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1. 发明授权

US11681290B2 Vehicle control device, vehicle control method and computer-readable storage medium 有权
公开(公告)号：US11681290B2
公开(公告)日：2023-06-20
申请号：US17529888
申请日：2021-11-18
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Ryuta Hashimoto , Hiroki Fukuda , Akira Ito
IPC分类号： G05D1/00 , B60Q9/00 , B60W30/18 , B60W50/08 , B60W50/14 , G05D1/02
CPC分类号： G05D1/0061 , B60Q9/00 , B60W30/18163 , B60W50/082 , B60W50/14 , G05D1/0088 , G05D1/0212 , B60W2520/10 , B60W2552/00 , B60W2554/80 , B60W2720/106 , G05D2201/0213
摘要： When conditions have not been satisfied from a timing at which a first position of the interflow zone was set to a timing at which the subject vehicle reaches the first position, the first position is set as a start position where a notification for urging a handover of a central player of the subject vehicle is performed. When the condition for automatic interflow is satisfied for the first time at the timing at which the subject vehicle reaches the first position, a second position between the first position and a distal end of the interflow zone is set as the start position.

2. 发明授权

US10981569B2 Autonomous driving system 有权
公开(公告)号：US10981569B2
公开(公告)日：2021-04-20
申请号：US16135384
申请日：2018-09-19
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Ryuta Hashimoto , Hiroki Fukuda , Akira Ito
IPC分类号： B60W30/18 , B60W50/10 , G05D1/00
摘要： An autonomous driving system includes a lane change control device that performs lane change control for making a lane change from a first lane to a second lane during autonomous driving of a vehicle. From start to completion of the lane change control, the lane change control device determines whether or not a driver's operation is performed as an abort request operation that requests to abort the lane change control. Specifically, the lane change control device: calculates abort necessity level indicating necessity to abort the lane change control, based on driving environment information indicating driving environment for the vehicle; sets criterion for determination such that the criterion becomes more easily satisfied as the abort necessity level increases; and when the driver's operation satisfies the criterion for determination, determines that the driver's operation is performed as the abort request operation.

3. 发明授权

US10788825B2 Autonomous driving system 有权
公开(公告)号：US10788825B2
公开(公告)日：2020-09-29
申请号：US16131293
申请日：2018-09-14
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Ryuta Hashimoto
IPC分类号： G05D1/00 , B60W50/14 , B60W50/00
摘要： An autonomous driving system includes: a Human Machine Interface; and a control device configured to control autonomous driving of a vehicle, present a first operation instruction to a driver of the vehicle during the autonomous driving, the first operation instruction requesting the driver to perform a first response operation performed in response to a first request or a first proposal by presenting the first request or the first proposal to the driver via the Human Machine Interface, and prohibit presenting a second operation instruction different from the first operation instruction until the first response operation is completed or until a timing at which the first response operation is predicted to be completed, the second operation instruction requesting the driver to perform a second response operation performed in response to a second request or a second proposal by presenting the second request or the second proposal.

4. 发明授权

US10691125B2 Blinker judgment device and autonomous driving system 有权
公开(公告)号：US10691125B2
公开(公告)日：2020-06-23
申请号：US15826307
申请日：2017-11-29
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Ryuta Hashimoto , Yoshinori Watanabe
IPC分类号： G05D1/00 , G06K9/00 , G08G1/16
摘要： A blinker judgment device for a vehicle includes: an information acquisition device that acquires surrounding situation information indicating a situation around the vehicle; and a control device that performs blinker judgment processing based on the surrounding situation information. The surrounding situation information includes image information of a target vehicle imaged by a camera. The control device performs: recognizing blinker flashing of the target vehicle based on the image information; checking, based on the surrounding situation information, whether or not there is a reasonable cause for the target vehicle to make a lane change, when the blinker flashing is recognized; and judging that the target vehicle is not in a process of the blinker flashing when the cause does not exist while judges that the target vehicle is in a process of the blinker flashing when the cause exists.

5. 发明授权

US10663973B2 Autonomous driving system 有权
公开(公告)号：US10663973B2
公开(公告)日：2020-05-26
申请号：US15669049
申请日：2017-08-04
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
IPC分类号： G05D1/02 , B60W40/04 , B60W50/14 , B60W10/18 , B60W10/20 , B60W30/14 , B60W30/18 , B60W50/00
摘要： 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.

