Toyota Jidosha Kabushiki Kaisha

Hiroki Fukuda

Akira Ito

Ryuta Hashimoto

Yoshinori Watanabe

Kenichiro Aoki

Shota Fujii

Nobuhide Kamata

Taichi Kawanai

Takahiro Yokota

Daichi Hotta

Atsushi Kodama

Atsushi Tojo

Yuta Asaka

A vehicle control apparatus for performing autonomous driving of a host vehicle. The vehicle control apparatus includes an operating section information acquisition unit configured to acquire operating section information that is information of an operating section in which vehicle stability control by brake control has been operated in a vehicle in autonomous driving in the past; an operation plan generation unit configured to generate an operation plan of autonomous driving of the host vehicle based on a preset target route and map information; and a vehicle controller configured to perform autonomous driving along the operation plan, wherein the operation plan generation unit generates the operation plan so that the host vehicle does not stop in the operating section.

Vehicle control apparatus

When a subject vehicle reaches a first position of an interflow zone within an interflow lane, it is judged whether a condition for automatic interflow is satisfied. When it is judged that the condition for automatic interflow is not satisfied at the first position, a notification for urging manual interflow by a driver is stated to execute. When it is judged that the condition for automatic interflow is satisfied at the first position, the automatic interflow is stared to execute.

Vehicle control device, vehicle control method and computer-readable storage medium

When a subject vehicle reaches a first position of an interflow zone within an interflow lane, it is judged whether a condition for automatic interflow is satisfied. When it is judged that the condition for automatic interflow is not satisfied at the first position, a notification for urging a handover of a central player of the subject vehicle is stated to execute. When it is judged that the condition for automatic interflow is satisfied at the first position, the start of the execution of the notification is temporarily suspended.

A driving support apparatus includes a feedback control system. The feedback control system calculates each operation amount of a brake actuator and a drive actuator so as to match an actual value of a control amount indicating a motion state of the vehicle to a target value. The target value of the control amount is set so as to stop the vehicle to a target stop position. The driving support apparatus sets, when remaining distance from a current position of the vehicle to the target stop position is first distance, a feedback gain of the feedback control system to large value, as compared with the feedback gain set when the remaining distance is second distance which is greater than the first distance.

Driving support apparatus

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.

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. The lane change control device is configured to: determine, from start to completion of the lane change control, whether or not a driver's operation is performed as an abort request operation that requests to abort the lane change control; when the abort request operation is performed, determine whether or not an abort permission condition is satisfied; when the abort permission condition is not satisfied, continue the lane change control; and, when the abort permission condition is satisfied, abort the lane change control and make the vehicle travel in the first lane. The lane change control device changes ease of satisfaction of the abort permission condition depending on the situation.

Autonomous driving system

An automatic driving system that is mounted in a vehicle includes: an information acquiring device configured to acquire driving environment information indicating a driving environment of the vehicle; and a running control device configured to execute lane change control from a first lane to a second lane, and set a lane change time which is a time required for lane change The running control device is configured to set an initial value of the lane change time, determine whether a moving object having a highest degree of approach to the vehicle is present in the second lane, and change the initial value based on a relative position of the moving object with respect to the vehicle and a relative speed of the vehicle with respect to the moving object when it is determined that the moving object having the highest degree of approach is present in the second lane.

Automatic driving system

An autonomous driving system includes an information acquiring device configured to acquire driving environment information and a travelling control device configured to execute lane change control from a first lane to a second lane during autonomous driving based on the driving environment information. The travelling control device is configured to perform a continuation determining process of determining whether to continue the lane change control based on a combination of a progress level and an influence level when a subsequent vehicle in the second lane is detected based on the driving environment information and a stop request for execution of the lane change control is detected after execution of the lane change control has started. The progress level represents progress of the lane change control and the influence level represents a predicted degree of influence of continuing the lane change control on the subsequent vehicle.

A vehicle control system includes a controller for generating a target path for the vehicle to change a lane from a main lane to a diverging lane in a diverging zone from a diverging start point to a diverging end point, and causing the vehicle to travel so as to follow the target path. Here, the diverging lane include a plurality of lanes divided into a first diverging lane farthest from the main lane and a second target diverging lane closer to the main lane than the first diverging lane. The controller is configured to generate the target path based on a diverging partition line that partitions the main lane and the diverging lane in the diverging zone when traveling from the main lane through the second diverging lane of the diverging lane toward a destination.

Vehicle control system

When a subject vehicle reaches a position PNO in a middle of an interflow zone, it is judged whether conditions for automatic interflow are satisfied. When it is judged that the conditions for automatic interflow are not satisfied at the position PNO, a notification for urging manual interflow by a driver is started. Otherwise, the notification for manual interflow is not started. In a case where the notification for manual interflow was not started, when the subject vehicle reaches the position PGU between a distal end of an interflow zone and the position PNO, the notification for manual interflow is started.

A control device for vehicle travelling is provided, which executes following control that controls a vehicle speed in accordance with a following distance from a preceding vehicle. The following control includes LK following control that is executed so that a following distance from a preceding vehicle on a travel lane becomes an LK target following distance, under a situation of lane keep. The following control farther includes LC following control that is executed so that a following distance from a vehicle to be a preceding vehicle on a target lane becomes an LC target following distance, under a situation of lane change. In the LC following control, a vehicle speed is controlled so that a larger value is allowed as compared with at a time of execution of the LK following control, with respect to one or both of an acceleration and a jerk.

Control device for vehicle travelling

An automatic deceleration control device includes an electronic control unit including a central processing unit, the electronic control unit configured to: acquire road-type information that is information about a type of a road on which a vehicle is traveling; set a maximum deceleration based on the road-type information; and output a signal to decelerate the vehicle at a first deceleration that is equal to or lower than the maximum deceleration, when an actual vehicle speed of the vehicle exceeds a target vehicle speed of the vehicle.

Automatic deceleration control device

When the subject vehicle reaches the position PNO in the middle of the interflow zone, it is judged whether the conditions for automatic interflow are satisfied. When it is judged that the condition for automatic interflow are not satisfied at the position PNO, the notification for urging manual interflow by the driver is started. Otherwise, the notification for manual interflow is not started. In the case where the notification for manual interflow was not started, when the subject vehicle reaches the position PGU between the distal end of the interflow zone and the position PNO, the notification for manual interflow is started.

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.

Growing community of inventors

Shizuoka-ken, Japan

Hiroki Fukuda