US 12,221,099 B2
Autonomous driving system
Atsushi Sone, Toyota (JP); Yoji Kunihiro, Susono (JP); Takahiro Yokota, Susono (JP); Ryo Irie, Okazaki (JP); Yoshinori Watanabe, Isehara (JP); and Masateru Amano, Sunto-gun (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 16, 2021, as Appl. No. 17/527,826.
Application 17/527,826 is a continuation of application No. 17/522,053, filed on Nov. 9, 2021, granted, now 12,110,014.
Application 17/522,053 is a continuation of application No. 16/851,613, filed on Apr. 17, 2020, granted, now 11,479,244.
Application 16/851,613 is a continuation of application No. 15/899,822, filed on Feb. 20, 2018, granted, now 11,220,262.
Claims priority of application No. 2017-082894 (JP), filed on Apr. 19, 2017.
Prior Publication US 2022/0073069 A1, Mar. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/10 (2006.01); B62D 15/02 (2006.01); G05D 1/00 (2024.01); G05D 1/646 (2024.01); G05D 1/81 (2024.01)
CPC B60W 30/10 (2013.01) [B62D 15/02 (2013.01); B62D 15/025 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/646 (2024.01); G05D 1/81 (2024.01)] 6 Claims
OG exemplary drawing
 
1. An autonomous driving system that controls a vehicle, the autonomous driving system comprising:
a processor programmed to periodically acquire information that is necessary for calculating a target path, wherein
a first timing is a timing when the processor acquires the information,
a first coordinate system is a vehicle coordinate system fixed to the vehicle at the first timing,
a second coordinate system is a vehicle coordinate system fixed to the vehicle at a second timing later than the first timing,
the vehicle coordinate system being fixed with respect to the vehicle, and centered on the vehicle with an origin of the vehicle coordinate system coinciding with the vehicle, the vehicle coordinate system being relative and non-fixed with respect to an environment surrounding the vehicle, and
the processor is further programmed to:
calculate a first target path defined in the first coordinate system, based on the information acquired at the first timing;
correct the first target path defined in the first coordinate system to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system at the first timing to the second coordinate system at the second time;
calculate a vehicle control amount for reducing a deviation of the vehicle from the second target path; and
control an actuator of the vehicle in accordance with the calculated vehicle control amount,
wherein a delay time from the first timing to the second timing is predetermined and corresponds to a time required for the processor to calculate the first target path.