Toyota Jidosha Kabushiki Kaisha

Eiji Sakaguchi

Nobuhide Kamata

Taichi Kawanai

Yasuhiro Takagi

Yusuke Hayashi

Keisuke Hokai

Masahiro Harada

Hideyuki Matsui

Hideo Fukamachi

Kazuhiko Kamikado

Tomoyuki Kuriyama

Hirotada Otake

Kazuhiko Nakashima

Masaki Takano

Shinsuke Moriyama

The vehicle control device includes a start determination unit configured to determine whether or not the inter-vehicle distance between the preceding vehicle and the host vehicle has become equal to or greater than a start threshold greater in value than the stop threshold, and a vehicle control unit configured to start the host vehicle based on a preset speed profile after the start determination unit determines that the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or greater than the start threshold and maintain the stopped state of the host vehicle until the start determination unit determines that the inter-vehicle distance between the preceding vehicle and the host vehicle is equal to or greater than the start threshold after the preceding vehicle and the host vehicle stop.

Vehicle control device

An assistance control system performs assistance control for causing a moving object to move to a destination based on map information. The assistance control system includes an electronic control unit. The electronic control unit is configured to generate or update the map information based on input from a sensor mounted on the moving object, acquire a plurality of route candidates to the destination, evaluate certainty of the map information for each location or each section, and calculate a map information evaluation value, evaluate accuracy of the assistance control in the acquired route candidates based on the calculated map information evaluation value, and present a route candidate having the highest priority among the route candidates to an occupant of the moving object, or control the moving object along the route candidate having the highest priority.

Assistance control system that prioritizes route candidates based on unsuitable sections thereof

An autonomous driving deviceis configured to set a target route to merge into a first main line Lfrom a branch line Lbased on waypoints P set in a lane. If it is determined by the merge determination unitthat the merge is not easy, the target route setting unitis configured to select the waypoint P on the branch line Lset at the position on an end edge E side of the branch line Las the end edge waypoint Pa closest to the end edge E side on the branch line Lto be selected for setting the target route, compared to a case where it is determined that the merge is easy.

Autonomous driving device

A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.

Map information system

A map information system includes: an in-vehicle device that executes automated driving control of a vehicle; and an external device having external map information used for the automated driving control. The in-vehicle device includes: a memory device in which map information is stored; and a control device configured to execute the automated driving control based on the map information stored in the memory device. The control device is further configured to: determine whether or not a takeover occurs during the automated driving control; set an upload target area including the takeover occurrence position, in a case where the takeover occurs during the automated driving control; and upload the map information regarding the upload target area to the external device. The external device updates the external map information based on the map information uploaded from the in-vehicle device.

A map information system includes: an in-vehicle device that executes driving support control based on map information; an external device having external map information used for the driving support control; and an update determination device. The in-vehicle device further executes external update processing that updates first map information being the map information of a first area by using first external map information being the external map information of the first area. The update determination device calculates a change degree being a difference between the first map information and the first external map information, for each point or each area in the first area. The external update processing is prohibited with respect to a section in which the change degree is equal to or less than a threshold. The external update processing is permitted with respect to a section in which the change degree exceeds the threshold.

A headlight control apparatus for controlling an irradiation angle of a headlight of a vehicle based on a pitch angle includes a height sensor and a camera. The height sensor detects a displacement amount of a spring upper member with respect to a rotation axis of the vehicle as a contraction length. The apparatus obtains an infinity point correlation value based on an infinity point position in the image obtained by the camera in a vertical direction. When a predetermined condition is satisfied, the apparatus obtains a standard pitch angle based on the contraction length and obtains the infinity point correlation value at the present time as a standard infinity point correlation value. When the condition is not satisfied, the apparatus obtains the pitch angle based on the standard pitch angle, the standard infinity point correlation value, and the infinity point correlation value at the present time.

Headlight control apparatus

A vehicle control system includes a vehicle control apparatus configured to set a target trajectory of a vehicle in autonomous driving, a manual driving database configured to contain manual driving trajectory information that indicates a manual driving trajectory that is a trajectory of the vehicle in manual driving, a weight acquisition device configured to acquire weight information that indicates weights of the target trajectory and manual driving trajectory, the weights being designated by a user of the vehicle, and a trajectory adjusting device configured to determine an integrated target trajectory by integrating the target trajectory and the manual driving trajectory based on the weights indicated by the weight information. The vehicle control apparatus is configured to control the autonomous driving of the vehicle such that the vehicle follows the integrated target trajectory.

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Susono, Japan

Eiji Sakaguchi