; and a control device performing autonomous driving control that controls autonomous driving of the vehicle. The autonomous driving control includes: target steering angle calculation processing that calculates a target steering angle of the wheel; turning control that actuates the EPS device to turn the wheel such that the steering angle of the wheel becomes the target steering angle; and steering wheel angle control that actuates, based on the target steering angle, the VGRS device in a direction to suppress a change in the steering wheel angle caused by the turning control.
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公开(公告)号：US20250086822A1
公开(公告)日：2025-03-13
申请号：US18769806
申请日：2024-07-11
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Go INOUE , Noritsugu IWAZAKI , Takeshi KANOU , Daiki YOKOYAMA
Abstract: A vehicle detection apparatus includes: a detection unit configured to detect, using at least one of state information indicating a state of a vehicle capable of running by unmanned driving obtained from a detector provided on the vehicle, an image of the vehicle, 3D point cloud data of the vehicle, and position information of the vehicle, that at least one wheel provided in the vehicle departs from a transport unit of a transport device, and output a detection result, the transport unit being capable of transporting the vehicle.
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公开(公告)号：US20240409118A1
公开(公告)日：2024-12-12
申请号：US18638284
申请日：2024-04-17
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yushi SHIBAIKE , Go INOUE , Yutaka AOKI , Yushi NAGATA , Shogo TAKAHIRA , Takahiro KOJO , Yoji KUNIHIRO , Hiroki SHIZUHATA
Abstract: An autonomous vehicle control device configured to determine a control input for causing an automatic driving to travel along a target trajectory determined based on an estimated current location of the vehicle by repeatedly performing a predetermined calculation, wherein the controller estimates the current location by correcting the location of the vehicle on the map data based on the relative location of the vehicle on the traveling road, and adjusts a predetermined parameter in the predetermined calculation in accordance with the amount of correction so that the number of repeated calculations is reduced when it is determined that the estimation of the current location is not accurate based on the amount of correction of the location at that time.
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公开(公告)号：US20240343260A1
公开(公告)日：2024-10-17
申请号：US18597305
申请日：2024-03-06
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yoji KUNIHIRO , Takahiro KOJO , Yuntaka AOKI , Go INOUE , Yushi SHIBAIKE , Yushi NAGATA
CPC classification number: B60W50/10 , B60W60/001 , B62D6/00 , B60W2520/14 , B60W2540/18
Abstract: An intervention operation determination apparatus includes: a steering unit operated by a driver; a steering wheel to be turned in conjunction with the operation of the steering unit; and a detection unit that detects an operation amount of the steering unit when a steering force that turns the steering wheel is generated. The intervention operation determination apparatus determines that the driver has operated the steering unit during autonomous driving in which traveling by controlling an actuator without an operation of the steering unit by the driver is performed. The intervention operation determination apparatus further includes a controller that controls the actuator. The controller determines that there has been an intervention operation in which the driver operates the steering unit based on a deviation between a target steering angle in the autonomous driving and an actual steering angle based on an operation amount detected by the detection unit.
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公开(公告)号：US20250147521A1
公开(公告)日：2025-05-08
申请号：US18801914
申请日：2024-08-13
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kento IWAHORI , Noritsugu IWAZAKI , Go INOUE , Takeshi KANOU , Yuki OKAMOTO , Jyunya KATOU
IPC: G05D1/661 , B62D65/18 , G05D107/70
Abstract: A control system is configured to control movement of a mobile object that is configured to be conveyed by unmanned driving at least in a manufacturing process, and the control system includes: a stop position identification section configured to identify a stop position at which the mobile object is stopped on a conveying part of a conveyance apparatus including the conveying part configured to convey the mobile object; and a control command section configured to generate and output a control command to cause the mobile object to enter the conveying part according to the stop position.
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