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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
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: 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：US10699579B2
公开(公告)日：2020-06-30
申请号：US15644136
申请日：2017-07-07
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: An autonomous driving vehicle sets a travelable area in which the autonomous driving vehicle can travel in a process of going to a destination. In a multiple-lane area including two or more lanes in the travelable area, one lane is determined as a standard travel lane. Processing of determining the standard travel lane is configured so that dispersion occurs to standard travel lanes which are determined by a plurality of autonomous driving vehicles in a same multiple-lane area placed under a same environment.
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公开(公告)号：US10343686B2
公开(公告)日：2019-07-09
申请号：US15667055
申请日：2017-08-02
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: An autonomous driving system acquires information concerning an empty space situation in an adjacent lane, and information concerning an entry frequency with which other vehicles enter into an own lane from the adjacent lane, when an own vehicle travels on a road having a plurality of lanes. The autonomous driving system determines whether or not to select the adjacent lane as an own vehicle travel lane in accordance with the empty space situation in the adjacent lane and the entry frequency. However, when the entry frequency is a threshold value or more, determination not to select the adjacent lane as the own vehicle travel lane is kept irrespective of the empty space situation in the adjacent lane. The autonomous driving system performs lane change to the adjacent lane autonomously when the adjacent lane is selected as the own vehicle travel lane.
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公开(公告)号：US20180046196A1
公开(公告)日：2018-02-15
申请号：US15669049
申请日：2017-08-04
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
Abstract: 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：US12210347B2
公开(公告)日：2025-01-28
申请号：US17565143
申请日：2021-12-29
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toshiyuki Matsubara , Masaki Matsunaga , Kenichiro Aoki , Yoshinori Watanabe , Ryuta Hashimoto
Abstract: A vehicle control device includes a scene determination unit determining whether or not a current traveling scene is a traveling-restricted scene, an order setting unit setting priorities corresponding to a restriction with respect to driving behaviors previously classified for different purposes in a case where it is determined that the traveling scene is the traveling-restricted scene and setting priorities with respect to the plurality of driving behaviors in a case where it is not determined that the traveling scene is the traveling-restricted scene, a traveling plan generating unit generating traveling plans corresponding to the plurality of priority-set driving behaviors, an executability determination unit determining executability of each of the plurality of generated driving behaviors, a traveling plan selection unit selecting the traveling plan corresponding to the driving behavior with the highest priority, and a traveling control unit controlling the traveling of the host vehicle based on the traveling plan.
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Patent Agency Ranking
公开(公告)号：US11767056B2
公开(公告)日：2023-09-26
申请号：US16920827
申请日：2020-07-06
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kenichiro Aoki
CPC classification number: B62D15/0255 , B60Q9/00 , B60W50/10 , B60W50/14 , B62D1/286 , B62D15/025 , B62D15/0265 , G05D1/0022 , G05D1/0061 , G05D1/021 , B60W30/12 , B60W2540/18
Abstract: The autonomous LC control is started in response to receiving a start instruction of autonomous lane change. When the driver performs a steering intervention in a same direction as a direction of steering requested by the autonomous LC control, and establishment of a stop condition of lane change is not recognized, during execution of the autonomous LC control, the autonomous driving control is continued. When the steering intervention in the same direction is performed, and establishment of the stop condition is recognized, during execution of the autonomous LC control, termination of the autonomous driving control is announced.
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公开(公告)号：US11231710B2
公开(公告)日：2022-01-25
申请号：US16653027
申请日：2019-10-15
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takaaki Tanaka , Kenichiro Aoki , Masayuki Katoh
Abstract: An automatic driving system includes a control device that controls automatic driving of a vehicle, and a storage device that contains external environment information indicating an external environment of the vehicle. A driving transition zone is a zone in which a driver of the vehicle takes over at least a part of driving of the vehicle, from the control device. A termination target velocity is a target velocity of the vehicle at an end point of the driving transition zone. The control device variably sets the termination target velocity, depending on the external environment at the end point or the external environment surrounding the end point. Then, the control device controls the velocity of the vehicle in the driving transition zone, such that the velocity of the vehicle at the end point is the termination target velocity.
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公开(公告)号：US11186279B2
公开(公告)日：2021-11-30
申请号：US15838871
申请日：2017-12-12
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Hiroki Fukuda , Kenichiro Aoki
Abstract: A control device for vehicle travelling is provided, which executes following control that controls a vehicle speed in accordance with a following distance from a preceding vehicle. The following control includes LK following control that is executed so that a following distance from a preceding vehicle on a travel lane becomes an LK target following distance, under a situation of lane keep. The following control farther includes LC following control that is executed so that a following distance from a vehicle to be a preceding vehicle on a target lane becomes an LC target following distance, under a situation of lane change. In the LC following control, a vehicle speed is controlled so that a larger value is allowed as compared with at a time of execution of the LK following control, with respect to one or both of an acceleration and a jerk.
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公开(公告)号：US11072334B2
公开(公告)日：2021-07-27
申请号：US16506477
申请日：2019-07-09
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kenichiro Aoki , Tadashi Omachi
Abstract: A vehicle control system includes: a vehicle recognition unit configured to recognize a rear lateral vehicle in an area rearward of the host vehicle; a remaining distance acquisition unit configured to acquire a remaining distance from a current position of the host vehicle to a position at which the host vehicle completes a lane change; a lane change availability determination unit configured to determine whether the lane change is available; and a vehicle control unit configured to control, when the lane change availability determination unit determines that the lane change is not available and the remaining distance is shorter than a first determination distance, steering of the host vehicle such that a position of the host vehicle in a vehicle width direction becomes a position closer to the second lane than a position when the remaining distance is longer than or equal to the first determination distance.
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公开(公告)号：US10737723B2
公开(公告)日：2020-08-11
申请号：US15819662
申请日：2017-11-21
Applicant: Toyota Jidosha Kabushiki Kaisha
Inventor： Kenichiro Aoki
Abstract: The autonomous LC control is started in response to receiving a start instruction of autonomous lane change. When the driver performs a steering intervention in a same direction as a direction of steering requested by the autonomous LC control, and establishment of a stop condition of lane change is not recognized, during execution of the autonomous LC control, the autonomous driving control is continued. When the steering intervention in the same direction is performed, and establishment of the stop condition is recognized, during execution of the autonomous LC control, termination of the autonomous driving control is announced.
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