Vehicle control device, vehicle control method and computer-readable storage medium

Patent metadata

Field	Value
Publication number	US-12140949-B2
Application number	US-202318462494-A
Country	US
Kind code	B2
Filing date	Sep 7, 2023
Priority date	Feb 26, 2018
Publication date	Nov 12, 2024
Grant date	Nov 12, 2024

Abstract

When a subject vehicle reaches a first position of an interflow zone within an interflow lane, it is judged whether a condition for automatic interflow is satisfied. When it is judged that the condition for automatic interflow is not satisfied at the first position, a notification for urging manual interflow by a driver is stated to execute. When it is judged that the condition for automatic interflow is satisfied at the first position, the automatic interflow is stared to execute.

First claim

What is claimed is:

1. A vehicle control device which is configured to control automatic interflow of a subject vehicle from an interflow lane to a main lane,
wherein the vehicle control device comprising:
a processor; and
a memory device in which a computer-executable program is stored,
wherein, when the program is executed by the processor, the processor is configured to:
judge whether or not a predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a first position of an interflow zone within the interflow lane; and
start to execute a notification for urging manual interflow by a driver when it is judged that the condition for automatic interflow is not satisfied at the first position, while starting to execute the automatic interflow when it is judged that the condition for automatic interflow is satisfied at the first position.

2. The vehicle control device according to claim 1 ,
wherein, when the program is executed by the processor, the processor is further configured to:
during the subject vehicle travels along the interflow lane, set the first position based on map information and information on position and orientation of the subject vehicle;
judge whether or not a predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a position located in front of the first position; and
start to execute the automatic interflow when it is judged that the condition for automatic interflow is satisfied at the position in front of the first position,
wherein the judgement at the first position as to whether or not the condition for automatic interflow is satisfied is executed when it is judged that the condition for automatic interflow is not satisfied at the position in front of the first position.

3. The vehicle control device according to claim 1 ,
wherein, when the program is executed by the processor, the processor is further configured to:
during the subject vehicle travels along the interflow lane, set the first position based on map information and information on position and orientation of the subject vehicle;
continuously judge whether or not a predetermined condition for automatic interflow is satisfied before the subject vehicle reaches the first position; and
start to execute the automatic interflow when it is judged that the condition for automatic interflow is satisfied before the subject vehicle reaches the first position,
wherein the judgement at the first position as to whether or not the condition for automatic interflow is satisfied is executed when it is judged that the condition for automatic interflow is not satisfied before the subject vehicle reaches the first position.

4. The vehicle control device according to claim 1 ,
wherein the condition for automatic interflow includes:
(i) there is no other vehicle interfering with an interfluent motion of the subject vehicle;
(ii) a blinker lamp of the subject vehicle has been lighted for a predetermined time;
(iii) speed of the subject vehicle at a proximal end of the interflow zone is faster than or equal to a specified speed; and
(iv) a driving force for travel output device of the subject vehicle, a steering device of the subject vehicle and a brake device of the subject vehicle are not abnormal.

5. A vehicle control device according to claim 1 ,
wherein, when the processor is further configured to:
when it is judged that the condition for automatic interflow is satisfied at the first position, temporarily suspend to start to execute the notification while setting a second position between the first position and a distal end of the interflow zone; and
start to execute the notification when the start of the notification is suspended and the subject vehicle reaches the second position.

6. A vehicle control method to control automatic interflow of a subject vehicle from an interflow lane to a main lane,
wherein the vehicle control method comprises the steps of:
judging whether or not a predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a first position of an interflow zone within the interflow lane; and
starting to execute a notification for urging manual interflow by a driver when it is judged that the condition for automatic interflow is not satisfied at the first position, while starting to execute the automatic interflow when it is judged that the condition for automatic interflow is satisfied at the first position.

7. The vehicle control method according to claim 6 ,
wherein the vehicle control method further comprises the steps of:
when it is judged that the condition for automatic interflow is satisfied at the first position, temporarily suspend to start to execute the notification while setting a second position between the first position and a distal end of the interflow zone; and
starting to execute the notification when the start of the notification is suspended and the subject vehicle reaches the second position.

8. A non-transitory computer-readable storage medium that causes a computer to execute process to control automatic interflow of a subject vehicle from an interflow lane to a main lane,
wherein the process comprising:
judging whether or not a predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a first position of an interflow zone within the interflow lane; and
starting to execute a notification for urging manual interflow by a driver when it is judged that the condition for automatic interflow is not satisfied at the first position, while starting to execute the automatic interflow when it is judged that the condition for automatic interflow is satisfied at the first position.

Assignees

• Toyota Motor Co Ltd

Inventors

• Hashimoto Ryuta
• Fukuda Hiroki
• Ito Akira

Classifications

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• G05D1/81

  Handing over between on-board automatic and on-board manual control · CPC title

• B60W2720/106

  Longitudinal acceleration · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W50/14

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