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1. 发明公开

US20230219567A1 MOBILE BODY CONTROL METHOD, MOBILE BODY CONTROL SYSTEM, AND STORAGE MEDIUM 审中-公开
公开(公告)号：US20230219567A1
公开(公告)日：2023-07-13
申请号：US18151474
申请日：2023-01-09
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , National University Corporation Tokyo University of Agriculture and Technology
发明人： Hidenari IWAI , Shintaro INOUE , Pongsathorn RAKSINCHAROENSAK
IPC分类号： B60W30/09
CPC分类号： B60W30/09 , B60W2556/40 , B60W2520/14
摘要： Based on a recognition result of a recognition sensor installed in a mobile body, a mobile body control system calculates a first target path for moving to a destination while avoiding a risk around the mobile body. Further, based on the first target path, the mobile body control system calculates a second target path having higher granularity than the first target path. Then, the mobile body control system controls the mobile body so as to follow the second target path. The mobile body control system determines in which field the mobile body moves, a normal field or a specific field having more risks than the normal field. When the mobile body moves in the specific field, the mobile body control system reduces a frequency of update of the first target path compared with that when the mobile body moves in the normal field.

2. 发明申请

US20200225044A1 MAP INFORMATION PROVISION SYSTEM 审中-公开
公开(公告)号：US20200225044A1
公开(公告)日：2020-07-16
申请号：US16640992
申请日：2018-10-05
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , The University of Tokyo , National University Corporation Tokyo University of Agriculture and Technology , School Judicial Person IKUTOKU GAKUEN
发明人： Kyoichi TOHRIYAMA , Takuma ITO , Satoshi NAKAMURA , Minoru KAMATA , Pongsathorn RAKSINCHAROENSAK , Tsukasa SHIMIZU , Hideo INOUE
IPC分类号： G01C21/32 , G05D1/02
摘要： A map information provision system includes: a road map information database configured to store road map information; a vehicle position determination unit configured to detect and determine a position of a vehicle on a road; a road map information extraction unit configured to extract the road map information around the vehicle from the road map information database, based on the position of the vehicle; and a waypoint map constructor unit configured to determine positions of waypoints and configure a waypoint map that is made up of the plurality of the waypoints, wherein the waypoint map is supplied to a driving support device for the vehicle or a driving control device for the vehicle and is utilized as map information on the planned driving route.

3. 发明申请

US20160334796A1 VEHICLE CONTROL APPARATUS 审中-公开
标题翻译：车辆控制装置
公开(公告)号：US20160334796A1
公开(公告)日：2016-11-17
申请号：US15154023
申请日：2016-05-13
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , The University of Tokyo , National University Corporation Tokyo University of Agriculture and Technology
发明人： Hideo INOUE , Masahiro MIO , Masayuki OKUWA , Tsukasa SHIMIZU , Minoru KAMATA , Takuma ITO , Pongsathorn RAKSINCHAROENSAK , Masao NAGAI
IPC分类号： G05D1/02
CPC分类号： G05D1/0278 , B60W30/00 , G01C3/08 , G01C21/00 , G01C21/3644 , G05D1/0246 , G05D1/0274 , G05D2201/0213
摘要： A vehicle control apparatus includes: a storage apparatus configured to store a steering modification point of a vehicle and a vehicle speed target point of the vehicle that are associated with map information; and an electronic control unit configured to: detect a position of the vehicle; detect a travel direction of the vehicle; calculate a lane travel distance, the position of the vehicle, and the travel direction of the vehicle; generate, lane travel map data, a target direction of the vehicle, and a target vehicle speed of the vehicle, on the basis of the map information, the steering modification point, the vehicle speed target point, the position of the vehicle, and the travel direction of the vehicle; and output a control signal to control the vehicle on the basis of the position of the vehicle, the lane travel distance of the vehicle, and the lane travel map data.
摘要翻译：车辆控制装置包括：存储装置，其被配置为存储与地图信息相关联的车辆的转向修改点和车辆速度目标点; 以及电子控制单元，被配置为：检测车辆的位置; 检测车辆行驶方向; 计算车道行驶距离，车辆位置和车辆行驶方向; 基于地图信息，转向修改点，车速目标点，车辆的位置，以及车辆行驶地图数据，车辆的目标方向和车辆的目标车速，车辆行驶方向; 并基于车辆的位置，车辆的车道行驶距离和车道行驶地图数据输出控制信号以控制车辆。

4. 发明申请

US20190106104A1 DRIVE ASSIST APPARATUS 审中-公开
公开(公告)号：US20190106104A1
公开(公告)日：2019-04-11
申请号：US16142148
申请日：2018-09-26
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , NATIONAL UNIVERSITY CORPORATION TOKYO UNIVERSITY OF AGRICULTURE AND TECHNOLOGY , THE UNIVERSITY OF TOKYO , SCHOOL JUDICIAL PERSON IKUTOKU GAKUEN
发明人： Shintaro INOUE , Toshiki KINOSHITA , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Takuma ITO , Tsukasa SHIMIZU , Hideo INOUE
IPC分类号： B60W30/09 , B60W50/00 , B60T7/12
摘要： A drive assist apparatus includes an electronic control unit configured to: compute, when an object that causes a blind spot is ahead of a host vehicle, a first reference velocity which is a velocity at which the host vehicle is able to run without colliding with a moving object assumed to be in the blind spot of the object; estimate a degree of risk associated with a road on which the host vehicle is running, based on environment information that indicates a running environment of the host vehicle; and compute a second reference velocity which is determined by correcting the first reference velocity based on the estimated degree of risk.