6. 发明申请

US20190248382A1 AUTONOMOUS DRIVING SYSTEM 审中-公开
公开(公告)号：US20190248382A1
公开(公告)日：2019-08-15
申请号：US16220090
申请日：2018-12-14
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Ryuta Hashimoto , Akira Ito
IPC分类号： B60W50/14 , G05D1/00
CPC分类号： B60W50/14 , B60W10/02 , B60W10/08 , B60W2050/143 , G05D1/0061 , G05D1/0088 , G05D2201/0213
摘要： An autonomous driving system issues a notification to a driver of a vehicle during autonomous driving. The notification is a proposal or a previous notice of a vehicle action, or a request for manual driving. A notification timing is a timing to issue the notification to the driver. Necessary vehicle control required in connection with the notification includes acceleration/deceleration control and steering control. A start timing limit is a slowest timing to start the necessary vehicle control with which acceleration/deceleration and a steering speed during the necessary vehicle control can be respectively suppressed to predetermined values or lower. In a situation where the start timing limit is earlier than the notification timing, the autonomous driving system starts preliminary control, which is at least a part of the necessary vehicle control, at or before the start timing limit.

7. 发明申请

US20180148060A1 AUTONOMOUS DRIVING SYSTEM 审中-公开
公开(公告)号：US20180148060A1
公开(公告)日：2018-05-31
申请号：US15729141
申请日：2017-10-10
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Ryuta Hashimoto , Yoshinori Watanabe
IPC分类号： B60W30/18
摘要： An autonomous driving system includes: an information acquisition device configured to acquire driving environment information indicating driving environment for a vehicle; and a lane change control device configured to control lane change of the vehicle based on the driving environment information. When determining that the lane change can be started at a standard timing, the lane change control device performs delay processing that delays an actual start timing of the lane change from the standard timing. The lane change control device variably sets a delay tune from the standard timing to the actual start timing according to the driving environment.

8. 发明申请

US20180043897A1 AUTONOMOUS DRIVING SYSTEM 审中-公开
公开(公告)号：US20180043897A1
公开(公告)日：2018-02-15
申请号：US15667055
申请日：2017-08-02
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： Ryuta Hashimoto , Yoshinori Watanabe , Kenichiro Aoki , Tomoyuki Kuriyama
IPC分类号： B60W30/18 , G05D1/02 , G08G1/16
CPC分类号： B60W30/18163 , B60W2550/20 , G05D1/0214 , G05D2201/0213 , G08G1/166 , G08G1/167
摘要： 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.

9. 发明授权

US09733642B2 Vehicle control device 有权
公开(公告)号：US09733642B2
公开(公告)日：2017-08-15
申请号：US15049896
申请日：2016-02-22
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Ryuta Hashimoto , Haruto Torii , Tetsuya Taira
IPC分类号： B60W50/00 , G05D1/00 , B60W50/08 , B60W50/14
CPC分类号： G05D1/0061 , B60W50/082 , B60W50/14 , G05D1/0088 , G05D2201/0213
摘要： A vehicle control device is capable of switching a driving state of a host vehicle between manual driving and autonomous driving, and determines whether or not another vehicle exists in a driver's blind area set in advance diagonally behind the host vehicle in a case where the driving state of the host vehicle is autonomous driving and when the host vehicle reaches a check timing set in advance. In addition, the vehicle control device executes the control in a case where it is determined that the other vehicle exists in the driver's blind area and when the other vehicle exists, which can be removed from the driver's blind area by the control of at least one of a vehicle speed of the host vehicle and a lateral position of the host vehicle.

10. 发明申请

US20160194003A1 VEHICLE TRAVELLING CONTROL DEVICE 有权
标题翻译：车辆行驶控制装置
公开(公告)号：US20160194003A1
公开(公告)日：2016-07-07
申请号：US14979746
申请日：2015-12-28
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Haruto Torii , Ryuta Hashimoto , Tetsuya Taira
IPC分类号： B60W30/16 , B60W10/20 , B60W10/18 , B60W10/04 , G05D1/00 , B60W10/30
CPC分类号： B60W30/16 , B60W30/12 , B60W50/14 , B60W2550/302 , B60W2550/306 , B60W2550/308
摘要： A vehicle travelling control device is configured to cause a vehicle to automatically travel along the target lateral position set in a travelling lane in advance. The device includes a peripheral information detection unit configured to detect peripheral information of the vehicle, a preceding vehicle recognition unit configured to recognize a position of the preceding vehicle in an adjacent lane which is adjacent to the travelling lane based on the peripheral information detection unit, and a travel control unit configured to cause the vehicle to automatically travel along a separated lateral position which is separated from the target lateral position at the opposite side of the adjacent lane side in a case where a lost duration that is a continuous period of time during which the position of the preceding vehicle is lost in the preceding vehicle recognition unit reaches a first predetermined time.
摘要翻译：车辆行驶控制装置被构造成使车辆预先沿着行驶车道中设定的目标横向位置自动行驶。该装置包括：外部信息检测单元，被配置为检测车辆的周边信息;前一车辆识别单元，被配置为基于周边信息检测单元识别与行驶车道相邻的相邻车道中的前方车辆的位置; 以及行驶控制单元，其构造成在所述相邻车道侧的相对侧处的与所述目标横向位置分离的分离横向位置，使得所述车辆自动行进，在前一车辆识别单元中前方车辆的位置丢失的位置达到第一预定时间。

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