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題名 自動駕駛感知技術之專利佈局：以 Toyota Motor Corporation 為個案
Patent Portfolio Analysis of Perception Technologies in Autonomous Driving: A Case Study of Toyota Motor Corporation作者 陳鎂萱
Chen, Mei-Shiuan貢獻者 陳秉訓
Chen, Ping-Hsun
陳鎂萱
Chen, Mei-Shiuan關鍵詞 自動駕駛
感知技術
感測器
專利佈局
專利分析
Toyota
Autonomous Driving
Perception Technologies
Patent Portfolio Analysis
Toyota日期 2025 上傳時間 4-Aug-2025 13:34:12 (UTC+8) 摘要 近十年來，人工智慧與車聯網技術逐漸蓬勃發展，使自動駕駛從實驗室走向商用。其中，負責「看見」周遭環境的感知技術（Perception Technology）更被視為整體自動駕駛技術的重要基石，因此成為各大車廠與科技公司必爭的關鍵技術。 Toyota Motor Corporation （下簡稱 Toyota）在2015年時創立了Toyota Research Institute，積極研發自動駕駛技術，陸續開發出 Toyota Safety Sense與具備L3等級的Advanced Drive兩款自動駕駛輔助系統搭載於自家車款上，以達到Mobility Teammate的願景。 本研究以Toyota作為研究對象，利用專利資料來了解Toyota在自動駕駛感知技術的專利佈局、研發重點與競爭優勢。本研究以「自動駕駛」、「感測器」與「感知技術應用」等關鍵字為核心，利用世界智慧財產權組織（World Intellectual Property Organization, 簡稱WIPO）的專利檢索系統Patentscope與The Lens兩大資料庫，對2015年到2024年的美國專利資料進行檢索。最後以各種分析方法包括生產力分析、IPC分類號分析、CPC分類號分析、專利影響力與專利技術分析等指標，進行歸納與統整，了解不論是Toyota還是整體產業在感知技術中的專利佈局、發展技術領域與方向。 研究顯示，首先從生產力趨勢分析而言，Toyota在2015年到2020年專利申請數量快速成長，接著成長趨勢逐漸趨緩，並於2024年申請數大幅下降，搭配技術消長圖顯示其技術在市場上達到成熟期階段。 接著就技術面向而言，Toyota前15大IPC分類中以G05D 1/00（位置或方向的控制系統）最多，其次為 G06K 9/00（圖像識別）與 B60W 60/00（車輛控制策略）；CPC分類方面件數最高者為 G06V 20/56／20/58（交通目標辨識）與 B60W 2420/403（車輛光學鏡頭應用）。Toyota的專利橫跨多種IPC與CPC分類，從控制方法、感測器、影像辨識與處理等功能皆有多件專利。 至於專利影響力方面，以專利被引用數作為主要分析指標，Toyota的被引用總數在汽車製造商中是很有競爭力的，而從Toyota被引用數最高的前三個專利內容可知，主要涉及道路的環境感知與理解等呼應TSS系統「車道維持輔助」與「車道偏移警示」等基礎技術。
Over the past ten years, progress in AI and V2X has moved autonomous vehicles from the lab to real products. Among these technologies, perception—the part that lets a car “see” its surroundings—is viewed as the key foundation of the whole autonomous driving system. For this reason, it has become a major battlefield in the automotive industry and even technology companies. Toyota Motor Corporation (Toyota for short) set up the Toyota Research Institute in 2015 and has pushed hard on autonomous driving research ever since. It has rolled out two driver-assist systems on its cars: Toyota Safety Sense and the Level 3 Advanced Drive, both meant to support the company’s “Mobility Teammate” vision. The research uses patents to understand Toyota’s work in perception technology, its patent map, main R&D focus, and advantages. By building keyword searches around “autonomous driving,” “Sensors,” and “perception technology” in the WIPO Patentscope and The Lens databases, targeting U.S. patents filed from 2015 to 2024. Then summarized the data with several methods, including productivity analysis, IPC and CPC class analysis, patent impact, and technical content review, to see how both Toyota and the whole industry lay out their perception patents and which technical areas they favor. Findings in this research: Productivity. Toyota’s patent grew fast from 2015 to 2020, then slowed, and dropped sharply in 2024. Combined with a life-cycle chart, this shows Toyota’s perception technology has reached a mature stage in the market. Technical focus. In Toyota’s top fifteen IPC, G05D 1/00 (navigation and automatic control) ranks on the top, followed by G06K 9/00 (image recognition) and B60W 60/00 (vehicle control strategy). For