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公开(公告)号：US11845489B2
公开(公告)日：2023-12-19
申请号：US17366216
申请日：2021-07-02
Inventor： Daiki Yasui , Sho Hashimoto , Akshay Rajendra , Michael Patzelt
IPC: B62D15/02
CPC classification number: B62D15/0265
Abstract: A vehicle control apparatus determines that a control start condition is satisfied when there is an object in an area of a route which the own vehicle moves and executes a steering control of steering the own vehicle to increase a yaw angle of the own vehicle with respect to a moving lane of the own vehicle and decrease the yaw angle to avoid a collision of the own vehicle with the object when determining that control start condition is satisfied. The vehicle control apparatus determines that a control termination condition is satisfied when the yaw angle becomes equal to or smaller than a predetermined yaw angle, and a steering angle of the own vehicle becomes equal to or smaller than a predetermined steering angle after starting steering the own vehicle to decrease the yaw angle in executing the steering control.
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公开(公告)号：US20220017080A1
公开(公告)日：2022-01-20
申请号：US17366672
申请日：2021-07-02
Inventor： Takashi Moriya , Sho Hashimoto , Yusuke Fukui , Akshay Rajendra , Michael Patzelt
IPC: B60W30/09 , B60W30/095 , B60W10/20
Abstract: A collision avoidance assist apparatus calculates a lane marking recognition reliability level and execute an emergency steering control. The emergency steering control includes processes to determine a target steering torque to avoid a collision of a vehicle with an obstacle when determining that the vehicle has a high probability of colliding with the obstacle, a moving lane defined by the left and right lane markings is a straight lane, and the calculated lane marking recognition reliability level is equal to or higher than a first threshold reliability level, and apply a steering torque corresponding to the target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when the lane marking recognition reliability level becomes lower than a second threshold reliability level set to a value lower than the first threshold reliability level.
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公开(公告)号：US12097846B2
公开(公告)日：2024-09-24
申请号：US17692511
申请日：2022-03-11
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mafune Kakeshita , Yumi Shimanaka , Sho Hashimoto , Kenta Miyahara
IPC: B60W30/09 , B60W30/095 , B60W40/08
CPC classification number: B60W30/09 , B60W30/0956 , B60W40/08 , B60W2540/18 , B60W2540/223 , B60W2540/229
Abstract: A vehicle collision avoidance assist apparatus executes a collision avoidance control for avoiding a collision of an own vehicle with an object ahead of the own vehicle. The apparatus determines whether a driver of the own vehicle has a collision self-avoidance probability that the driver can avoid the collision of the own vehicle with the object ahead of the own vehicle by carrying out a driving operation to the own vehicle. When the apparatus determines that the driver does not have the collision self-avoidance probability, the apparatus sets a start timing of starting executing the collision avoidance control to a timing earlier than the start timing set when the apparatus determines that the driver has the collision self-avoidance probability.
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公开(公告)号：US11912269B2
公开(公告)日：2024-02-27
申请号：US17365737
申请日：2021-07-01
Inventor： Mafune Kakeshita , Takashi Moriya , Sho Hashimoto , Akshay Rajendra , Michael Patzelt
IPC: B60W30/09 , B60W10/20 , B60W30/095 , B60W40/072 , B62D15/02 , G06V20/56 , G06V20/58
CPC classification number: B60W30/09 , B60W10/20 , B60W30/0956 , B60W40/072 , B62D15/0265 , G06V20/58 , G06V20/588 , B60W2510/202 , B60W2552/20 , B60W2552/53
Abstract: A collision avoidance assist apparatus executes an emergency steering control including processes to determine a target steering torque used to change a steering angle to avoid a collision of a vehicle with an obstacle so as not to move the vehicle out of a moving lane when the vehicle has a high probability of colliding with the obstacle, and the moving lane is a straight lane, and applies a steering torque corresponding to the determined target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when determining that the moving lane is a curved lane, based on only one of left and right lane markings at an avoidance side of the obstacle which is the left or the right side of the obstacle which the vehicle passes over while executing the emergency steering control.
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公开(公告)号：US12134378B2
公开(公告)日：2024-11-05
申请号：US17657384
申请日：2022-03-31
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Sho Hashimoto , Yumi Shimanaka
IPC: B60W30/09 , B60W30/095 , B60W50/00
Abstract: A vehicle collision avoidance assistance device is configured to perform forced braking or forced steering when a driver's vehicle has a possibility of colliding with an object ahead of the driver's vehicle, acquire at least one of information related to a condition of the driver's vehicle and information related to a situation around the driver's vehicle, determine, based on the acquired information, whether a request condition for requesting execution of the forced steering is satisfied and whether a forbiddance condition for forbidding the execution of the forced steering is satisfied, perform the forced braking when the request condition is not satisfied regardless of whether the forbiddance condition is satisfied, perform the forced steering when the forbiddance condition is not satisfied and the request condition is satisfied, and perform the forced braking when the forbiddance condition is satisfied though the request condition is satisfied.
