公开(公告)号：US10300916B2

公开(公告)日：2019-05-28

申请号：US15554629

申请日：2016-03-30

Applicant: AISIN AW CO., LTD. ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hirohiko Goto ,  Yuji Sato ,  Kuniaki Tanaka ,  Masaki Takano

IPC: B60W30/18 ,  G06K9/00 ,  B60W30/14 ,  B60W30/12 ,  G05D1/00 ,  G05D1/02 ,  G01C21/36 ,  B62D15/02

Abstract: Autonomous driving assistance systems, methods, and programs obtain road information that specifies line types of lane markings and connection types of lanes and specify, when a vehicle travels with autonomous driving assistance, a planned route to be taken by the vehicle based on the road information. The systems, methods, and programs execute the autonomous driving assistance for the vehicle according to the specified planned route.

公开(公告)号：US10399571B2

公开(公告)日：2019-09-03

申请号：US15554641

申请日：2016-03-30

Applicant: AISIN AW CO., LTD. ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hirohiko Goto ,  Yuji Sato ,  Kuniaki Tanaka ,  Masaki Takano

IPC: B60W30/10 ,  B60W30/18 ,  B60W30/14 ,  B60W30/12 ,  G05D1/00 ,  G05D1/02 ,  G01C21/36 ,  B62D15/02

Abstract: Autonomous driving assistance systems, methods, and programs obtain road information that specifies classification of lanes located ahead in a direction in which a vehicle is traveling and road connection for each lane. The systems, methods, and programs specify, based on the road information, a planned route that is to be taken by the vehicle on a presumption that the vehicle travels without changing lanes, when the vehicle travels with autonomous driving assistance, and execute the autonomous driving assistance for the vehicle according to the specified planned route.

公开(公告)号：US10479362B2

公开(公告)日：2019-11-19

申请号：US15556483

申请日：2016-03-30

Applicant: AISIN AW CO., LTD. ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hirohiko Goto ,  Yuji Sato ,  Kuniaki Tanaka ,  Masaki Takano

IPC: B60W30/18 ,  B60W30/12 ,  G01C21/34 ,  B60W30/10 ,  G05D1/00 ,  G05D1/02 ,  B62D15/02 ,  G08G1/16 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  G01C21/36

Abstract: Autonomous driving assistance systems, methods, and programs obtain lane information of a road on which a vehicle is traveling, and set a planned target section for which a lane change plan of the vehicle is to be created. The systems, methods, and programs obtain, for each lane, an obstructive factor present on the road on which the vehicle is traveling and that obstructs continuation of autonomous driving assistance executed on the vehicle, and set, for each obtained obstructive factor, an avoidance route that passes through a lane avoiding the obstructive factor. The systems, methods, and programs create a lane change route that defines the lane change plan of the vehicle in the planned target section and that is set so as to preferentially pass through the avoidance route set for each obtained obstructive factor, and execute the autonomous driving assistance of the vehicle based on the lane change route.

公开(公告)号：US10252748B2

公开(公告)日：2019-04-09

申请号：US15252283

申请日：2016-08-31

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Eiji Sakaguchi ,  Masaki Takano

IPC: B62D15/02 ,  G01C21/36

Abstract: A driving assist device comprises an electronic control unit configured to: acquire a vehicle present position that is a position at which a vehicle is present; calculate a positional relationship between a lane increase-decrease area and the vehicle, based on the lane increase-decrease area position and a vehicle present position; cause a human machine interface to output information about the lane increase-decrease area when a positional relationship is determined to satisfy a predetermined condition; acquire information about a traveling lane in which the vehicle is traveling; and cause the human machine interface to vary a way to output a information, based on whether or not the lane including the lane increase-decrease area and the traveling lane coincide with each other.

公开(公告)号：US09925873B2

公开(公告)日：2018-03-27

申请号：US15647307

申请日：2017-07-12

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Masaki Takano

IPC: B60Q1/26 ,  B60K28/06 ,  B60K31/00 ,  B60T17/18 ,  B60T8/172 ,  B60T8/1763 ,  G08G1/16 ,  B60Q1/00 ,  B60R21/00 ,  B60W50/14

CPC classification number: B60K28/066 ,  B60K31/00 ,  B60K31/0008 ,  B60Q1/00 ,  B60Q5/005 ,  B60R21/00 ,  B60T7/042 ,  B60T7/14 ,  B60T7/22 ,  B60T8/172 ,  B60T8/1763 ,  B60T13/662 ,  B60T13/74 ,  B60T17/18 ,  B60T17/22 ,  B60W2050/143 ,  B60W2550/148 ,  G08G1/16

Abstract: When a driving support electronic control unit (DSECU) determines that a driver of a vehicle is in an abnormal state where the driver loses an ability to drive the vehicle, the DSECU starts driving control under the abnormal state to decelerate the vehicle until the vehicle stops and to sound a horn. In this case, the DSECU measures an elapsed time since the horn starts sounding with a horn timer th, and sets a sounding pattern corresponding to the elapsed time measured. This sounding pattern is set in such a manner that a ratio of a sounding time of the horn per unit time decreases as the elapsed time since the horn starts sounding become longer. Thereby, it becomes possible to properly notify that the driver is in the abnormal state using the horn.

