US 11,807,297 B2
Autonomous lane change of a vehicle considering steering intervention and stop condition
Kenichiro Aoki, Miyoshi (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by Toyota Jidosha Kabushiki Kaisha, Toyota (JP)
Filed on Jul. 6, 2020, as Appl. No. 16/920,827.
Application 16/920,827 is a continuation of application No. 15/819,662, filed on Nov. 21, 2017, granted, now 10,737,723.
Claims priority of application No. 2016-237705 (JP), filed on Dec. 7, 2016.
Prior Publication US 2020/0331530 A1, Oct. 22, 2020
Int. Cl. B62D 15/02 (2006.01); G05D 1/00 (2006.01); B60Q 9/00 (2006.01); B62D 1/28 (2006.01); B60W 50/14 (2020.01); B60W 50/10 (2012.01); B60W 30/12 (2020.01); G05D 1/02 (2020.01)
CPC B62D 15/0255 (2013.01) [B60Q 9/00 (2013.01); B60W 50/10 (2013.01); B60W 50/14 (2013.01); B62D 1/286 (2013.01); B62D 15/025 (2013.01); B62D 15/0265 (2013.01); G05D 1/0022 (2013.01); G05D 1/0061 (2013.01); G05D 1/021 (2013.01); B60W 30/12 (2013.01); B60W 2540/18 (2013.01)] 4 Claims
OG exemplary drawing
 
1. An electronic control unit for vehicle traveling that executes autonomous driving control that causes a vehicle to travel autonomously,
the autonomous driving control including autonomous lane change control that achieves autonomous lane change of a vehicle,
the autonomous lane change control including arithmetic operation concerning the autonomous lane change control and steering control based on the result of the arithmetic operation, and
the electronic control unit for vehicle traveling executing:
a process of starting the autonomous lane change control in response to receiving an instruction to start the autonomous lane change;
a process of determining whether or not a steering intervention by a driver occurs during execution of the autonomous lane change control;
a process of determining whether or not a direction of the steering intervention coincides with a direction of steering that is required by the autonomous lane change control;
a process of determining whether or not a stop condition of the autonomous lane change is established when the direction of the steering intervention coincides with the direction of steering required by the autonomous lane change control;
a process of giving priority to steering of the driver by temporarily stopping said steering control when it is determined that the stop condition is not established while the arithmetic operation concerning the steering control is continued when it is determined that the stop condition is not established;
a process of returning to an original lane when the direction of the steering intervention does not coincide with the direction of steering required by the autonomous lane change control; and
when the steering intervention in a same direction as autonomous lane change occurs during execution of the autonomous lane change control, a process of transitioning a state of the vehicle to a steering preference of the driver.