Patents by Inventor Kazuhiko KAMIKADO
Kazuhiko KAMIKADO has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11938952Abstract: A traveling trajectory estimation system obtains traveling record information indicating a past traveling record of a vehicle, and characteristic object position information indicating the installation position of a characteristic object, and performs a vehicle position estimation process to estimate an object vehicle position at an object time, based on the traveling record information and the characteristic object position information. In the vehicle position estimation process, not only a time previous to the object time, but also a time subsequent to the object time, is used as a reference time. The traveling trajectory estimation system sets each of a plurality of successive times as the object time, and performs the vehicle position estimation process, to estimate the object vehicle positions at the respective times, and determines a collection of the estimated object vehicle positions as a traveling trajectory of the vehicle.Type: GrantFiled: December 9, 2021Date of Patent: March 26, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Sadayuki Abe, Taichi Kawanai, Kazuhiko Kamikado
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Patent number: 11912290Abstract: A self-position estimation accuracy verification method includes a step of moving a mobile object to a first check point, a step of acquiring first check information, a step of starting a self-position estimation using the first check information as an initial value, a step of moving the mobile object to a second check point while continuing the self-position estimation, a step of acquiring second check information, and a step of calculating a deviation between a position and a posture of the mobile object on the map estimated by the self-position estimation at the second check point and a position and a posture of the mobile object on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.Type: GrantFiled: November 1, 2021Date of Patent: February 27, 2024Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Kazuhiko Kamikado, Taichi Kawanai, Sadayuki Abe, Hideyuki Matsui
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Patent number: 11796344Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: GrantFiled: December 12, 2022Date of Patent: October 24, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi Kawanai, Yasuhiro Takagi, Masahiro Harada, Nobuhide Kamata, Eiji Sakaguchi, Keisuke Hokai, Hideyuki Matsui, Kazuhiko Kamikado, Yusuke Hayashi, Hideo Fukamachi
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Patent number: 11733708Abstract: An autonomous driving system that performs a traveling of an autonomous driving vehicle based on a remote instruction by a remote commander includes: a vehicle position acquisition unit configured to acquire a position of the autonomous driving vehicle on the map; an external environment recognition unit configured to recognize an external environment of the autonomous driving vehicle; a remote instruction location situation recognition unit configured to recognize a remote instruction location situation on a target route of the autonomous driving vehicle set in advance based on the target route, the position of the autonomous driving vehicle on the map, and map information; and a remote instruction request determination unit configured to determine whether or not to request the remote commander for the remote instruction with regard to the remote instruction location situation, based on the external environment of the autonomous driving vehicle.Type: GrantFiled: July 31, 2020Date of Patent: August 22, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi Kawanai, Kazuhiko Kamikado, Hideyuki Matsui, Hayato Ito, Nobuhide Kamata, Tomoyuki Kuriyama, Yasuhiro Kobatake
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Patent number: 11692848Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: GrantFiled: October 29, 2021Date of Patent: July 4, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi Kawanai, Yasuhiro Takagi, Masahiro Harada, Nobuhide Kamata, Eiji Sakaguchi, Keisuke Hokai, Hideyuki Matsui, Kazuhiko Kamikado, Yusuke Hayashi, Hideo Fukamachi
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Patent number: 11680821Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: GrantFiled: December 10, 2021Date of Patent: June 20, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi Kawanai, Yasuhiro Takagi, Masahiro Harada, Nobuhide Kamata, Eiji Sakaguchi, Keisuke Hokai, Hideyuki Matsui, Kazuhiko Kamikado, Yusuke Hayashi, Hideo Fukamachi
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Patent number: 11680820Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: GrantFiled: October 22, 2019Date of Patent: June 20, 2023Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi Kawanai, Yasuhiro Takagi, Masahiro Harada, Nobuhide Kamata, Eiji Sakaguchi, Keisuke Hokai, Hideyuki Matsui, Kazuhiko Kamikado, Yusuke Hayashi, Hideo Fukamachi
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Publication number: 20230109416Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: ApplicationFiled: December 12, 2022Publication date: April 6, 2023Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi Kawanai, Yasuhiro Takagi, Masahiro Harada, Nobuhide Kamata, Eiji Sakaguchi, Keisuke Hokai, Hideyuki Matsui, Kazuhiko Kamikado, Yusuke Hayashi, Hideo Fukamachi
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Patent number: 11467576Abstract: An autonomous driving system includes a target object position recognition unit configured to recognize a target object position detected by a vehicle-mounted sensor based on map information in a map database, a vehicle position recognition unit configured to recognize a vehicle position, a relative-relationship-on-map acquisition unit configured to acquire a relative-relationship-on-map between the target object and the vehicle based on the target object position and the vehicle position on the map, a detected-relative-relationship acquisition unit configured to acquire a detected-relative-relationship between the target object detected by the sensor and the vehicle based on a result of detection performed by the sensor, a map accuracy evaluation unit configured to evaluate map accuracy of the map information based on the relative-relationship-on-map and the detected-relative-relationship, and an autonomous driving permission unit configured to permit an autonomous driving control using the map information bType: GrantFiled: April 25, 2019Date of Patent: October 11, 2022Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Nobuhide Kamata, Ryo Igarashi, Kazuhiko Kamikado, Kiyosumi Kidono, Kunihiro Goto, Takashi Naito
