Vehicle controller, vehicle control method, and vehicle control computer program for vehicle control

Patent metadata

Field	Value
Publication number	US-12420841-B2
Application number	US-202318448397-A
Country	US
Kind code	B2
Filing date	Aug 11, 2023
Priority date	Aug 25, 2022
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

A vehicle controller includes a processor configured to detect another vehicle traveling behind a host vehicle, based on a sensor signal obtained by a sensor for sensing surroundings of the host vehicle, determine whether the detected other vehicle satisfies an obstructing condition for obstructing view behind the host vehicle, and control the host vehicle to secure the view behind the host vehicle when the obstructing condition is satisfied.

First claim

What is claimed is:

1. A vehicle controller comprising:
a processor configured to:
detect another vehicle traveling behind a host vehicle, based on a sensor signal obtained by a sensor for sensing surroundings of the host vehicle,
determine whether the detected other vehicle satisfies an obstructing condition for obstructing view behind the host vehicle,
control the host vehicle to secure the view behind the host vehicle when the obstructing condition is satisfied;
determine whether traffic around the host vehicle will be congested in a predetermined period from a current time until a predetermined time ahead based on tracking other vehicles in a time series of images received from the sensor, and wherein
the processor detects a large-size vehicle traveling behind the host vehicle, as the other vehicle, and a lane being traveled by the large-size vehicle, and
when it is determined that traffic around the host vehicle will be congested in the predetermined period, the processor controls the host vehicle to move the host vehicle to a lane that is not being traveled by the large-size vehicle.

2. The vehicle controller according to claim 1 , wherein the processor identifies a lane through which a destination of the host vehicle is reachable among lanes included in a road being traveled by the host vehicle, based on map information stored in a memory, a planned travel route to the destination, and a current position of the host vehicle, and controls the host vehicle so that when the large-size vehicle is not traveling on the identified lane, the host vehicle moves to the identified lane, and when the large-size vehicle is traveling on the identified lane, controls the host vehicle so that the host vehicle moves to a lane that is not being traveled by the large-size vehicle among lanes where a lane change is necessary to reach the destination.

3. The vehicle controller according to claim 1 , wherein in a case where other vehicles traveling behind the host vehicle are detected on each of lanes included in a road being traveled by the host vehicle and where one of the other vehicles is the large-size vehicle, the processor controls the host vehicle to move the host vehicle to a lane on which the number of vehicles between the large-size vehicle and the host vehicle after a lane change among the other vehicles is predicted to be the greatest of the lanes.

4. The vehicle controller according to claim 1 , wherein the processor is further configured to estimate the distance between the host vehicle and a vehicle traveling behind the host vehicle on a host vehicle lane being traveled by the host vehicle among the detected other vehicles traveling behind the host vehicle, and wherein
the processor further detects a lane-dividing line demarcating the host vehicle lane, and
controls the position of the host vehicle so that when the estimated distance is not greater than a predetermined distance threshold, a lateral distance from the position of the host vehicle to the lane-dividing line in a direction traversing the host vehicle lane is less than when the estimated distance is greater than the predetermined distance threshold.

5. The vehicle controller according to claim 4 , wherein the processor determines whether a road being traveled by the host vehicle has a road shoulder and has two lanes in a travel direction of the host vehicle, by referring to map information and the current position of the host vehicle; and when the road does not have a road shoulder but has two lanes in the travel direction of the host vehicle, the processor controls the position of the host vehicle so that the lateral distance to a lane-dividing line on the center side of the road among lane-dividing lines demarcating the host vehicle lane is less than the lateral distance to a lane-dividing line on an edge side of the road among the lane-dividing lines demarcating the host vehicle lane.

6. The vehicle controller according to claim 4 , wherein when the lane being traveled by the host vehicle is adjacent to a merging lane, the processor controls the position of the host vehicle so that the lateral distance to a lane-dividing line on the side of the merging lane is less than the lateral distance to a lane-dividing line opposite the merging lane.

7. A method for vehicle control, comprising:
detecting another vehicle traveling behind a host vehicle, based on a sensor signal obtained by a sensor for sensing surroundings of the host vehicle;
determining whether the detected other vehicle satisfies an obstructing condition for obstructing view behind the host vehicle;
controlling the host vehicle to secure the view behind the host vehicle when the obstructing condition is satisfied;
determining whether traffic around the host vehicle will be congested in a predetermined period from a current time until a predetermined time ahead based on tracking other vehicles in a time series of images received from the sensor,
detecting a large-size vehicle traveling behind the host vehicle, as the other vehicle, and a lane being traveled by the large-size vehicle, and
when it is determined that traffic around the host vehicle will be congested in the predetermined period, moving the host vehicle to a lane that is not being traveled by the large-size vehicle.

8. A non-transitory recording medium that stores a computer program for vehicle control, the computer program causing a processor mounted on a host vehicle to execute a process comprising:
detecting another vehicle traveling behind the host vehicle, based on a sensor signal obtained by a sensor for sensing surroundings of the host vehicle;
determining whether the detected other vehicle satisfies an obstructing condition for obstructing view behind the host vehicle;
controlling the host vehicle to secure the view behind the host vehicle when the obstructing condition is satisfied;
determining whether traffic around the host vehicle will be congested in a predetermined period from a current time until a predetermined time ahead based on tracking other vehicles in a time series of images received from the sensor,
detecting a large-size vehicle traveling behind the host vehicle, as the other vehicle, and a lane being traveled by the large-size vehicle, and
when it is determined that traffic around the host vehicle will be congested in the predetermined period, moving the host vehicle to a lane that is not being traveled by the large-size vehicle.

Assignees

• Toyota Motor Co Ltd
• Denso Corp

Inventors

• Kuroda Ryusuke

Classifications

• B60W40/04

  Traffic conditions · CPC title

• B60W2554/805

  Azimuth angle · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60W2554/4023

  large-size vehicles, e.g. trucks · CPC title

• B60W2552/53

  Road markings, e.g. lane marker or crosswalk · CPC title