US 12,304,531 B2
Device and method for generating trajectory, and non-transitory computer-readable medium storing computer program therefor
Shinichi Shiraishi, Saitama (JP); and Hidetaka Fuse, Tokyo-to (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 30, 2022, as Appl. No. 18/148,525.
Claims priority of application No. 2022-005158 (JP), filed on Jan. 17, 2022.
Prior Publication US 2023/0227076 A1, Jul. 20, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/00 (2006.01); B60W 50/00 (2006.01); G01C 21/00 (2006.01); G01C 21/34 (2006.01)
CPC B60W 60/005 (2020.02) [B60W 50/0097 (2013.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01)] 7 Claims
OG exemplary drawing
 
1. A device for generating a trajectory, comprising a processor configured to:
detect, from each piece of first data, the position of an object in an area around a vehicle at generation of the piece of first data to output first object information indicating the position, wherein the first data is time-series data generated by a first sensor mounted on the vehicle and represents the surroundings of the vehicle,
detect, from each piece of the first data, a predicted position of an object in the area around the vehicle at a predetermined period after generation of the piece of the first data to output first predictive object information indicating the predicted position,
detect, from each piece of second data, the position of an object in an area around the vehicle to output second object information indicating the position, wherein the second data is time-series data generated by a second sensor mounted on the vehicle and differing from the first sensor and represents the surroundings of the vehicle,
predict whether an autonomous driving level at which travel of the vehicle is controlled will change from a first autonomous driving level at which a driver of the vehicle is under first watching obligation to a second autonomous driving level at which the driver is under second watching obligation different from the first watching obligation,
identify, when a change in autonomous driving level is predicted, a changing time of the predicted change, and
generate a trajectory along which the vehicle will travel, using the first object information until the predetermined period before the changing time, using the first predictive object information from the predetermined period before the changing time until the changing time, and using the second object information after the changing time;
wherein
at outputting the first predictive object information, the processor outputs the first object information and the first predictive object information, using time-series environmental images generated by the first sensor depending on light focused by an optical system having a first focal length as the first data; and
at outputting the second object information, the processor outputs the second object information, using time-series environmental images generated by the second sensor depending on light focused by an optical system having a second focal length shorter than the first focal length as the second data.