Toyota Jidosha Kabushiki Kaisha

Aisin Seiki Kabushiki Kaisha

Kunihito Sato

Bunyo Okumura

Shuuichi Buma

Kentaro Ichikawa

Toshio Aburaya

Maiko Hirano

Takashi Yonekawa

Masaki Kawanishi

Kouichi Kokubo

Toshiaki Hamada

Hiroyuki Ikemoto

Kaoru Ohashi

Toshio Onuma

Shinichi Tagawa

Taisuke Sugaiwa

Hiromitsu Urano

Nobuhide Kamata

Takeshi Goto

Yuichi Kubota

Yutaka Iguchi

Takami Sugiyama

Nobuyasu Suzumura

Mitsuhisa Shida

Tsukasa Watanabe

Osamu Komazawa

Minoru Kato

Tomoyuki Doi

Takaaki Enomoto

Keitaro Niki

Kazuo Ogawa

Kohei Otsuka

Toshio Oonuma

Masahiro Fukuta

Shinji Matsuda

Masato Kawai

Nishiyama Keiichi

An autonomous driving device configured to release the autonomous driving control if an override operation is input during the execution of the autonomous driving control which is based on a first travel plan, set a second travel plan different from the first travel plan after the input of the override operation, determine whether or not to restore the autonomous driving control with the autonomous driving control which is based on the second travel plan after the input of the override operation, and maintain the manual driving and prohibit automatic starting of the autonomous driving control until after a predetermined time elapses after the autonomous driving control is released and when the determination is made not to restore the autonomous driving control.

Autonomous driving device

An autonomous driving device includes an autonomous driving release unit that releases the autonomous driving control if an override operation is input during the autonomous driving control which is based on a first travel plan, a travel plan setting unit that sets a second travel plan different from the first travel plan after the input of the override operation, an autonomous driving restore determination unit that determines whether to restore the autonomous driving control with the autonomous driving control which is based on the second travel plan after the input of the override operation, and a vehicle control unit that maintains the manual driving and prohibits automatic starting of the autonomous driving control until after a predetermined time elapses after the autonomous driving control is released and when the autonomous driving restore determination unit determines not to restore the autonomous driving control.

An abnormality detection device includes a sensor configured to detect an external environment of a vehicle and an electronic control unit configured to: detect a traveling state of the vehicle; acquire a control command value for the vehicle in automatic driving control, the vehicle being caused to travel automatically in the automatic driving control; determine, based on a difference between the traveling state and the control command value, whether the traveling state is abnormal; determine, based on a detection result from the sensor, whether the external environment is suitable for execution of the automatic driving control; and determine that an abnormality has occurred in an automatic driving system when it is determined that the traveling state is abnormal and it is determined that the external environment is suitable for the execution of the automatic driving control, the automatic driving system performing the automatic driving control.

Abnormality detection device

An automatic driving system includes at least one electronic control unit configured to: generate a traveling plan so as to moderate a change in behavior of a vehicle at a time when an automatic driving control of the vehicle is started by an automatic engagement compared to a change in the behavior of the vehicle at a time when the automatic driving control is started by a triggered engagement, the automatic engagement being an engagement in which the automatic driving control is automatically started when an automatic engagement condition is satisfied, the triggered engagement being an engagement in which the automatic driving control is started when an automatic driving start condition is satisfied and an automatic driving start trigger is input by an occupant; and execute the automatic driving control by controlling the behavior of the vehicle based on the traveling plan, using an actuator equipped in the vehicle.

Automatic driving system

An automatic driving system includes an electronic control unit. The electronic control unit is configured: to create a first travel plan of a vehicle based on a position of the vehicle, an environment surrounding the vehicle, and a state of the vehicle; to calculate a first reliability of the first travel plan; to create a second travel plan of the vehicle based on one or two of the position of the vehicle, the environment surrounding the vehicle, and the state of the vehicle; to calculate a second reliability of the second travel plan; and to start the automatic driving control such that the vehicle travels based on the first travel plan when the first reliability of the first travel plan is equal to or higher than the second reliability of the second travel plan.

An automated driving system includes at least one electronic control unit configured to: recognize at least one obstacles around a vehicle, based on ambient surroundings of the vehicle; create a traveling plan of the vehicle, based on the ambient surroundings and a result of recognition of the at least one obstacles; control the vehicle using an actuator installed on the vehicle, based on the traveling plan; and perform, according to input from a user of the vehicle, overwriting operation to change the result of recognition of the at least one obstacles used for creation of the traveling plan.