5. 发明申请

US20190106103A1 DRIVING ASSISTANCE CONTROL DEVICE 审中-公开
公开(公告)号：US20190106103A1
公开(公告)日：2019-04-11
申请号：US16141020
申请日：2018-09-25
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , NATIONAL UNIVERSITY CORPORATION TOKYO UNIVERSITY OF AGRICULTURE AND TECHNOLOGY , THE UNIVERSITY OF TOKYO , SCHOOL JUDICIAL PERSON IKUTOKU GAKUEN
发明人： Shintaro INOUE , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Takuma ITO , Tsukasa SHIMIZU , Hideo INOUE
IPC分类号： B60W30/09 , B60T7/12
摘要： A driving assistance control device includes an active pedal configured to control a driving and braking force of a vehicle, an electronic control unit configured to detect a potential risk area in which an obstacle entering a scheduled traveling route of the vehicle is likely to be present, and determine a reference speed at which contact between the vehicle and the obstacle can be avoided even when the obstacle enters the scheduled traveling route of the vehicle from the detected potential risk area based on a positional relationship between the vehicle and the potential risk area, and a force feedback unit configured to apply an assistance reaction force in a direction in which the amount of manipulation is reduced, to the active pedal when a current speed of the vehicle exceeds the reference speed.

6. 发明申请

US20180107884A1 ROAD MARKING RECOGNITION DEVICE 审中-公开
公开(公告)号：US20180107884A1
公开(公告)日：2018-04-19
申请号：US15784457
申请日：2017-10-16
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , THE UNIVERSITY OF TOKYO , National University Corporation Tokyo University of Agriculture and Technology
发明人： Toshiki KINOSHITA , Takuma ITO , Satoshi NAKAMURA , Minoru KAMATA , Pongsathorn RAKSINCHAROENSAK , Tsukasa SHIMIZU
IPC分类号： G06K9/00 , G08G1/0962 , G06K9/46
摘要： A road marking recognition device recognizes a road marking from an image acquired by imaging a road surface of a road on which a vehicle is traveling. The road marking recognition device includes: a storage unit configured to store a plurality of templates each of which corresponds to a corresponding one of plurality of feature portions of a road marking as a recognition target and between which a relative positional relationship is known; and a recognition unit configured to detect a second feature portion corresponding to a second template among the plurality of templates when the first feature portion is detected from the image.

7. 发明申请

US20170327110A1 DRIVING ASSISTANCE CONTROL DEVICE FOR VEHICLE 审中-公开
公开(公告)号：US20170327110A1
公开(公告)日：2017-11-16
申请号：US15591595
申请日：2017-05-10
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , National University Corporation Tokyo University of Agriculture and Technology , The University of Tokyo
发明人： Shintaro INOUE , Hideo INOUE , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Masao NAGAI , Takuma ITO , Tsukasa SHIMIZU
IPC分类号： B60W30/09 , B60W40/02 , B60W10/18 , G08G1/16 , B60W10/20 , B60W50/14 , G01S19/13
CPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W30/095 , B60W40/02 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/52 , B60W2510/18 , B60W2510/20 , B60W2520/125 , B60W2520/14 , B60W2540/18 , B60W2550/10 , B60W2550/406 , B60W2710/18 , B60W2710/20 , G01S19/13 , G08G1/166
摘要： A driving assistance control device for a vehicle includes: a moving object detection sensor configured to detect a moving object moving along a roadside in a traveling direction of the vehicle; a driving operation detection sensor configured to detect a driving operation of a driver; an actuator; and an Electronic Control Unit configured to perform automatic steering control of the vehicle by the actuator to avoid the moving object based on a detection result of the moving object, the Electronic Control Unit being configured to start the automatic steering control based on a driving steering of the driver after the moving object is detected.

