# US 12,110,014 B2 · Autonomous driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,014 B2 - Document ID: US12110014B2 - Status: Granted - Kind: B2 - Application number: 17/522,053 - Filed: 2021-11-09 - Published: 2022-03-03 - Granted: 2024-10-08 - Earliest claimed: 2017-04-19 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Atsushi Sone; Yoji Kunihiro; Takahiro Yokota; Ryo Irie; Yoshinori Watanabe; Masateru Amano - Web page: https://patentgrep.com/patent/US12110014B2 ## CPC - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B62D 15/02: Steering position indicators {; Steering position determination; Steering aids} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G05D 1/81: Handing over between on-board automatic and on-board manual control - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control. ## Claims ### Claim 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 timing, the coordinate transformation being performed by calculating a difference between the first coordinate system at the first timing and the second coordinate system at the second timing; and control the vehicle so as to follow the second target path, 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. ### Claim 2 (depends on 1) The autonomous driving system according to claim 1, wherein the processor performs, at the second timing, the coordinate transformation from the first coordinate system at the first timing to the second coordinate system at the second timing. ### Claim 3 (depends on 1) The autonomous driving system according to claim 1, wherein the processor calculates the difference between the first coordinate system at the first timing and the second coordinate system at the second timing based on positions and orientations of the vehicle at the first timing and the second timing. ### Claim 4 (depends on 1) The autonomous driving system according to claim 1, wherein the processor calculates the difference between the first coordinate system at the first timing and the second coordinate system at the second timing based on a speed and a yaw rate of the vehicle at the first timing and a delay time from the first timing to the second timing. ### Claim 5 A method for controlling a vehicle with a processor, the method comprising: periodically acquiring 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 method further comprises: calculating a first target path defined in the first coordinate system, based on the information acquired at the first timing; correcting 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 timing, the coordinate transformation being performed by calculating a difference between the first coordinate system at the first timing and the second coordinate system at the second timing; and controlling the vehicle so as to follow the second target path, 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. ### Claim 6 A non-transitory computer readable recording medium storing a program that causes a processor to execute steps comprising: periodically acquiring 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 program causes the processor to further execute: calculating a first target path defined in the first coordinate system, based on the information acquired at the first timing; correcting 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 timing, the coordinate transformation being performed by calculating a difference between the first coordinate system at the first timing and the second coordinate system at the second timing; and controlling the vehicle so as to follow the second target path, 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.