Automated driving system

An autonomous driving device includes an autonomous driving release unit configured to release the autonomous driving control if an override operation is input during the execution of the autonomous driving control which is based on a first travel plan, a travel plan setting unit configured to set a second travel plan different from the first travel plan after the input of the override operation, an autonomous driving restore determination unit configured to determine whether or not to restore the autonomous driving control with the autonomous driving control which is based on the second travel plan after the input of the override operation, and a vehicle control unit configured to automatically start the autonomous driving control which is based on the second travel plan after the autonomous driving control is released and when the autonomous driving restore determination unit determines to restore the autonomous driving control.

An automatic driving system includes an electronic control unit. The electronic control unit is configured to create a traveling plan including a control target value of automatic driving control of a vehicle based on a position of the vehicle of a map, a vehicle state, and an external environment, to calculate an abnormality value, to determine, based on the abnormality value, whether the vehicle is an a normal state, an abnormal state, or an intermediate state, and to create an abnormal traveling plan as the traveling plan when it has been determined that the vehicle is in the abnormal state.

An automatic operation control system of a mobile object includes an environment map storage unit configured to store environment map information and an electronic control unit configured to include an impassable region determining unit. The environment map information includes position information indicating a plurality of positions in a space and a state quantity variability of each of the plurality of positions, the state quantity variability is correlated with the corresponding position information, and the state quantity variability indicates a variation tendency of a state quantity of the corresponding position with respect to time. The impassable region determining unit is configured to determine an impassable region which is unsuitable for movement of the mobile object on the basis of the state quantity variability of the environment map information.

Automatic driving control system of mobile object

A vehicle includes an autonomous driving device that executes autonomous drive control; a track generation section that generates a travel track of the vehicle based on an estimation result by a self-position estimation section and a recognition result by an object recognition section; an actuator that moves the vehicle so that the vehicle travels along the travel track; a trigger input pedal disposed at a left side from an accelerator pedal and a brake pedal, seen from a driver; and an autonomous drive control start determination section that starts the autonomous drive control when an autonomous drive control start trigger is inputted via the trigger input pedal and it is determined that start of the autonomous drive control is possible.

Vehicle

A vehicle control device includes a map database and at least one electronic control unit. The electronic control unit is configured to calculate a reference arrival position based on a target time or a target distance. The at least one electronic control unit is configured to determine, according to the map information or the external situation at the reference arrival position, as a target arrival position, a position where the vehicle arrives on the potential route in a time different from the target time or over a distance different from the target distance. The at least one electronic control unit is configured to calculate a transition route from the road position to the target arrival position, and generate the target route by connecting the transition route and the potential route following the target arrival position.

Vehicle control device

A traffic congestion detection apparatus includes a traveling information acquisition unit for acquiring traveling information relating to a traveling state of a vehicle, and a traveling zone determination unit for determining which one of at least three zones including a central zone of a congestion area the vehicle is traveling in, based on current traveling information acquired by the traveling information acquisition unit.

Traffic congestion detection apparatus and vehicle control apparatus

A traffic control system provides a driver of a vehicle, which runs in a predetermined running state among vehicles running on a road with information on the suppression of traffic congestion on the road. The predetermined running state is, for example, a running state constituting a cause of traffic congestion on the road. The information may be provided by urging the driver to perform a driving operation of at least one of acceleration and lane change.

Traffic control system, vehicle control system, and traffic control method

A vehicle group control device for controlling the arrangement of vehicles within a vehicle group including plural vehicles, the vehicle group control device including: a periphery monitoring performance grasping unit which grasps a periphery monitoring performance of each vehicle constituting the vehicle group; and an arrangement determination unit which determines the arrangement of the vehicles within the vehicle group on the basis of the periphery monitoring performance of each vehicle. Accordingly, since the periphery monitoring performance of each vehicle within the vehicle group is grasped and the arrangement of the vehicles within the vehicle group can be determined on the basis of the periphery monitoring performance of each vehicle, it is possible to efficiently drive the entire vehicle group.

Vehicle group control method and vehicle group control device

A vehicle control device includes: a road-to-vehicle communication device which acquires information regarding the volume of traffic in a predetermined section on a road where a vehicle travels and which transmits the traffic volume information to a determination section; a deceleration acquisition section which acquires deceleration of a vehicle in front in the predetermined section and transmits information regarding the deceleration to the determination section; the determination section which determines whether or not a lane change is necessary on the basis of the traffic volume information acquired by the road-to-vehicle communication device and the deceleration acquired by the deceleration acquisition section; and an instruction section which instructs at least either the host vehicle or a vehicle behind to change lane when the determination section determines that a lane change is necessary. Therefore, it is possible to provide a vehicle control device capable of suppressing the occurrence of a traffic jam.

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Mishima, Japan

Kunihito Sato