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Patent Agency Ranking
公开(公告)号：US11767057B2
公开(公告)日：2023-09-26
申请号：US17574267
申请日：2022-01-12
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yumi Shimanaka , Sho Hashimoto
CPC classification number: B62D15/0265 , B62D6/002
Abstract: When a collision avoidance steering control start condition becomes satisfied, a driving support ECU starts a steering control to avoid a collision with a frontward vehicle. The ECU prohibits the steering control when an indicated direction by turn indications of the frontward vehicle is the same as a planned direction of the steering control. The ECU sets the start condition to a first start condition, when the turn indicators of the frontward vehicle are not indicating a turning direction. The ECU sets the start condition to a second start condition, when the indicated direction is different from the planned direction. The first and second start conditions have been set such that an inter-vehicular distance between the host vehicle and the frontward vehicle of when the second start condition can be satisfied is shorter than one of when the first start condition can be satisfied.
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公开(公告)号：US11731619B2
公开(公告)日：2023-08-22
申请号：US17366672
申请日：2021-07-02
Inventor： Takashi Moriya , Sho Hashimoto , Yusuke Fukui , Akshay Rajendra , Michael Patzelt
IPC: B60W30/09 , B60W30/095 , B60W10/20 , B60W10/18
CPC classification number: B60W30/09 , B60W10/20 , B60W30/0956 , B60W10/18 , B60W2552/53
Abstract: A collision avoidance assist apparatus calculates a lane marking recognition reliability level and execute an emergency steering control. The emergency steering control includes processes to determine a target steering torque to avoid a collision of a vehicle with an obstacle when determining that the vehicle has a high probability of colliding with the obstacle, a moving lane defined by the left and right lane markings is a straight lane, and the calculated lane marking recognition reliability level is equal to or higher than a first threshold reliability level, and apply a steering torque corresponding to the target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when the lane marking recognition reliability level becomes lower than a second threshold reliability level set to a value lower than the first threshold reliability level.
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公开(公告)号：US12227226B2
公开(公告)日：2025-02-18
申请号：US18230946
申请日：2023-08-07
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yumi Shimanaka , Sho Hashimoto
Abstract: When a collision avoidance steering control start condition becomes satisfied, a driving support ECU starts a steering control to avoid a collision with a frontward vehicle. The ECU prohibits the steering control when an indicated direction by turn indications of the frontward vehicle is the same as a planned direction of the steering control. The ECU sets the start condition to a first start condition, when the turn indicators of the frontward vehicle are not indicating a turning direction. The ECU sets the start condition to a second start condition, when the indicated direction is different from the planned direction. The first and second start conditions have been set such that an inter-vehicular distance between the host vehicle and the frontward vehicle of when the second start condition can be satisfied is shorter than one of when the first start condition can be satisfied.
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公开(公告)号：US12060104B2
公开(公告)日：2024-08-13
申请号：US17650901
申请日：2022-02-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Yumi Shimanaka , Kazuya Okamoto , Sho Hashimoto
CPC classification number: B62D15/0265 , B60Q9/008 , B62D15/029 , G08G1/16
Abstract: A vehicle collision avoidance assist apparatus executes a collision avoidance steering maneuvering assist process of applying a steering force to an own vehicle to assist a collision avoidance steering maneuvering carried out by a driver when there is a probability that the own vehicle collides with an object ahead of the own vehicle, and the driver carries out the collision avoidance steering maneuvering to steer the own vehicle to avoid a collision of the own vehicle with the object. The apparatus notifies the driver of a necessity of carrying out the collision avoidance steering maneuvering when determining that there is the possibility that the own vehicle collides with the object ahead of the own vehicle.
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公开(公告)号：US20240286648A1
公开(公告)日：2024-08-29
申请号：US18441178
申请日：2024-02-14
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Sho Hashimoto , Satoshi Nakamura , Tomoki Somiya , Kazumasa Harada , Hiroki Yabushita , Sei Miyazaki , Yuki Nishikawa , Noriaki Hasegawa
CPC classification number: B60W60/0027 , G06V20/597 , G06V40/174
Abstract: A vehicle includes an interface unit that is configured to be able to communicate with an autonomous driving kit configured to be attachable to and detachable from the vehicle and that gives a control instruction related to autonomous driving control to each part of the vehicle based on an instruction from the autonomous driving kit, and an active safety device that implements an active safety function of the vehicle. The active safety device includes an acquisition unit that acquires at least one piece of participant information that is information related to a traffic participant present around the vehicle, and occupant information that is information related to an occupant riding in the vehicle; and a performance evaluation unit that evaluates driving performance of the autonomous driving kit based on at least one piece of the participant information and the occupant information.
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