Travel controller, method for travel control, and non-transitory computer-readable medium containing computer program for travel control

Patent metadata

Field	Value
Publication number	US-12012117-B2
Application number	US-202217695290-A
Country	US
Kind code	B2
Filing date	Mar 15, 2022
Priority date	Mar 25, 2021
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

A travel controller sets a check level depending on the situation of a lane change from a travel lane of a vehicle to a different lane before the lane change. The travel controller requests a first pre-lane-change action for the check at the lane change of the driver with a notification device when the check level is higher than a level threshold, and requests a second pre-lane-change action for the check at the lane change of the driver with the notification device when the check level is lower than the level threshold. The travel controller controls travel of the vehicle to make the lane change in the case that the driver has performed the first or second pre-lane-change action having been requested and that the situation around the vehicle satisfies a surrounding condition to be satisfied at the lane change.

First claim

What is claimed is:

1. A travel controller comprising a processor configured to
set a check level depending on the situation of a lane change from a travel lane of a vehicle to a different lane before the lane change, the check level indicating how closely a driver of the vehicle should check a surrounding area at the lane change;
request a first pre-lane-change action for the check at the lane change of the driver with a notification device when the check level is higher than a level threshold, and request a second pre-lane-change action for the check at the lane change of the driver with the notification device when the check level is lower than the level threshold, the second pre-lane-change action being a lighter burden to the driver than the first pre-lane-change action, the first pre-lane-change action being to look at a destination of the lane change, the second pre-lane-change action being to look ahead; and
control travel of the vehicle to make the lane change in the case that the driver has performed the first or second pre-lane-change action having been requested and that the situation around the vehicle satisfies a surrounding condition to be satisfied at the lane change.

2. The travel controller according to claim 1 , wherein the processor determines whether another vehicle exists in a predetermined section of the different lane, and sets the check level higher when it is determined that another vehicle exits than when not.

3. The travel controller according to claim 2 , wherein the processor sets the check level lower than the level threshold in the case that the vehicle traveling on the different lane makes a lane change to the travel lane to pass a passing-target vehicle traveling ahead on the different lane and then makes a lane change to the different lane ahead of the passing-target vehicle and that no vehicle is detected in the predetermined section from the passing-target vehicle to a predetermined distance away.

4. The travel controller according to claim 1 , wherein the processor sets the check level lower when the lane change is based on instructions of the driver than when not.

5. A method for travel control, comprising:
setting a check level depending on the situation of a lane change from a travel lane of a vehicle to a different lane before the lane change, the check level indicating how closely a driver of the vehicle should check a surrounding area at the lane change;
requesting a first pre-lane-change action for the check at the lane change of the driver with a notification device when the check level is higher than a level threshold, and requesting a second pre-lane-change action for the check at the lane change of the driver with the notification device when the check level is lower than the level threshold, the second pre-lane-change action being a lighter burden to the driver than the first pre-lane-change action, the first pre-lane-change action being to look at a destination of the lane change, the second pre-lane-change action being to look ahead; and
controlling travel of the vehicle to make the lane change in the case that the driver has performed the first or second pre-lane-change action having been requested and that the situation around the vehicle satisfies a surrounding condition to be satisfied at the lane change.

6. A non-transitory computer-readable medium having a computer program for travel control stored therein, the computer program causing a computer to execute a process comprising:
setting a check level depending on the situation of a lane change from a travel lane of a vehicle to a different lane before the lane change, the check level indicating how closely a driver of the vehicle should check a surrounding area at the lane change;
requesting a first pre-lane-change action for the check at the lane change of the driver with a notification device when the check level is higher than a level threshold, and requesting a second pre-lane-change action for the check at the lane change of the driver with the notification device when the check level is lower than the level threshold, the second pre-lane-change action being a lighter burden to the driver than the first pre-lane-change action, the first pre-lane-change action being to look at a destination of the lane change, the second pre-lane-change action being to look ahead; and
controlling travel of the vehicle to make the lane change in the case that the driver has performed the first or second pre-lane-change action having been requested and that the situation around the vehicle satisfies a surrounding condition to be satisfied at the lane change.

Assignees

• Toyota Motor Co Ltd

Inventors

• Yoshino Soichi
• Fujii Shota
• Okada Yu
• Kaneko Takuo
• Kondo Suzuka
• Kitagawa Eiki

Classifications

• B60W30/18163 Primary

  Lane change; Overtaking manoeuvres · CPC title

• B60W2540/215

  Selection or confirmation of options · CPC title

• B60W2552/10

  Number of lanes · CPC title

• B60W50/14 Primary

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2420/403

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