Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle

Patent metadata

Field	Value
Publication number	US-12459543-B2
Application number	US-202318375611-A
Country	US
Kind code	B2
Filing date	Oct 2, 2023
Priority date	Oct 20, 2022
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

A vehicle control device has a processor configured to estimate an amount of rainfall per unit time based on an acoustic signal acquired by an acoustical sensor mounted on a vehicle, determine whether a present operation mode of the vehicle is a first operation mode with a lower level to which a driver is contributing to driving or a second operation mode with a higher level to which the driver is contributing to driving than the first operation mode, and decide a first time until the operation mode of the vehicle is transferred from the first operation mode to the second operation mode based on the amount of rainfall, when the operation mode of the vehicle is the first operation mode.

First claim

The invention claimed is:

1 . A vehicle control device comprising:
a processor configured to: estimate an amount of rainfall per unit time based on an acoustic signal acquired by an acoustical sensor mounted on a vehicle, determine whether a present operation mode of the vehicle is a first operation mode with a lower level to which a driver is contributing to driving or a second operation mode with a higher level to which the driver is contributing to driving than the first operation mode, decide a first time until the operation mode of the vehicle is transferred from the first operation mode to the second operation mode based on the amount of rainfall, when the operation mode of the vehicle is the first operation mode, calculate a second time until reliability of detecting an environment around the vehicle by another sensor detecting the environment around the vehicle becomes equal to or less than a predetermined reference reliability based on the amount of rainfall, and decide the first time to be shorter than the second time, execute an operational mode control process including transferring operation mode from the first operation mode to the second operation mode at an operation mode control time having a predetermined cycle and prior to a reliability of the acoustical sensor or the another sensor being lowered, and notify, via a user interface, a driver of the transfer of the operation mode of the vehicle from the first operation mode to a second operation mode in response to a lapse of the first time, wherein the another sensor is configured to generate a driving plan of the vehicle, and the vehicle is configured to autonomously travel in accordance with the driving plan of the vehicle.

2 . The vehicle control device according to claim 1 , wherein the processor is further configured to calculate the second time based on the amount of rainfall and speed of the vehicle.

3 . The vehicle control device according to claim 1 , wherein the processor is further configured to calculate the second time based on the amount of rainfall and a direction of the another sensor.

4 . The vehicle control device according to claim 1 , wherein the processor is further configured to decide the first time so that at least time required for the driver to approve a transfer of the operation mode of the vehicle from the first operation mode to the second operation mode is shorter than the second time.

5 . A computer-readable, non-transitory storage medium storing a computer program for vehicle control, which causes a processor to execute a process, and the process comprising:
estimating an amount of rainfall per unit time based on an acoustic signal acquired by an acoustical sensor mounted on a vehicle; determining whether a present operation mode of the vehicle is a first operation mode with a lower level to which a driver is contributing to driving or a second operation mode with a higher level to which the driver is contributing to driving than the first operation mode; deciding a first time until the operation mode of the vehicle is transferred from the first operation mode to the second operation mode based on the amount of rainfall, when the operation mode of the vehicle is the first operation mode; calculating a second time until reliability of detecting an environment around the vehicle by another sensor detecting the environment around the vehicle becomes equal to or less than a predetermined reference reliability based on the amount of rainfall, and decide the first time to be shorter than the second time; executing an operational mode control process including transferring operation mode from the first operation mode to the second operation mode at an operation mode control time having a predetermined cycle and prior to a reliability of the acoustical sensor or the another sensor being lowered; and notifying, via a user interface, a driver of the transfer of the operation mode of the vehicle from the first operation mode to a second operation mode in response to a lapse of the first time, wherein the another sensor is configured to generate a driving plan of the vehicle, and the vehicle is configured to autonomously travel in accordance with the driving plan of the vehicle.

6 . A method for controlling a vehicle carried out by a vehicle control device, and the method comprising:
estimating an amount of rainfall per unit time based on an acoustic signal acquired by an acoustical sensor mounted on a vehicle; determining whether a present operation mode of the vehicle is a first operation mode with a lower level to which a driver is contributing to driving or a second operation mode with a higher level to which the driver is contributing to driving than the first operation mode; deciding a first time until the operation mode of the vehicle is transferred from the first operation mode to the second operation mode based on the amount of rainfall, when the operation mode of the vehicle is the first operation mode; calculating a second time until reliability of detecting an environment around the vehicle by another sensor detecting the environment around the vehicle becomes equal to or less than a predetermined reference reliability based on the amount of rainfall, and decide the first time to be shorter than the second time; executing an operational mode control process including transferring operation mode from the first operation mode to the second operation mode at an operation mode control time having a predetermined cycle and prior to a reliability of the acoustical sensor or the another sensor being lowered; and notifying, via a user interface, a driver of the transfer of the operation mode of the vehicle from the first operation mode to a second operation mode in response to a lapse of the first time, wherein the another sensor is configured to generate a driving plan of the vehicle, and the vehicle is configured to autonomously travel in accordance with the driving plan of the vehicle.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kawashima Wataru
• Hata Ryosuke

Classifications

• B60W2050/146

  Display means · CPC title

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title

• B60W2420/54

  Audio sensitive means, e.g. ultrasound · CPC title

• B60W2556/20

  Data confidence level · CPC title

• B60W50/14

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