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公开(公告)号：US10246030B2
公开(公告)日：2019-04-02
申请号：US14418590
申请日：2012-12-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Masayuki Katoh
Abstract: An object of the present invention is to provide an object detection apparatus and a driving assistance apparatus in which movement information of a target object can be obtained with high accuracy. In the present invention, the object detection apparatus is an apparatus that detects a target object from a predetermined mounting position (a vehicle and the like); performs an object detection from a predetermined mounting position; in a case where a target object is detected, acquires the position of the target object; obtains a feature amount of a fixed object existing around the target object and detects a position of a fixed object; sets the position of the fixed object as a reference point; and calculates movement information of the target object from the position of the target object with the reference point as a reference.
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公开(公告)号：US09975550B2
公开(公告)日：2018-05-22
申请号：US14892468
申请日：2013-05-31
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Masayuki Katoh
IPC: B60W30/095 , B60W30/09 , G06K9/00 , G08G1/16 , G06K9/46 , G06K9/52 , G06K9/62 , G06T7/20 , G06T7/60 , G06T7/73 , G06T7/13
CPC classification number: B60W30/0956 , B60W10/20 , B60W30/08 , B60W30/09 , B60W30/095 , B60W30/0953 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2520/10 , B60W2520/14 , B60W2540/18 , B60W2550/10 , G06K9/00791 , G06K9/00805 , G06K9/4604 , G06K9/52 , G06K9/6267 , G06T7/13 , G06T7/20 , G06T7/60 , G06T7/73 , G06T2207/30241 , G06T2207/30252 , G08G1/166
Abstract: An object of the invention is to accurately predict a movement trajectory of an object from a history of positions of the object even in a case where shaking or deflection of a vehicle occurs. In order to achieve the object, in the invention, the position of the object around the vehicle is acquired (S1), a ground speed of the object is acquired (S3), a slope θ of a trajectory prediction vector (relative movement vector) of the object with respect to the vehicle is calculated by using a speed of the vehicle and the ground speed of the object (S7), fitting is performed (classification of the recorded positions of the object in the movement trajectory) with respect to the history of the positions of the object with a straight line having the slope θ of the trajectory prediction vector (S8), and a straight line having the slope θ of the position fitting best in the straight line having the slope θ (straight line having a plurality of positions included in a group classified through the fitting) is predicted as the movement trajectory of the object (S9).
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公开(公告)号：US11921501B2
公开(公告)日：2024-03-05
申请号：US17457429
申请日：2021-12-02
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Takaaki Tanaka , Kenichiro Aoki , Masayuki Katoh
CPC classification number: G05D1/0061 , B60W30/181 , G05D1/0223 , B60W2555/20 , B60W2555/60 , B60W2720/10 , G05D2201/0213
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：US20150283999A1
公开(公告)日：2015-10-08
申请号：US14437208
申请日：2012-11-21
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Shinji Igarashi , Masayuki Katoh
IPC: B60W30/08
CPC classification number: B60W30/08 , B60W2550/10 , G08G1/165 , G08G1/166
Abstract: A driving-assistance device is disclosed. The driving-assistance device in which, when a three-dimensional object is present on a course of a host vehicle, driving assistance for avoiding a collision between the host vehicle and the three-dimensional object is implemented on a condition that an unavoidable three-dimensional object is present in a predetermined range including the course, the driving-assistance device comprises a setting unit configured to set the predetermined range in the vicinity of the host vehicle at a degree of width depending on the three-dimensional object, wherein, when a plurality of the three-dimensional objects are detected within the predetermined range, the setting unit makes the degree of width smaller than when a single three-dimensional object is detected within the predetermined range.
Abstract translation: 公开了一种驾驶辅助装置。 其特征在于，当在主车辆的路线上存在三维物体时，驾驶辅助装置在不可避免的三维物体的情况下实施用于避免主车辆与三维物体之间的碰撞的驾驶辅助， 三维物体存在于包括该路线的预定范围内的情况下，驾驶辅助装置包括设置单元，该设定单元被配置为根据三维物体以宽度设定本车辆附近的预定范围，其中，当 在预定范围内检测多个三维物体，设定单位使得宽度小于在预定范围内检测到单个三维物体时的宽度。
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公开(公告)号：US09896095B2
公开(公告)日：2018-02-20
申请号：US15239322
申请日：2016-08-17
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Masayuki Katoh
IPC: B60W30/09 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/095 , B60W40/105 , B60W40/04 , B60W50/00
CPC classification number: B60W30/09 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/0953 , B60W30/0956 , B60W40/04 , B60W40/105 , B60W2050/0094 , B60W2520/10 , B60W2550/10 , B60W2710/18 , B60W2710/20
Abstract: When a host vehicle travels while being decelerated by an intervention of automatic braking, a support ECU calculates a collision prediction speed at a collision prediction position and determines whether or not the collision prediction speed exceeds a collision prediction speed threshold. The support ECU allows an automatic steering for collision avoidance to intervene only in a case where the collision prediction speed is determined to be equal to or less than the collision prediction speed threshold and prohibits the intervention of the automatic steering in a case where the collision prediction speed is determined to exceed the collision prediction speed threshold.
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Patent Agency Ranking
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：US10755573B2
公开(公告)日：2020-08-25
申请号：US15918027
申请日：2018-03-12
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kohei Morotomi , Masayuki Katoh , Noriyuki Tsuruoka
Abstract: A collision avoidance device includes an electronic control unit configured to: determine whether or not a driver of a host vehicle performs turn-back steering based on a detection value of a steering angle or steering torque detected by a steering sensor of the host vehicle; and execute the collision avoidance control for avoiding a collision between the host vehicle and an obstacle in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the obstacle based on a path of the host vehicle and a position of the obstacle, wherein the electronic control unit is configured not to execute the collision avoidance control while the electronic control unit determines that the driver of the host vehicle performs turn-back steering.
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8.发明授权公开(公告)号：US10000237B2
公开(公告)日：2018-06-19
申请号：US15286297
申请日：2016-10-05
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Masayuki Katoh
CPC classification number: B62D15/0265 , B60W10/20 , B60W30/08 , B60W30/12 , B60W2550/10 , B62D6/00 , B62D6/005 , G05D1/0214 , G05D1/0238 , G05D2201/02 , G08G1/165 , G08G1/167
Abstract: In a driving support device for a vehicle including a collision avoidance support system and a lane travel support system, a steering control amount is set while maintaining an appropriate relationship between both of the systems. This is by setting a lower upper limit value for the steering torque command during collision avoidance as compared to lane travel support. However, a gradient (i.e., rate of change) of the collision avoidance is set to be greater than a gradient of the lane travel support. As a result, the driving support device balances collision avoidance and lane travel support to have quick response during collision avoidance, and maintaining the ability to adapt to wide changes in road condition during lane travel support.
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公开(公告)号：US12197212B2
公开(公告)日：2025-01-14
申请号：US18396668
申请日：2023-12-26
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：US11338801B2
公开(公告)日：2022-05-24
申请号：US15921897
申请日：2018-03-15
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Kohei Morotomi , Masayuki Katoh , Noriyuki Tsuruoka
IPC: B60W30/095 , B60W30/18 , B60W30/09 , G08G1/16
Abstract: A collision avoidance device includes an electronic control unit configured to: determine whether or not an oncoming vehicle enters inside a turning circle of a host vehicle turning; and execute a collision avoidance control in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the oncoming vehicle, wherein the electronic control unit is configured not to execute the collision avoidance control when the electronic control unit determines that the oncoming vehicle enters inside the turning circle of the host vehicle.
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