Automatic driving system

Patent metadata

Field	Value
Publication number	US-11427252-B2
Application number	US-201916440083-A
Country	US
Kind code	B2
Filing date	Jun 13, 2019
Priority date	Aug 28, 2018
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

An automatic driving system that is mounted in a vehicle includes: an information acquiring device configured to acquire driving environment information indicating a driving environment of the vehicle; and a running control device configured to execute lane change control from a first lane to a second lane, and set a lane change time which is a time required for lane change The running control device is configured to set an initial value of the lane change time, determine whether a moving object having a highest degree of approach to the vehicle is present in the second lane, and change the initial value based on a relative position of the moving object with respect to the vehicle and a relative speed of the vehicle with respect to the moving object when it is determined that the moving object having the highest degree of approach is present in the second lane.

First claim

What is claimed is:

1. An automatic driving system that is mounted in a vehicle, comprising:
an information acquiring device configured to acquire driving environment information indicating a driving environment of the vehicle; and
a running control device configured to
execute lane change control from a first lane to a second lane during automatic driving of the vehicle, and
perform a setting process of setting a lane change time which is a time required for lane change based on the lane change control based on the driving environment information, wherein
the running control device is configured to, in the setting process,
set an initial value of the lane change time,
determine whether a moving object having a highest degree of approach to the vehicle is present in the second lane, wherein the degree of approach of the moving object is calculated based on a distance from the vehicle to the moving object around the vehicle and a relative speed of the vehicle with respect to the moving object, and
change the initial value based on a relative position of the moving object with respect to the vehicle and the relative speed of the vehicle with respect to the moving object when it is determined that the moving object having the highest degree of approach is present in the second lane,
wherein in the setting process, the running control device is configured to determine whether the moving object is present in the first lane when the initial value has been changed, to determine whether an absolute value of the relative speed of the vehicle with respect to the moving object is greater than a third threshold value when it is determined that the moving object is present in the first lane, and to re-change the changed initial value in a shortening direction when it is determined that the absolute value is greater than the third threshold value.

2. The automatic driving system according to claim 1 , wherein
in the setting process, the running control device is configured to change the initial value in an extending direction when the relative position is behind the vehicle and the relative speed is greater than a first threshold value which is positive, and to change the initial value in the shortening direction when the relative position is behind the vehicle and the relative speed is negative.

3. The automatic driving system according to claim 1 , wherein
in the setting process, the running control device is configured to change the initial value in an extending direction when the relative position is in front of the vehicle and the relative speed is less than a second threshold value which is negative, and to change the initial value in the shortening direction when the relative position is in front of the vehicle and the relative speed is positive.

4. The automatic driving system according to claim 1 , wherein
in the setting process, the running control device is configured to change the initial value in the shortening direction when the relative position is behind the vehicle and the relative speed is greater than a first threshold value which is positive, and to change the initial value in the shortening direction when the relative position is behind the vehicle and the relative speed is negative.

5. The automatic driving system according to claim 1 , wherein
in the setting process, the running control device is configured to change the initial value in the shortening direction when the relative position is in front of the vehicle and the relative speed is less than a second threshold value which is negative, and to change the initial value in the shortening direction when the relative position is in front of the vehicle and the relative speed is positive.

6. The automatic driving system according to claim 1 , wherein
in the setting process, the running control device is configured to determine whether the moving object is present in a third lane which is adjacent to the second lane when it is determined that the moving object having the highest degree of approach is not present in the second lane and to change the initial value in an extending direction when it is determined that the moving object having the highest degree of approach is present in the third lane.

Assignees

• Toyota Motor Co Ltd

Inventors

• Fukuda Hiroki
• Fujii Shota
• Aoki Kenichiro

Classifications

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• B60W2554/801

  Lateral distance · CPC title

• B62D15/0255 Primary

  Automatic changing of lane, e.g. for passing another vehicle · CPC title

• B60W10/18

  including control of braking systems · CPC title