Vehicle control system and vehicle control method

Patent metadata

Field	Value
Publication number	US-11275378-B2
Application number	US-201916517811-A
Country	US
Kind code	B2
Filing date	Jul 22, 2019
Priority date	Oct 24, 2018
Publication date	Mar 15, 2022
Grant date	Mar 15, 2022

Abstract

A vehicle control system includes a vehicle control apparatus configured to set a target trajectory of a vehicle in autonomous driving, a manual driving database configured to contain manual driving trajectory information that indicates a manual driving trajectory that is a trajectory of the vehicle in manual driving, a weight acquisition device configured to acquire weight information that indicates weights of the target trajectory and manual driving trajectory, the weights being designated by a user of the vehicle, and a trajectory adjusting device configured to determine an integrated target trajectory by integrating the target trajectory and the manual driving trajectory based on the weights indicated by the weight information. The vehicle control apparatus is configured to control the autonomous driving of the vehicle such that the vehicle follows the integrated target trajectory.

First claim

What is claimed is:

1. A vehicle control system comprising:
a manual driving database configured to contain manual driving trajectory information that indicates a manual driving trajectory that is a trajectory of a vehicle in manual driving;

at least one processor configured to:
set a target trajectory of the vehicle performing autonomous driving;
prompt a user to select a weight of the manual driving trajectory and a weight of the target trajectory;
acquire a user selection of the weight of the target trajectory and a user selection of the weight of the manual driving trajectory; and
determine an integrated target trajectory by integrating the target trajectory and the manual driving trajectory based on the selected weight of the target trajectory and the selected weight of the manual driving trajectory; and
control the autonomous driving of the vehicle such that the vehicle follows the integrated target trajectory.

2. The vehicle control system according claim 1 , wherein the at least one processor is configured to, when there is a plurality of manual driving trajectories in a target travel range, acquire a representative manual driving trajectory by integrating the manual driving trajectories, and determine the integrated target trajectory by integrating the target trajectory and the representative manual driving trajectory based on the weights.

3. The vehicle control system according to claim 1 , wherein: the vehicle control system comprises a human machine interface unit; and the weights are selected by the user through the human machine interface unit.

4. The vehicle control system according to claim 3 , wherein: the human machine interface unit comprises a touch panel, and
wherein the at least one processor is further configured to control the human machine interface unit to display a weight selection screen that contains a plurality of buttons for selecting different weights.

5. The vehicle control system according to claim 3 , wherein the human machine interface unit is configured to visually display the target trajectory and the manual driving trajectory.

6. The vehicle control system according to claim 3 , wherein the human machine interface unit is configured to, based on an image in front of the vehicle being available, display the target trajectory and the manual driving trajectory over the in front image.

7. The vehicle control system according to claim 1 , further comprising a map database configured to contain trajectory map information that indicates the target trajectory, wherein the at least one processor is further configured to set the target trajectory by reading the trajectory map information from the map database.

8. A vehicle control system that controls a vehicle, comprising:
a single or multiple processors; and
a storage device in which manual driving trajectory information that indicates a manual driving trajectory that is a trajectory of the vehicle in manual driving is stored, wherein the single or multiple processors are configured to:
set a target trajectory of the vehicle performing autonomous driving;
prompt a user to select a weight of the manual driving trajectory and a weight of the target trajectory;
acquire a user selection the weight of the target trajectory and a user selection of the weight of the manual driving trajectory,
determine an integrated target trajectory by integrating the target trajectory and the manual driving trajectory based on the selected weight of the target trajectory and the selected weight of the manual driving trajectory, and
control the autonomous driving of the vehicle such that the vehicle follows the integrated target trajectory.

9. A vehicle control method comprising:
setting a target trajectory of a vehicle performing autonomous driving;
storing manual driving trajectory information that indicates a manual driving trajectory that is a trajectory of the vehicle in manual driving;
prompting a user to select a weight of the manual driving trajectory and a weight of the target trajectory;
acquiring a user selection of the weight of the target trajectory and a user selection of the weight of the manual driving trajectory;
determining an integrated target trajectory by integrating the target trajectory and the manual driving trajectory based on the selected weight of the target trajectory and the selected weight of the manual driving trajectory; and
controlling the autonomous driving of the vehicle such that the vehicle follows the integrated target trajectory.

Assignees

• Toyota Motor Co Ltd

Inventors

• Hokai Keisuke
• Kamikado Kazuhiko
• Kawanai Taichi
• Harada Masahiro
• Kamata Nobuhide
• Takagi Yasuhiro
• Fukamachi Hideo
• Sakaguchi Eiji
• Matsui Hideyuki
• Hayashi Yusuke

Classifications

• B60W60/0011

  involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles · CPC title

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W2050/146

  Display means · CPC title

• B60W60/0013 Primary

  specially adapted for occupant comfort · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title