CPC, the most common classes are G06V 20/56 & 20/58 (traffic-object recognition) and B60W 2420/403 (vehicle Camera use). This section shows Toyota’s patents spread across control methods, Sensors, and image processing. Patent impact. Using forward citations to measure the influence. Toyota’s total citations are strong in the automotive industry. The three most-cited Toyota patents all deal with sensing and understanding the road scene—core know-how behind TSS’s features such as lane-keeping assist and lane-departure warning.參考文獻 中文部分 仰正國際律師專利商標聯合事務所（2019）。國際專利分類制度簡介。https://yeangjen.com.tw/news_cont.php?id=37 張登凱（2021）。透過專利數據進行技術預測：探討自駕車技術之擴散（碩士論文，國立政治大學）。國家圖書館臺灣博碩士論文知識加值系統。https://hdl.handle.net/11296/m94537 陳秉訓（2014）。方法論教學：台灣醫院的台灣專利申請行為之分析。臺北科技大學學報，46(1)，47–61。https://www.airitilibrary.com/Article/Detail/10293981-201406-201509170010-201509170010-47-61 陳奕宏（2020年7月20日）。TSS 2.5+ 系統搶先植入 新年式美規 Camry 安全再升級 [圖片]。TVBS 汽車頻道。https://cars.tvbs.com.tw/car-news/10352 陳敬典（2024）。AI時代來臨，車輛產業的影響與契機。車輛中心產業發展處。https://www.artc.org.tw/tw/knowledge/articles/13759 楊崇森（2003）。專利法理論與應用。三民書局。 經濟部智慧財產局（2021）。什麼是國際專利分類（IPC）? https://www.tipo.gov.tw/patents-tw/cp-783-872628-6df57-101.html 編輯部（n.d.）。Toyota 第 7 代 Camry 小改款 [圖片]。U-CAR 汽車網站。https://mook.u-car.com.tw/mook/89 劉國讚（2014）。專利法之理論與實用。新學林出版社。 劉國讚、柯正怡（2013）。隱藏在專利件數背後的專利強度指標。《專利師公報》。 Alex. (2024, December 19)。駕駛合法車內追劇？德國批准Level3等級M-Benz Drive Pilot上路。地球黃金線。https://cars.tvbs.com.tw/car-news/229090 Lexus 台灣. (n.d.). LS 500h 車型展示頁面 [圖片]. Lexus 官方網站. https://www.lexus.com.tw/showroom/LS TOYOTA . (n.d.). Mirai 車型展示頁面 [圖片]. TOYOTA 官方網站. https://www.toyota.com/mirai/?msockid=0707f80221b760ff0524ea5d20a76118 TOYOTA 台灣. (n.d.). Corolla Cross 車型展示頁面 [圖片]. TOYOTA 官方網站. https://www.toyota.com.tw/showroom/COROLLA_CROSS/ TOYOTA 台灣. (n.d.). Corolla Sport 車型展示頁面 [圖片]. TOYOTA 官方網站. https://www.toyota.com.tw/showroom/COROLLA_SPORT/ TOYOTA 台灣. (n.d.). CROWN 車型展示頁面 [圖片]. TOYOTA 官方網站. https://www.toyota.com.tw/showroom/CROWN/ TOYOTA 台灣. (n.d.). Prius 車型展示頁面 [圖片]. TOYOTA 官方網站. https://www.toyota.com.tw/showroom/PRIUS_PHEV/ 英文部分 Carlier, M. (2025, April 2). Autonomous vehicles worldwide - Statistics & facts. Statista. https://www.statista.com/topics/3573/autonomous-vehicle-technology/#topicOverview Czarnitzki, D., Hall, B. H., & Oriani, R. (2011). Patent protection, market uncertainty, and R&D investment. The Review of Economics and Statistics, 93(1), 147–159. https://direct.mit.edu/rest/article-abstract/93/1/147/57916/Patent-Protection-Market-Uncertainty-and-R-amp-D?redirectedFrom=fulltext Eckert, A., et al. (2011). Emergency steer & brake assist: A systematic approach for system integration of two complementary driver assistance systems. In Proceedings of the 22nd International Technical Conference on the Enhanced Safety of Vehicles (ESV). Hall, B. H., Jaffe, A., & Trajtenberg, M. (2005). Market value and patent citations. RAND Journal of Economics, 36(1), 16–38.https://www.jstor.org/stable/1593752?pq-origsite=summon&seq=1 Kelley Blue Book. (2017, July 24). 2017 Toyota Corolla - Review & road test [影片截圖]. YouTube. https://www.youtube.com/watch?v=EuW6wltKlQI Kevauto. (2019, April 14). 