8. 发明申请

US20170327094A1 DRIVING ASSISTANCE CONTROL APPARATUS OF VEHICLE 审中-公开
公开(公告)号：US20170327094A1
公开(公告)日：2017-11-16
申请号：US15587844
申请日：2017-05-05
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , National University Corporation Tokyo University of Agriculture and Technology , THE UNIVERSITY OF TOKYO
发明人： Shintaro INOUE , Hideo INOUE , Pongsathorn RAKSINCHAROENSAK , Yuichi SAITO , Masao NAGAI , Takuma ITO , Tsukasa SHIMIZU
IPC分类号： B60T7/22 , B62D15/02 , B60W30/09
摘要： A driving assistance control apparatus of a vehicle includes a blind area detector, a driving operation detector, and an electronic control unit. The blind area detector is configured to detect the presence or absence of a blind area as seen from the vehicle in a traveling direction of the vehicle. The driving operation detector is configured to detect driving operation of the driver. The electronic control unit is configured to perform automatic deceleration control of the vehicle based on detection of the presence of the blind area by the blind area detector. The electronic control unit is configured to start the automatic deceleration control, by referring to the driving operation of the driver after detection of the presence of the blind area by the blind area detector.

9. 发明申请

US20150336587A1 DRIVING ASSIST DEVICE 审中-公开
标题翻译：驾驶辅助装置
公开(公告)号：US20150336587A1
公开(公告)日：2015-11-26
申请号：US14714900
申请日：2015-05-18
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , THE UNIVERSITY OF TOKYO , National University Corporation Tokyo University of Agriculture and Technology
发明人： Hideo INOUE , Shintaro INOUE , Masahiro MIO , Shingo SAKAIDA , Tsukasa SHIMIZU , Masayuki OKUWA , Minoru KAMATA , Takuma ITO , Pongsathorn RAKSINCHAROENSAK , Masao NAGAI
IPC分类号： B60W50/08 , B62D6/00
CPC分类号： B60W50/087 , B60W10/184 , B60W10/20 , B60W30/045 , B60W30/18145 , B60W40/09 , B60W2050/0022 , B60W2520/10 , B60W2520/105 , B60W2540/10 , B60W2540/12 , B60W2540/18 , B60W2550/10 , B60W2550/402 , B62D6/00 , B62D15/025 , B62D15/0285
摘要： A driving assist device 1 includes: an information acquisition unit 20 that detects a driving operation of a driver for the vehicle; a driving skill evaluation unit 24 that evaluates a driving skill of the driver on the basis of a history of the driving operation of the driver; and a driving assist control unit 28 that performs the driving assist control for the vehicle on the basis of the traveling state of the vehicle and the target traveling state. When the information acquisition unit 20 detects the driving operation of the driver during the driving assist control, the driving assist control unit 28 limits the amount of driving assist control for the vehicle according to the driving skill of the driver evaluated and reflects the driving operation amount of the driver in traveling control for the vehicle.
摘要翻译：驾驶辅助装置1包括：信息获取单元20，其检测车辆的驾驶员的驾驶操作; 驾驶技能评估单元24，其基于驾驶员的驾驶操作的历史来评估驾驶员的驾驶技能; 以及驾驶辅助控制单元28，其基于车辆的行驶状态和目标行驶状态来执行车辆的驾驶辅助控制。当信息获取单元20在驾驶辅助控制期间检测到驾驶员的驾驶操作时，驾驶辅助控制单元28根据评估的驾驶员的驾驶技术来限制车辆的驾驶辅助控制量，并且反映驾驶操作量的驾驶员在行驶控制车辆。

10. 发明申请

US20160236679A1 VEHICLE DRIVING SUPPORT CONTROL DEVICE 有权
标题翻译：车辆驾驶支持控制装置
公开(公告)号：US20160236679A1
公开(公告)日：2016-08-18
申请号：US15045400
申请日：2016-02-17
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Shintaro INOUE , Hideo INOUE , Yutaka HIRANO , Pongsathorn RAKSINCHAROENSAK
IPC分类号： B60W30/02 , B60W10/184 , B60W10/20
CPC分类号： B60W10/184 , B60W10/20 , B60W30/045 , B60W2710/202 , B60W2720/406 , B60Y2300/82
摘要： There is provided a structure in a driving support system of a vehicle equipped with a steering assist mechanism and a torque vectoring mechanism of right and left wheels, the system capable of reducing an occurrence of a driver's sense of incongruity as much as possible also during the operation of a control based on a machine input and reflecting a driver's steering in the control. The inventive device comprises a steering assist torque controller which controls a steering assist torque given by the steering assist mechanism, a right and left braking-driving force difference controller which controls the braking-driving force difference between the right and left wheels given by the torque vectoring mechanism and a control target value determiner which determines the target values of the steering assist torque and braking-driving force difference for driving support control, based on the steering torque by the driver.
摘要翻译：在具有转向辅助机构和左右车轮的转矩矢量化机构的车辆的驾驶辅助系统中提供了一种结构，该系统能够尽可能地减少驾驶员的不协调感，基于机器输入的控制的操作并且反映驾驶员在控制中的转向。本发明的装置包括控制由转向辅助机构给出的转向辅助转矩的转向辅助转矩控制器，左右制动驱动力差控制器，其控制由转矩给出的左右车轮之间的制动驱动力差矢量化机构和控制目标值确定器，其基于驾驶员的转向转矩来确定用于驾驶支持控制的转向辅助转矩和制动驱动力差的目标值。

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