Vehicle controller and method for controlling vehicle

Patent metadata

Field	Value
Publication number	US-11938972-B2
Application number	US-202117344366-A
Country	US
Kind code	B2
Filing date	Jun 10, 2021
Priority date	Jun 15, 2020
Publication date	Mar 26, 2024
Grant date	Mar 26, 2024

Abstract

A vehicle controller for automated driving control of a vehicle in traffic congestion includes a processor configured to sense at least one another vehicle around the vehicle, based on a sensor signal obtained by a sensor for sensing a situation around the vehicle, the sensor being mounted on the vehicle; calculate a motion value indicating motion of the sensed at least one other vehicle; determine, when the motion value satisfies a congestion relief condition, that congestion is relieved around the vehicle; and set the congestion relief condition, based on road environment information indicating environment of a road around the vehicle.

First claim

What is claimed is:

1. A vehicle controller for automated driving control of a host vehicle located in traffic congestion, the vehicle controller comprising a processor configured to:
sense at least one non-host vehicle around the host vehicle, based on a sensor signal obtained by a sensor for sensing a situation around the host vehicle, the sensor being mounted on the host vehicle;
calculate a motion value indicating motion of the sensed at least one non-host vehicle;
determine, when the motion value satisfies a congestion relief condition, that the traffic congestion is relieved around the host vehicle; and
set the congestion relief condition, based on road environment information indicating environment of a road around the host vehicle, wherein
the road environment information includes information identifying a congestion inducing location that is a cause of the traffic congestion in which the host vehicle is currently located,
the processor, based on a current position of the host vehicle, (i) sets the congestion relief condition to a first threshold value when the current position of the host vehicle is in a first section of the traffic congestion that includes the congestion inducing location and at least a portion of a travel path downstream of the congestion inducing location in a travelling direction of the host vehicle, and (ii) sets the congestion relief condition to a second threshold value when the current position of the host vehicle is in a second section of the traffic congestion located upstream of the first section in the travelling direction of the host vehicle, and
the first threshold value is less than the second threshold value so that the congestion relief condition set to the first threshold value is relaxed compared to the congestion relief condition set to the second threshold value.

2. The vehicle controller according to claim 1 , wherein the road environment information includes information indicating a structure of a road around the host vehicle, and
the congestion inducing location is a location where the structure of the road induces the traffic congestion.

3. The vehicle controller according to claim 2 , wherein the congestion inducing location is a location where the road merges or branches, a location of a way in and out or of a tollgate facing the road, or a location where the road widens.

4. The vehicle controller according to claim 1 , wherein the congestion inducing location is an event location, and the first section is a predetermined distance extending downstream from the event location in the travelling direction of the host vehicle or a predetermined time that elapses from a time at which the host vehicle passes the event location.

5. The vehicle controller according to claim 1 , wherein the processor calculates, as the motion value, an average of vehicle speeds or accelerations of the sensed at least one non-host vehicle, and determines that the congestion relief condition is satisfied, when the average of the vehicle speeds is kept at or above a predetermined speed threshold for a predetermined time or more or when the average of the accelerations is at or above a predetermined acceleration threshold, and wherein (a) the first and second threshold values are different values for one or both of the predetermined speed threshold and the predetermined time when the motion value is the average of the vehicle speeds of the sensed at least one non-host vehicle, and (b) the first and second threshold values are different values for the predetermined acceleration threshold when the motion value is the average of the vehicle accelerations of the sensed at least one non-host vehicle.

6. A method for automated driving control of a host vehicle located in traffic congestion, the method being executed by a hardware processor and comprising:
sensing at least one non-host vehicle around the host vehicle, based on a sensor signal obtained by a sensor for sensing a situation around the host vehicle, the sensor being mounted on the host vehicle;
calculating a motion value indicating motion of the sensed at least one non-host vehicle;
determining, when the motion value satisfies a congestion relief condition, that the traffic congestion is relieved around the host vehicle; and
setting the congestion relief condition, based on road environment information indicating environment of a road around the host vehicle, wherein the road environment information includes information identifying a congestion inducing location that is a cause of the traffic congestion in which the host vehicle is currently located,
the hardware processor, based on a current position of the host vehicle, (i) sets the congestion relief condition to a first threshold value when the current position of the host vehicle is in a first section of the traffic congestion that includes the congestion inducing location and at least a portion of a travel path downstream of the congestion inducing location in a travelling direction of the host vehicle, and (ii) sets the congestion relief condition to a second threshold value when the current position of the host vehicle is in a second section of the traffic congestion located upstream of the first section in the travelling direction of the host vehicle, and
the first threshold value is less than the second threshold value so that the congestion relief condition set to the first threshold value is relaxed compared to the congestion relief condition set to the second threshold value.

7. The vehicle controller according to claim 1 , wherein
the processor switches the host vehicle (a) to an automated driving mode in which the processor controls travel of the host vehicle when the processor determines that the host vehicle is located in the traffic congestion, and (b) to a manual driving mode in which a driver of the host vehicle controls the travel of the host vehicle when the processor determines that the traffic congestion is relieved around the host vehicle.

8. The method according to claim 6 , wherein the road environment information includes information indicating a structure of a road around the host vehicle, and
the congestion inducing location is a location where the structure of the road induces the traffic congestion.

9. The method according to claim 8 , wherein the congestion inducing location is a location where the road merges or branches, a location of a way in and out or of a tollgate facing the road, or a location where the road widens.

10. The method according to claim 6 , wherein the congestion inducing location is an event location, and the first section is a predetermined distance extending downstream from the event location in the travelling direction of the host vehicle or a predetermined time that elapses from a time at which the host vehicle passes the event location.

11. The method according to claim 6 , wherein the hardware processor calculates, as the motion value, an average of vehicle speeds or accelerations of the sensed at least one non-host vehicle, and determines that the congestion relief condition is satisfied, when the average of the vehicle speeds is kept at or above a predetermined speed threshold for a predetermined time or more or when the average of the accelerations is at or above a predetermined acceleration threshold, and wherein (a) the first and second threshold values are different values for one or both of the predetermined speed threshold and the predetermined time when the motion value is the average of the vehicle speeds of the sensed at least one non-host vehicle, and (b) the first and second threshold values are different values for the predetermined acceleration threshold when the motion value is the average of

Assignees

• Toyota Motor Co Ltd

Inventors

• Kuroda Ryusuke
• Fujiki Takuya

Classifications

• B60W60/0027 Primary

  using trajectory prediction for other traffic participants · CPC title

• B60W40/04 Primary

  Traffic conditions · CPC title

• B60W40/06

  Road conditions · CPC title

• B60W40/105

  Speed · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title