2019 Toyota RAV4 photographed in Kew Gardens Hills, Queens, New York, USA [Photograph]. Wikipedia. https://en.wikipedia.org/wiki/Toyota_RAV4#/media/File:2019_Toyota_RAV4_LE_2.5L_front_4.14.19.jpg Maurer, M., Gerdes, J. C., Lenz, B., & Winner, H. (Eds.). (2016). Autonomous driving: Technical, legal and social aspects. Springer. https://doi.org/10.1007/978-3-662-48847-8 McKinsey & Company. (2023, January 6). Autonomous driving’s future: Convenient and connected. https://www.mckinsey.com/industries/automotive-and-assembly/our-insights/autonomous-drivings-future-convenient-and-connected Mr.choppers. (2014). 2013 Toyota RAV4 XLE AWD front left [Photograph]. Wikipedia. https://en.wikipedia.org/wiki/File:2013_Toyota_RAV4_XLE_AWD_front_left.jpg Pendleton, S. D., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y. H., Rus, D., & Ang, M. H. (2017, February 17). Perception, planning, control, and coordination for autonomous vehicles. Machines, 5(1), 6. https://doi.org/10.3390/machines5010006 Rzadca, K., Findeisen, P., Swiderski, J., Zych, P., Broniek, P., Kusmierek, J., Nowak, P., Strack, B., Witusowski, P., Hand, S., Wilkes, J., & Wilcox, J. R. (2020, April 17). Autopilot: Workload autoscaling at Google. In Proceedings of the Fifteenth European Conference on Computer Systems (EuroSys '20) (Article No. 16, pp. 1–16). ACM. https://doi.org/10.1145/3342195.3387524 SAE International. (2021, May 3). SAE levels of driving automation™ refined for clarity and international audience. https://www.sae.org/blog/sae-j3016-update The Lens. (n.d.). Free & open patent and scholarly search. https://www.lens.org/ TOYOTA. (2023, October 31). How Toyota’s Teammate Advanced Drive Works [Video]. YouTube. https://www.youtube.com/watch?v=knTep8uU0tM Toyota Motor Corporation. (2024). Toyota integrated report 2024. https://global.toyota/pages/global_toyota/ir/library/annual/2024_001_integrated_en.pdf Toyota Newsroom. (2017, March 3). First autonomous test vehicle developed entirely by Toyota Research Institute displayed at Prius Challenge event at Sonoma Raceway. https://pressroom.toyota.com/tri-autonomous-test-vehicle-sonoma-raceway-prius-challenge/ TOYOTA USA. (2015). Toyota Safety Sense overview [Video]. YouTube. https://youtu.be/MGugGgzU3CA?si=uKm_FkBQ54SS6YKB TOYOTA USA. (2018). Toyota Safety Sense 2.0 overview [Video]. YouTube. https://youtu.be/KeUOMaPe3v0?si=sclPwI-gTNynLWHe TOYOTA USA. (2022). Toyota Safety Sense 3.0 overview [Video]. YouTube. https://youtu.be/iZ9H_11I-8Y?si=1mZyLriiv0vlgPO4 TOYOTA USA. (2022). Toyota Teammate advanced drive overview [Video]. YouTube. https://youtu.be/w4LT0Z7mLRs?si=W9AKTdoM4RPxX3QS Toyota. (2019, December 26). On the path toward automated driving, drivers and cars are like “teammates”. https://global.toyota/en/company/messages-from-executives/details/pratt.html World Intellectual Property Organization (WIPO). (2024). 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System and method for extremely efficient image and pattern recognition and artificial intelligence platform (U.S. Patent No. US20200184278A1). U.S. Patent and Trademark Office. 描述 碩士
國立政治大學
科技管理與智慧財產研究所
