Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Other

Sony Corporation

Jfe Steel Corporation

Sony Co., Ltd.

Yoshinori Watanabe

Tetsujiro Kondo

Ryuta Hashimoto

Kenichiro Aoki

Nobuhide Kamata

Takayuki Goto

Masahiro Harada

Kazuyuki Fujita

Tomoyuki Kuriyama

Takahiro Yokota

Ryo Irie

Masateru Amano

Hidehiko Kawakami

Masaki Matsunaga

Go Inoue

Toshiyuki Matsubara

Kiyotaka Taguchi

Hiroki Fukuda

Takaaki Tanaka

Takeshi Yamamoto

Masaaki Yamaoka

Tsuneo Uchida

Koji Ihara

Toshiki Kindo

Shinichi Suzuki

Kenji Tanaka

Yoji Kunihiro

Atsushi Sone

Hirotaka Tokoro

Tadashi Omachi

Tatsuya Yamamoto

Miki Kato

Hirokazu Shibata

Hidehisa Kato

Yuki Okamoto

Hiroyuki Matsubayashi

Atsushi Kuribayashi

Yuko Nakamura

Masaru Sawaki

Atsushi Kodama

Wataru Mizuno

Takemi Ueno

Kosuke Futagami

Takeshi Tsukada

Sho Amagai

Yosuke Hirate

Yutaro Hayashi

Yoichiro Katsura

Hitomi Sahara

Tetsuya Taira

Shunsuke Tanimori

Yoshio Kudo

Taichi Kawanai

Keiichi Nakane

Hisaya Akatsuka

Naomichi Nonaka

Ryo Hashimoto

Katsuyoshi Nishii

Satoshi Shimizu

Naotoshi Kadotani

Mitsutaka Tanimoto

Hiromichi Itoh

Yutaka Aoki

Tetsuya Enokizaka

Nobuo Shikanai

Masaya Sato

Masatoshi Abo

Takahiro Naito

Masatoshi Aboh

Daisuke Suzuki

Kazutomo Tsuchikawa

Makoto Ono

Daisuke Satoh

Yasuhiro Murota

Misao Ishikawa

Daisuke Namekawa

Yuki Nakai

Hiroki Tanaka

Yuta Asaka

Taiichiro Ichimaru

Toshihiko Seki

Yasuko Ohashi

Tomoya Imagawa

A method for inspecting a road surface condition includes the steps of obtaining detailed information on a road surface condition set for each inspection point based on a traveling record of a vehicle, and information on an own position of the vehicle, generating an inspection execution plan of the vehicle in the inspection point when the inspection point is included in a predetermined range in an advancing direction of the vehicle with the own position as a reference, performing evaluation of a road surface condition in the inspection point based on a traveling condition of the vehicle that is obtained during the inspection execution plan, and updating the detailed information on a road surface condition set for the inspection point based on latest information on the road surface condition the evaluation of which is performed.

Method for inspecting road surface condition, road surface condition inspection device, and road surface condition inspection system

A vehicle travel control device executes trajectory following control to make the vehicle follow a target trajectory. A delay time represents control delay of the trajectory following control. A delay compensation time is at least a part of the delay time. The trajectory following control includes: displacement estimation processing that estimates a displacement of the vehicle in the delay compensation time; and delay compensation processing that corrects a deviation between the vehicle and the target trajectory based on the estimated displacement to compensate the control delay. The displacement estimation processing is effective in an effective period and ineffective in an ineffective period. When the ineffective period is included in the delay time of the trajectory following control, the displacement estimation processing is executed in a temporary mode by using sensor-detected information in the effective period without using the sensor-detected information in the ineffective period.

Vehicle travel control device

A vehicle control system for an autonomous vehicle includes: a first control device configured to generate a first driving plan including desired lateral lane driving positions or desired lateral lane driving position ranges; a plurality of first sensors configured to obtain information on motion of the vehicle and information on surroundings of the vehicle; and a second control device configured to communicate with the first control device, generate, based on the first driving plan obtained from the first control device and the information obtained by the first sensors, a second driving plan different from the first driving plan, the second driving plan including target lateral lane driving positions or target lateral lane driving position ranges, and control driving operation of the vehicle based on the second driving plan.

Vehicle control system and vehicle control device for autonomous vehicle

An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Autonomous driving system

A vehicle control device includes a scene determination unit determining whether or not a current traveling scene is a traveling-restricted scene, an order setting unit setting priorities corresponding to a restriction with respect to driving behaviors previously classified for different purposes in a case where it is determined that the traveling scene is the traveling-restricted scene and setting priorities with respect to the plurality of driving behaviors in a case where it is not determined that the traveling scene is the traveling-restricted scene, a traveling plan generating unit generating traveling plans corresponding to the plurality of priority-set driving behaviors, an executability determination unit determining executability of each of the plurality of generated driving behaviors, a traveling plan selection unit selecting the traveling plan corresponding to the driving behavior with the highest priority, and a traveling control unit controlling the traveling of the host vehicle based on the traveling plan.

Vehicle control device and vehicle control method

A vehicle travel control device executes vehicle travel control such that a vehicle follows a target trajectory. An automated driving control device generates a first target trajectory that is the target trajectory for automated driving of the vehicle. The vehicle travel control device further determines whether or not an activation condition of travel assist control is satisfied. When the activation condition is satisfied, the vehicle travel control device generates a second target trajectory that is the target trajectory for the travel assist control. Even when the second target trajectory is generated during the automated driving, or when the second target trajectory is generated during the automated driving and a priority condition for giving priority to the first target trajectory is satisfied, the vehicle travel control device executes the vehicle travel control by giving more weight to the first target trajectory than to the second target trajectory.

Vehicle control system

Processing to set a control mode of driving control is performed. In this setting processing, it is determined whether or not a predetermined condition in which a tracking performance of a vehicle state with respect to a target vehicle state decreases is satisfied. Then, when it is determined that the predetermined condition is satisfied, the control mode is switched from a normal mode to a temporary mode. In the temporary mode, generation of a driving plan is stopped. Alternatively, updating or referring to the driving plan generated while it is determined that the predetermined condition is satisfied is prohibited. Alternatively, an instruction value for control calculated using a target control value and a current vehicle state in the driving plan generated while it is determined that the predetermined condition is satisfied is modified.

Vehicle control system and vehicle control method

A vehicle control system generates at least one primary candidate of a target trajectory for an automated driving of a vehicle and executes a primary evaluation. An evaluation index of the primary evaluation includes a travel safety level of a travel to follow the primary candidate. The primary candidate having highest travel safety level is selected as at least one strong candidate of the target trajectory. If only one is selected as the strong candidate, the vehicle control system determines the selected strong candidate as a finalist candidate of the target trajectory. If two or more strong candidates are selected, the vehicle control system executes a secondary evaluation for the strong candidates to determine the finalist candidate. An additional evaluation index is used in the secondary evaluation.

An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.

A vehicle traveling controller according to the present disclosure performs automatic steering so that a vehicle travels along a target path. The vehicle traveling controller allows a driver to intervene in steering. When the driver intervenes in steering and thereby a traveling position of the vehicle deviates outside from a threshold line set apart from the target path in a lane width direction, the vehicle traveling controller increases a steering reaction force acting on steering operation by the driver.

Vehicle traveling controller

Growing community of inventors

Isehara, Japan

Yoshinori Watanabe