Travel planner and method for travel planning

Patent metadata

Field	Value
Publication number	US-12415518-B2
Application number	US-202318242568-A
Country	US
Kind code	B2
Filing date	Sep 6, 2023
Priority date	Sep 22, 2022
Publication date	Sep 16, 2025
Grant date	Sep 16, 2025

Abstract

A travel planner identifies, for a connection point where a travel lane in which a vehicle is traveling connects ahead of the vehicle with another lane different from the travel lane, an entry time range representing a time range during which entry of the vehicle from the travel lane to the connection point is recommended, and creates a travel plan including a transition of travel speed of the vehicle from a current position of the vehicle to the connection point so as to arrive at the connection point within the entry time range.

First claim

What is claimed is:

1. A travel planner, comprising a processor configured to:
identify, for a connection point where a travel lane in which a vehicle is traveling connects ahead of the vehicle with another lane different from the travel lane, an entry time range representing a time range during which entry of the vehicle from the travel lane to the connection point is recommended,
create a travel plan including a transition of travel speed of the vehicle from a current position of the vehicle to the connection point so as to arrive at the connection point within the entry time range,
executes travel control including control of at least acceleration/deceleration of the vehicle in accordance with the travel plan,
detects a trailing vehicle traveling behind the vehicle from rear data representing a situation behind the vehicle, and
in the travel control, does not execute travel control in accordance with the travel plan when no trailing vehicles are detected.

2. The travel planner according to claim 1 , wherein the entry time range is a time range, in a predetermined period repeating from a predetermined time, defined by an elapsed time from start of the period.

3. The travel planner according to claim 1 , wherein the processor:
in the identification, further identifies, for the connection point, an avoidance time range representing a time range during which avoidance of entry of the vehicle from the travel lane to the connection point is recommended, and
in the creation, creates the travel plan so as not to arrive at the connection point within the avoidance time range.

4. The travel planner according to claim 1 , wherein the processor, in the identification, identifies the connection point where a traffic light for controlling entry of the vehicle is not installed, and identifies the entry time range for this connection point.

5. The travel planner according to claim 1 , wherein the processor, in the identification, identifies the entry time range by identifying the lane connected to the connection point based on the current position and a direction of travel of the vehicle in reference to a storage device mounted on the vehicle previously storing the entry time range for each lane connected to the connection point.

6. The travel planner according to claim 1 , wherein the processor:
further detects a passenger different from a driver capable of executing driving operations of the vehicle from in-cabin data representing a situation in a cabin of the vehicle, and
in the travel control, does not execute travel control in accordance with the travel plan when no passengers other than the driver are detected.

7. The travel planner according to claim 1 , wherein the processor:
in the identification, further identifies whether or not the connection point is a temporary stop connection point where it is necessary to stop before entering from the travel lane, and
in the travel control, does not execute travel control in accordance with the travel plan when the connection point is the temporary stop connection point.

8. A method for travel planning, having a travel planner comprising a processor for creating a travel plan for a vehicle to execute a process comprising:
identifying, for a connection point where a travel lane in which a vehicle is traveling connects ahead of the vehicle with another lane different from the travel lane, an entry time range representing a time range during which entry of the vehicle from the travel lane to the connection point is recommended, and
creating a travel plan including a transition of travel speed of the vehicle from a current position of the vehicle to the connection point so as to arrive at the connection point within the entry time range,
executing travel control including control of at least acceleration/deceleration of the vehicle in accordance with the travel plan,
detecting a trailing vehicle traveling behind the vehicle from rear data representing a situation behind the vehicle, and
in the travel control, not executing travel control in accordance with the travel plan when no trailing vehicles are detected.

9. A non-transitory computer readable medium having a computer program for travel planning stored therein, the computer program causing a computer mounted on a vehicle to execute a process comprising:
identifying, for a connection point where a travel lane in which the vehicle is traveling connects ahead of the vehicle with another lane different from the travel lane, an entry time range representing a time range during which entry of the vehicle from the travel lane to the connection point is recommended, and
creating a travel plan including a transition of travel speed of the vehicle from a current position of the vehicle to the connection point so as to arrive at the connection point within the entry time range,
executing travel control including control of at least acceleration/deceleration of the vehicle in accordance with the travel plan,
detecting a trailing vehicle traveling behind the vehicle from rear data representing a situation behind the vehicle, and
in the travel control, not executing travel control in accordance with the travel plan when no trailing vehicles are detected.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kawanai Taichi
• Hayashi Yusuke
• Hotta Daichi

Classifications

• B60W40/08

  related to drivers or passengers · CPC title

• B60W2554/4041

  Position · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B60W2540/01

  Occupants other than the driver · CPC title