112364214資料來源 http://thesis.lib.nccu.edu.tw/record/#G0112364214 資料類型 thesis dc.contributor.advisor 陳秉訓 zh_TW dc.contributor.advisor Chen, Ping-Hsun en_US dc.contributor.author (Authors) 陳鎂萱 zh_TW dc.contributor.author (Authors) Chen, Mei-Shiuan en_US dc.creator (作者) 陳鎂萱 zh_TW dc.creator (作者) Chen, Mei-Shiuan en_US dc.date (日期) 2025 en_US dc.date.accessioned 4-Aug-2025 13:34:12 (UTC+8) - dc.date.available 4-Aug-2025 13:34:12 (UTC+8) - dc.date.issued (上傳時間) 4-Aug-2025 13:34:12 (UTC+8) - dc.identifier (Other Identifiers) G0112364214 en_US dc.identifier.uri (URI) https://nccur.lib.nccu.edu.tw/handle/140.119/158406 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 科技管理與智慧財產研究所 zh_TW dc.description (描述) 112364214 zh_TW dc.description.abstract (摘要) 近十年來，人工智慧與車聯網技術逐漸蓬勃發展，使自動駕駛從實驗室走向商用。其中，負責「看見」周遭環境的感知技術（Perception Technology）更被視為整體自動駕駛技術的重要基石，因此成為各大車廠與科技公司必爭的關鍵技術。 Toyota Motor Corporation （下簡稱 Toyota）在2015年時創立了Toyota Research Institute，積極研發自動駕駛技術，陸續開發出 Toyota Safety Sense與具備L3等級的Advanced Drive兩款自動駕駛輔助系統搭載於自家車款上，以達到Mobility Teammate的願景。 本研究以Toyota作為研究對象，利用專利資料來了解Toyota在自動駕駛感知技術的專利佈局、研發重點與競爭優勢。本研究以「自動駕駛」、「感測器」與「感知技術應用」等關鍵字為核心，利用世界智慧財產權組織（World Intellectual Property Organization, 簡稱WIPO）的專利檢索系統Patentscope與The Lens兩大資料庫，對2015年到2024年的美國專利資料進行檢索。最後以各種分析方法包括生產力分析、IPC分類號分析、CPC分類號分析、專利影響力與專利技術分析等指標，進行歸納與統整，了解不論是Toyota還是整體產業在感知技術中的專利佈局、發展技術領域與方向。 研究顯示，首先從生產力趨勢分析而言，Toyota在2015年到2020年專利申請數量快速成長，接著成長趨勢逐漸趨緩，並於2024年申請數大幅下降，搭配技術消長圖顯示其技術在市場上達到成熟期階段。 接著就技術面向而言，Toyota前15大IPC分類中以G05D 1/00（位置或方向的控制系統）最多，其次為 G06K 9/00（圖像識別）與 B60W 60/00（車輛控制策略）；CPC分類方面件數最高者為 G06V 20/56／20/58（交通目標辨識）與 B60W 2420/403（車輛光學鏡頭應用）。Toyota的專利橫跨多種IPC與CPC分類，從控制方法、感測器、影像辨識與處理等功能皆有多件專利。 至於專利影響力方面，以專利被引用數作為主要分析指標，Toyota的被引用總數在汽車製造商中是很有競爭力的，而從Toyota被引用數最高的前三個專利內容可知，主要涉及道路的環境感知與理解等呼應TSS系統「車道維持輔助」與「車道偏移警示」等基礎技術。 zh_TW dc.description.abstract (摘要) Over the past ten years, progress in AI and V2X has moved autonomous vehicles from the lab to real products. Among these technologies, perception—the part that lets a car “see” its surroundings—is viewed as the key foundation of the whole autonomous driving system. For this reason, it has become a major battlefield in the automotive industry and even technology companies. Toyota Motor Corporation (Toyota for short) set up the Toyota Research Institute in 2015 and has pushed hard on autonomous driving research ever since. It has rolled out two driver-assist systems on its cars: Toyota Safety Sense and the Level 3 Advanced Drive, both meant to support the company’s “Mobility Teammate” vision. The research uses patents to understand Toyota’s work in perception technology, its patent map, main R&D focus, and advantages. By building keyword searches around “autonomous driving,” “Sensors,” and “perception technology” in the WIPO Patentscope and The Lens databases, targeting U.S. patents filed from 2015 to 2024. Then summarized the data with several methods, including productivity analysis, IPC and CPC class analysis, patent impact, and technical content review, to see how both Toyota and the whole industry lay out their perception patents and which technical areas they favor. Findings in this research: Productivity. Toyota’s patent grew fast from 2015 to 2020, then slowed, and dropped sharply in 2024. Combined with a life-cycle chart, this shows Toyota’s perception technology has reached a