Toyota Jidosha Kabushiki Kaisha

Other

Toyoda Koki Kabushiki Kaisha

Satoru Niwa

Seiji Kawakami

Hiroaki Kataoka

Katsuhiko Iwazaki

Chumsamutr Rattapon

Toru Takashima

Hiromitsu Urano

Sho Otaki

Kosuke Akatsuka

Hojung Jung

Hiromitsu Kobayashi

Takashi Suzuki

Kazunori Kagawa

Michihito Shimada

Kazuhiro Morimoto

Akihisa Yokoyama

Shin Tanaka

Yuka Sobue

Junichi Wakita

Junichi Sakamoto

Chika Yoshioka

Takayuki Yamamoto

Eiji Nakamura

Junichi Morimura

Masahiro Hara

Yoshio Kudo

Ryuji Okamura

Kenji Shirai

Hiroaki Aizawa

Yu Hiei

Akihiro Otomo

Rio Suda

Shinya Kodama

Tetsuya Morino

Naoki Sawada

Seiichi Kojima

Yasunori Yoshino

Kiyotaka Kato

Chika Morimoto

Shiro Takeuchi

Masanori Natsume

Junich Sakamoto

Ikuo Kushiro

An autonomous driving device to be mounted on a vehicle includes a first ECU configured to autonomously drive the vehicle, and a second ECU configured to operate the vehicle under remote control from an outside. The first ECU is configured to keep an activated state while the second ECU is operating the vehicle. The second ECU is configured to keep a power saving state while the first ECU is autonomously driving the vehicle.

Autonomous vehicle driving device for managing power saving state, autonomous vehicle driving method for managing power saving state, and plurality of non-transitory storage media for managing power saving state

An autonomous driving device includes a plurality of driving function ECUs having a function to drive a vehicle in place of an occupant, and a driving function switch ECU is configured to individually change operating states of the driving function ECUs according to a route to a destination and remaining power. The driving function ECUs include an autonomous driving ECU configured to autonomously drive the vehicle, and a remote control ECU configured to operate the vehicle according to remote control from outside.

Autonomous driving device, autonomous driving method, and non-transitory storage medium

A remote driving device configured to remotely operate a vehicle includes a remote operation device, a reaction force unit, a receiver, and a processor. The remote operation device is operated by an operator in order to remotely operate the vehicle. The reaction force unit is configured to generate an operation reaction force to be applied to the remote operation device. The receiver is configured to receive a parameter affecting vehicle characteristics of the vehicle from the vehicle. The processor is configured to control the reaction force unit so as to generate a magnitude of the operation reaction force according to the received parameter.

Remote driving device and remote driving system

A vehicle is operated in accordance with a second operation amount corresponding to a first operation amount of a remote operation member by an operator. A first maximum operation range is a maximum operation range of the remote operation member. A second maximum operation range is a maximum operation range of an operation member of the vehicle. When the first maximum operation range is smaller than the second maximum operation range, a correspondence relationship between the first and second operation amounts is adjusted such that the second operation amount becomes larger than the first operation amount. When the first maximum operation range is larger than the second maximum operation range, an operable range of the remote operation member is restricted or the correspondence relationship is adjusted such that the second operation amount becomes smaller than the first operation amount.

Remote operation method, remote operation device, and non-transitory computer-readable recording medium

A steer-by-wire system includes a steering reaction torque generation device mechanically separated from a turning device for turning wheels and configured to apply a reaction torque to a steering wheel. The steering reaction torque generation device has a duplex configuration including a first system and a second system, each system including a reaction torque motor. When both systems are normal, a control device generates the reaction torque having a normal characteristic by controlling an operation of the reaction torque motor of at least one system. In a case of single failure where one of the systems fails, the control device generates the reaction torque having a first characteristic by controlling an operation of the reaction torque motor of another of the systems. The reaction torque having the first characteristic is different from the reaction torque having the normal characteristic with respect to a same steering angle.

Steer-by-wire system

A parking assistance apparatus includes a display unit that displays an image of a scene behind a host vehicle. At least when the host vehicle moves forward or when the host vehicle is stopped, the display unit displays an indication including a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle.

Parking assistance apparatus

In a vehicle remote operating system remotely operating a host vehicle VM from a portable terminal, a main control unitof an ECUof an in-vehicle devicedetermines an dispatch position of the host vehicle VM on the basis of a parking position of the host vehicle VM and a position of a user U who intends to board the host vehicle VM. Due to this, it becomes possible to dispatch the host vehicle VM according to the parking position of the host vehicle VM and the position of the user U, and convenience is improved in dispatch operation and boarding of the host vehicle VM.

Vehicle remote operating system and in-vehicle device

Before the termination of the fuel-cut control, the vehicle control system reduces a pumping loss by increasing an air intake and a load torque of an auxiliary device thereby preventing the vehicle to be decelerated excessively, and after the termination of the fuel-cut control, the vehicle control system increases the load torque of the auxiliary device thereby preventing the vehicle to be accelerated abruptly. Therefore, the vehicle speed will not be lowered unnecessarily before the termination of the fuel-cut control so that an execution time of the fuel-cut control can be extended. Moreover, driving comfort can be improved by thus reducing a change in acceleration.

Vehicle control system

In deviation prevention support ECUin driving operation support system, an applied torque by steering torque applieris set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the close interval.

Driving operation support system and method

A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road; a driving road departure warning device for issuing a warning of a departure from the driving road on the basis of a position of the vehicle relative to the driving road; and a setting device for setting a need or no need for execution of a control of the driving road keeping device or the driving road departure warning device. Where the setting device sets a need for execution of the control, the control of the driving road keeping device is executed when an activation condition of the driving road keeping device is met and when a cruise control device is active. Where the setting device sets a need for execution of the control, the control of the driving road departure warning device is executed when the activation condition of the driving road keeping device is not met or when the cruise control device is inactive. According to the present invention, a lane departure warning function and a lane-keep assist function are selectively executed in conjunction with activation/deactivation of the cruise control device and the activation condition of the driving road keeping device, whereby, even with an automatic stop of operation of either one of the functions, the other function can prevent the vehicle from departing from the lane.

Driving control apparatus and method having a lane keep function and a lane departure warning function

An apparatus for warning deviation from a lane has a deviation evaluation ECU. The deviation evaluation ECUhas a deviation evaluatorfor performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processordetermines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processorperforms a mask process, without performing the deviation evaluation. A deviation evaluatorperforms the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.

Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same

A driving control apparatus of the present invention has a driving road keeping device for providing a torque to a steering mechanism so as to keep a vehicle traveling at a predetermined position on a driving road, a setting device for setting a need or no need for execution of a control of the driving road keeping device, and a cruise control device for controlling a driving force or speed of the vehicle so as to keep the vehicle in a predetermined driving state. A need or no need for execution of the control of the driving road keeping device is determined based on a setting state of the setting device and a control state of the cruise control device. A display indicating that the control of the driving road keeping device is ready is presented when the control of the driving road keeping device is in an executable state upon a state change of either the setting state of the setting device or the control state of the cruise control device. Therefore, with the display indicating the ready state, a driver can initiate the control of the driving road keeping device by changing the setting state of the setting device or the control state of the cruise control device in accordance with the content of the display.

Driving control apparatus

In deviation prevention support ECUin driving operation support system, an applied torque by steering torque applieris set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a Close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the Close interval.

A driving support system according to the present invention is provided with an actuator for steering steered wheels of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.

Driving support system and method

Growing community of inventors

Susono, Japan

Satoru Niwa