The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 20, 2024
Filed:
Jan. 18, 2022
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
An autonomous driving vehicle includes a first reference straight steering angle acquisition unit configured to acquire a first reference straight steering angle which is a steering angle of the autonomous driving vehicle in a straight travelling state, a second reference straight steering angle acquisition unit configured to acquire a second reference straight steering angle which is the steering angle when a magnitude of a difference between an estimated yaw rate estimated from the steering angle of the autonomous driving vehicle and the yaw rate of the autonomous driving vehicle detected from the yaw rate sensor is less than a yaw rate threshold value, and an autonomous driving permission unit configured to permits an autonomous driving of the autonomous driving vehicle when both the first reference straight steering angle and the second reference straight steering angle are acquired.