Controller, method, and recording medium for reducing frequency of autonomous control level application

Patent metadata

Field	Value
Publication number	US-12420847-B2
Application number	US-202318449146-A
Country	US
Kind code	B2
Filing date	Aug 14, 2023
Priority date	Aug 25, 2022
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

When an object that may possibly collide with a vehicle is detected from a sensor signal of one of sensors mounted on the vehicle, a vehicle controller changes the level of autonomous driving control applied to the vehicle from a first level that does not require a driver to operate an accelerator and steering and does not require the driver to look around the vehicle to a second level that requires the driver to look around the vehicle but does not require the driver to operate an accelerator and steering. When an object that may possibly collide with the vehicle is detected from sensor signals of two or more of the sensors, the vehicle controller changes the level of autonomous driving control from the first level to a third level that requires the driver to operate at least an accelerator or steering.

First claim

What is claimed is:

1. A vehicle controller capable of autonomous driving control of a vehicle at a first level that does not require a driver of the vehicle to operate an accelerator and steering and does not require the driver to look around the vehicle, a second level that requires the driver to look around the vehicle but does not require the driver to operate an accelerator and steering, or a third level that requires the driver to operate at least an accelerator or steering, the vehicle controller comprising:
a processor configured to:
detect, for each of a plurality of sensors mounted on the vehicle, an object in an area around the vehicle, based on a sensor signal from any one of the plurality of sensors, the sensors being capable of detecting objects around the vehicle,
determine whether the vehicle may possibly collide with the detected object,
change the level of autonomous driving control applied to the vehicle from the first level to the second level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signal of one of the sensors in the case where autonomous driving control at the first level is applied to the vehicle, and
change the level of autonomous driving control applied to the vehicle from the first level to the third level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signals of two or more of the sensors.

2. The vehicle controller according to claim 1 , wherein the processor is further configured to change the level of autonomous driving control applied to the vehicle from the second level to the third level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signals of two or more of the sensors in the case where autonomous driving control at the second level is applied to the vehicle.

3. The vehicle controller according to claim 1 , wherein the processor is further configured to change the level of autonomous driving control applied to the vehicle from the second level to the first level when an object determined as possibly colliding with the vehicle has not been detected from any of the sensor signals of the sensors for a predetermined period in the case where autonomous driving control at the second level is applied to the vehicle.

4. A method for vehicle control enabling autonomous driving control of a vehicle at a first level that does not require a driver of the vehicle to operate an accelerator and steering and does not require the driver to look around the vehicle, a second level that requires the driver to look around the vehicle but does not require the driver to operate an accelerator and steering, or a third level that requires the driver to operate at least an accelerator or steering, the method comprising:
detecting, for each of a plurality of sensors mounted on the vehicle, an object in an area around the vehicle, based on a sensor signal from any one of the plurality of sensors, the sensors being capable of detecting objects around the vehicle;
determining whether the vehicle may possibly collide with the detected object;
changing the level of autonomous driving control applied to the vehicle from the first level to the second level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signal of one of the sensors in the case where autonomous driving control at the first level is applied to the vehicle; and
changing the level of autonomous driving control applied to the vehicle from the first level to the third level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signals of two or more of the sensors.

5. A non-transitory recording medium that stores a computer program for vehicle control enabling autonomous driving control of a vehicle at a first level that does not require a driver of the vehicle to operate an accelerator and steering and does not require the driver to look around the vehicle, a second level that requires the driver to look around the vehicle but does not require the driver to operate an accelerator and steering, or a third level that requires the driver to operate at least an accelerator or steering, the computer program causing a processor mounted on the vehicle to execute a process comprising:
detecting, for each of a plurality of sensors mounted on the vehicle, an object in an area around the vehicle, based on a sensor signal from any one of the plurality of sensors, the sensors being capable of detecting objects around the vehicle;
determining whether the vehicle may possibly collide with the detected object, the sensors being capable of detecting objects around the vehicle;
changing the level of autonomous driving control applied to the vehicle from the first level to the second level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signal of one of the sensors in the case where autonomous driving control at the first level is applied to the vehicle; and
changing the level of autonomous driving control applied to the vehicle from the first level to the third level when an object determined as possibly colliding with the vehicle is detected on the basis of the sensor signals of two or more of the sensors.

Assignees

• Toyota Motor Co Ltd
• Denso Corp

Inventors

• Kawashima Wataru
• Kuroda Ryusuke
• Aoki Kenichiro
• Hanada Takehiko
• Fujiki Takuya

Classifications

• B60W2540/10

  Accelerator pedal position · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W50/14

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

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W2050/143

  Alarm means · CPC title