公开(公告)号：US20180037200A1

公开(公告)日：2018-02-08

申请号：US15490083

申请日：2017-04-18

Applicant: Toyota Jidosha Kabushiki Kaisha

Inventor： Hirotada Otake ,  Masaki Takano

IPC: B60T7/14 ,  B60T13/12 ,  B60T8/58 ,  B60T1/00 ,  B60T8/172

CPC classification number: B60T7/14 ,  B60T1/005 ,  B60T1/062 ,  B60T7/042 ,  B60T7/22 ,  B60T8/172 ,  B60T8/58 ,  B60T13/12 ,  B60T17/22 ,  B60T2201/02 ,  B60T2201/022 ,  B60T2201/08 ,  F16D63/006

Abstract: A vehicle traveling control apparatus of the disclosure stops a friction force application and maintains a vehicle at a stopped state by an engagement lock when a first time elapses from a stop of the vehicle by a particular control. The apparatus stops the friction force application and maintains the vehicle at the stopped state by the engagement lock when a second time shorter than the first time elapses from the stop of the vehicle by a forced stop control which is executed when a driver is under an abnormal state.

公开(公告)号：US10800410B2

公开(公告)日：2020-10-13

申请号：US16140051

申请日：2018-09-24

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Tsuyoshi Shimizu ,  Masaki Takano ,  Masato Takagi

IPC: A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  B63H25/04 ,  G05D1/00 ,  G06F7/00 ,  G06F17/00 ,  B60W30/09 ,  B62D15/02 ,  B62D1/28 ,  B60W30/12 ,  B60W40/08 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20

Abstract: The driving support ECU performs a steering control for changing a steering angle in such a manner that an own vehicle travels along a target path. When a state in which holding state information does not satisfy a first condition continues for a first time threshold or more, the ECU starts a first alert and continues the steering control. The holding state information includes information indicative of a steering torque and represents a holding state of a steering handle by a driver. When a state in which the holding state information does not satisfy a second condition for a second time threshold or more after the first alert is started, the ECU starts a deceleration control. The second condition is a condition satisfied when the holding state information indicates that the driver holds the steering handle more firmly than when the holding state information satisfies the first condition.

公开(公告)号：US10000236B2

公开(公告)日：2018-06-19

申请号：US15661569

申请日：2017-07-27

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hirotada Otake ,  Masaki Takano

IPC: B62D15/02 ,  G05D1/00 ,  G08G1/16 ,  G05D1/02 ,  B62D6/08

CPC classification number: B62D15/025 ,  B62D6/08 ,  G05D1/0055 ,  G05D1/0212 ,  G05D1/0257 ,  G05D2201/0213 ,  G08G1/167

Abstract: Abnormality determination for a driver is appropriately made in accordance with a peripheral state when lane keeping assist control is being carried out. When a no-driving operation state has continued for a period equal to or more than a set period, a driving support ECU determines whether or not a change inhibition condition set in advance in relation to a peripheral state of an own vehicle is satisfied. When the change inhibition condition is not satisfied, the driving support ECU sets a control mode of LKA to a “weaker mode” to decrease a control amount of the LKA. As a result, the own vehicle swerves in a lane, and a driver who has not fallen into an abnormal state can be prompted to carry out a steering wheel operation. Thus, it is possible to discriminate a driver who has fallen into the abnormal state and a driver who has not fallen into the abnormal state from one another. When the change inhibition condition is satisfied, the driving support ECU sets the control mode of the LKA to a “normal mode”.

公开(公告)号：US10220825B2

公开(公告)日：2019-03-05

申请号：US15665749

申请日：2017-08-01

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Hirotada Otake ,  Masaki Takano

IPC: B60W10/18 ,  B60W10/20 ,  B60W30/12 ,  B60W40/105 ,  B60K28/06 ,  B60W30/18 ,  B60W40/08

Abstract: A vehicle control apparatus includes a vehicle speed control unit for controlling the speed of a vehicle, and provisional and final anomaly determination units for determining whether or not a driver of the vehicle is in a provisional anomalous state or in a final anomalous state in which the driver has lost his/her ability to drive the vehicle. After the driver is determined to be in the provisional anomalous state, the vehicle speed control unit decelerates the vehicle at a first deceleration before the driver is determined to be in the final anomalous state. When the vehicle speed becomes lower than a second vehicle speed, the vehicle speed control unit maintains the vehicle speed at the second vehicle speed. After the driver is determined to be in the final anomalous state, the vehicle control apparatus decelerates the vehicle at a second deceleration and stops the vehicle.

公开(公告)号：US09964950B2

公开(公告)日：2018-05-08

申请号：US14819941

申请日：2015-08-06

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Masaki Takano

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  B60W10/20 ,  B60W10/18 ,  B60W30/18 ,  B60K35/00 ,  B60K37/06 ,  G01C21/36

CPC classification number: G05D1/0088 ,  B60K35/00 ,  B60K37/06 ,  B60K2350/1056 ,  B60K2350/352 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18 ,  B60W2540/00 ,  B60W2710/18 ,  B60W2710/20 ,  G01C21/3626 ,  G01C21/3655 ,  G05D1/0223

Abstract: A driving assistance apparatus includes: a determination unit configured to determine, when a first junction and a second junction located ahead of the first junction exist on a travel road in an advancement direction of a vehicle, whether or not the first junction and the second junction satisfy a concurrent destination presentation condition on the basis of a distance between the first junction and the second junction; a presentation unit configured to present, when the first junction and the second junction are determined to satisfy the concurrent destination presentation condition, destination information ahead of the first junction and destination information ahead of the second junction to a driver of the vehicle; and a driving assistance unit configured to provide driving assistance to the vehicle in accordance with a destination selected by the driver on the basis of the presented destination information.