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Publication number: 20220234595Abstract: A traveling trajectory estimation system obtains traveling record information indicating a past traveling record of a vehicle, and characteristic object position information indicating the installation position of a characteristic object, and performs a vehicle position estimation process to estimate an object vehicle position at an object time, based on the traveling record information and the characteristic object position information. In the vehicle position estimation process, not only a time previous to the object time, but also a time subsequent to the object time, is used as a reference time. The traveling trajectory estimation system sets each of a plurality of successive times as the object time, and performs the vehicle position estimation process, to estimate the object vehicle positions at the respective times, and determines a collection of the estimated object vehicle positions as a traveling trajectory of the vehicle.Type: ApplicationFiled: December 9, 2021Publication date: July 28, 2022Inventors: Sadayuki Abe, Taichi Kawanai, Kazuhiko Kamikado
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Publication number: 20220234601Abstract: A self-position estimation accuracy verification method includes a step of moving a mobile object to a first check point, a step of acquiring first check information, a step of starting a self-position estimation using the first check information as an initial value, a step of moving the mobile object to a second check point while continuing the self-position estimation, a step of acquiring second check information, and a step of calculating a deviation between a position and a posture of the mobile object on the map estimated by the self-position estimation at the second check point and a position and a posture of the mobile object on the map indicated in the second check information, and verifying the accuracy of the self-position estimation based on the deviation.Type: ApplicationFiled: November 1, 2021Publication date: July 28, 2022Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Kazuhiko Kamikado, Taichi Kawanai, Sadayuki Abe, Hideyuki Matsui
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Publication number: 20220097720Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: ApplicationFiled: December 10, 2021Publication date: March 31, 2022Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi KAWANAI, Yasuhiro Takagi, Masahiro Harada, Nobuhide Kamata, Eiji Sakaguchi, Keisuke Hokai, Hideyuki Matsui, Kazuhiko Kamikado, Yusuke Hayashi, Hideo Fukamachi
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Patent number: 11275378Abstract: 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.Type: GrantFiled: July 22, 2019Date of Patent: March 15, 2022Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Keisuke Hokai, Kazuhiko Kamikado, Taichi Kawanai, Masahiro Harada, Nobuhide Kamata, Yasuhiro Takagi, Hideo Fukamachi, Eiji Sakaguchi, Hideyuki Matsui, Yusuke Hayashi
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Publication number: 20220048524Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: ApplicationFiled: October 29, 2021Publication date: February 17, 2022Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi KAWANAI, Yasuhiro TAKAGI, Masahiro HARADA, Nobuhide KAMATA, Eiji SAKAGUCHI, Keisuke HOKAI, Hideyuki MATSUI, Kazuhiko KAMIKADO, Yusuke HAYASHI, Hideo FUKAMACHI
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Publication number: 20210055741Abstract: An autonomous driving system that performs a traveling of an autonomous driving vehicle based on a remote instruction by a remote commander includes: a vehicle position acquisition unit configured to acquire a position of the autonomous driving vehicle on the map; an external environment recognition unit configured to recognize an external environment of the autonomous driving vehicle; a remote instruction location situation recognition unit configured to recognize a remote instruction location situation on a target route of the autonomous driving vehicle set in advance based on the target route, the position of the autonomous driving vehicle on the map, and map information; and a remote instruction request determination unit configured to determine whether or not to request the remote commander for the remote instruction with regard to the remote instruction location situation, based on the external environment of the autonomous driving vehicle.Type: ApplicationFiled: July 31, 2020Publication date: February 25, 2021Inventors: Taichi KAWANAI, Kazuhiko KAMIKADO, Hideyuki MATSUI, Hayato ITO, Nobuhide KAMATA, Tomoyuki KURIYAMA, Yasuhiro KOBATAKE
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Publication number: 20200139979Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.Type: ApplicationFiled: October 22, 2019Publication date: May 7, 2020Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Taichi KAWANAI, Yasuhiro TAKAGI, Masahiro HARADA, Nobuhide KAMATA, Eiji SAKAGUCHI, Keisuke HOKAI, Hideyuki MATSUI, Kazuhiko KAMIKADO, Yusuke HAYASHI, Hideo FUKAMACHI
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Publication number: 20200133277Abstract: 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.Type: ApplicationFiled: July 22, 2019Publication date: April 30, 2020Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Keisuke HOKAI, Kazuhiko KAMIKADO, Taichi KAWANAI, Masahiro HARADA, Nobuhide KAMATA, Yasuhiro TAKAGI, Hideo FUKAMACHI, Eiji SAKAGUCHI, Hideyuki MATSUI, Yusuke HAYASHI
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Publication number: 20190346847Abstract: An autonomous driving system includes a target object position recognition unit configured to recognize a target object position detected by a vehicle-mounted sensor based on map information in a map database, a vehicle position recognition unit configured to recognize a vehicle position, a relative-relationship-on-map acquisition unit configured to acquire a relative-relationship-on-map between the target object and the vehicle based on the target object position and the vehicle position on the map, a detected-relative-relationship acquisition unit configured to acquire a detected-relative-relationship between the target object detected by the sensor and the vehicle based on a result of detection performed by the sensor, a map accuracy evaluation unit configured to evaluate map accuracy of the map information based on the relative-relationship-on-map and the detected-relative-relationship, and an autonomous driving permission unit configured to permit an autonomous driving control using the map information bType: ApplicationFiled: April 25, 2019Publication date: November 14, 2019Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Nobuhide KAMATA, Ryo IGARASHI, Kazuhiko KAMIKADO, Kiyosumi KIDONO, Kunihiro GOTO, Takashi NAITO