mature stage in the market. Technical focus. In Toyota’s top fifteen IPC, G05D 1/00 (navigation and automatic control) ranks on the top, followed by G06K 9/00 (image recognition) and B60W 60/00 (vehicle control strategy). For CPC, the most common classes are G06V 20/56 & 20/58 (traffic-object recognition) and B60W 2420/403 (vehicle Camera use). This section shows Toyota’s patents spread across control methods, Sensors, and image processing. Patent impact. Using forward citations to measure the influence. Toyota’s total citations are strong in the automotive industry. The three most-cited Toyota patents all deal with sensing and understanding the road scene—core know-how behind TSS’s features such as lane-keeping assist and lane-departure warning. en_US dc.description.tableofcontents 致謝辭 2 中文摘要 3 Abstract 4 目錄 6 圖目錄 9 表目錄 10 附錄目錄 11 第一章 緒論 12 第一節 研究背景 12 第二節 研究動機與目的 13 第二章 文獻回顧 15 第一節 自動駕駛技術概述 15 壹、 自動駕駛技術的標準與分級 15 貳、 自動駕駛三大技術概要 16 第二節 專利分析在企業技術創新中的意義 21 壹、 專利基本介紹 21 貳、 常見的專利分析指標 21 參、 專利的取得對於企業的重要性 23 第三節 個案公司簡介—— Toyota在自動駕駛領域的現況 24 壹、 Toyota公司簡介 24 貳、 Toyota 於自動駕駛領域的發展情形 24 第三章 研究方法 30 第一節 研究架構 30 第二節 研究資料 32 壹、 專利資料庫的選擇 32 貳、 檢索時間範圍 32 參、 檢索對象 33 肆、 檢索步驟 33 第三節 專利檢索策略 35 壹、 技術關鍵字設定 35 貳、 檢索結果的資料處理 41 第四節 專利分析方法 42 第四章 研究結果分析 44 第一節 生產力趨勢統計分析 44 壹、 技術生命週期分析 47 貳、 企業別分析 52 第二節 IPC分類號統計 56 壹、 感知技術整體產業 IPC 分類 56 貳、 Toyota 感知技術的 IPC 分類 59 第三節 CPC技術分類號統計 61 壹、 感知技術整體產業 CPC 分類 61 貳、 Toyota 感知技術的 CPC 分類 63 第四節 專利影響力分析 64 壹、 專利被引用數 64 貳、 專利家族大小 70 第五節 專利技術探討 71 第五章 結論、限制與建議 79 第一節 研究結論 79 壹、 生產力趨勢面 79 貳、 IPC 與 CPC 技術分類面 80 參、 專利影響力面 80 第二節 研究限制 81 壹、 語言限制 81 貳、 專利擷取時間限制 81 參、 資料缺失 81 第三節 未來研究建議 82 附錄 83 參考文獻 95 中文部分 95 英文部分 97 專利清單 100 zh_TW dc.format.extent 5042921 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0112364214 en_US dc.subject (關鍵詞) 自動駕駛 zh_TW dc.subject (關鍵詞) 感知技術 zh_TW dc.subject (關鍵詞) 感測器 zh_TW dc.subject (關鍵詞) 專利佈局 zh_TW dc.subject (關鍵詞) 專利分析 zh_TW dc.subject (關鍵詞) Toyota zh_TW dc.subject (關鍵詞) Autonomous Driving en_US dc.subject (關鍵詞) Perception Technologies en_US dc.subject (關鍵詞) Patent Portfolio Analysis en_US dc.subject (關鍵詞) Toyota en_US dc.title (題名) 自動駕駛感知技術之專利佈局：以 Toyota Motor Corporation 為個案 zh_TW dc.title (題名) Patent Portfolio Analysis of Perception Technologies in Autonomous Driving: A Case Study of Toyota Motor Corporation en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) 中文部分 仰正國際律師專利商標聯合事務所（2019）。國際專利分類制度簡介。https://yeangjen.com.tw/news_cont.php?id=37 張登凱（2021）。透過專利數據進行技術預測：探討自駕車技術之擴散（碩士論文，國立政治大學）。國家圖書館臺灣博碩士論文知識加值系統。https://hdl.handle.net/11296/m94537 陳秉訓（2014）。方法論教學：台灣醫院的台灣專利申請行為之分析。臺北科技大學學報，46(1)，47–61。https://www.airitilibrary.com/Article/Detail/10293981-201406-201509170010-201509170010-47-61 陳奕宏（2020年7月20日）。TSS 2.5+ 系統搶先植入 新年式美規 Camry 安全再升級 [圖片]。TVBS 汽車頻道。https://cars.tvbs.com.tw/car-news/10352 陳敬典（2024）。AI時代來臨，車輛產業的影響與契機。車輛中心產業發展處。https://www.artc.org.tw/tw/knowledge/articles/13759 楊崇森（2003）。專利法理論與應用。三民書局。 經濟部智慧財產局（2021）。什麼是國際專利分類（IPC）? https://www.tipo.gov.tw/patents-tw/cp-783-872628-6df57-101.html 編輯部（n.d.）。Toyota 第 7 代 Camry 小改款 [圖片]。U-CAR 汽車網站。https://mook.u-car.com.tw/mook/89 劉國讚（2014）。專利法之理論與實用。新學林出版社。 劉國讚、柯正怡（2013）。隱藏在專利件數背後的專利強度指標。《專利師公報》。 Alex. 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