US 11,921,501 B2
Automatic driving system
Takaaki Tanaka, Susono (JP); Kenichiro Aoki, Miyoshi (JP); and Masayuki Katoh, Gotemba (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 2, 2021, as Appl. No. 17/457,429.
Application 17/457,429 is a continuation of application No. 16/653,027, filed on Oct. 15, 2019, granted, now 11,231,710.
Claims priority of application No. 2018-237486 (JP), filed on Dec. 19, 2018.
Prior Publication US 2022/0091609 A1, Mar. 24, 2022
Int. Cl. G05D 1/00 (2006.01); B60W 30/18 (2012.01); G05D 1/02 (2020.01)
CPC G05D 1/0061 (2013.01) [B60W 30/181 (2013.01); G05D 1/0223 (2013.01); B60W 2555/20 (2020.02); B60W 2555/60 (2020.02); B60W 2720/10 (2013.01); G05D 2201/0213 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An automatic driving system comprising
a control device that controls automatic driving of a vehicle, and
a storage device that contains external environment information indicating an external environment of the vehicle, wherein:
the external environment information includes information indicating a prescribed velocity,
the control device issues transition demand through a HMI unit to a driver of the vehicle when a need arises for the driver of the vehicle to take over at least a part of the driving of the vehicle,
the control device determines a target deceleration based on the prescribed velocity, and sets the target deceleration to be equal to or lower than a predetermined upper limit value, and
during a driving transition phase, in which the driver of the vehicle takes over at least a part of driving of the vehicle from the control device, the control device decelerates the vehicle to the prescribed velocity using the target deceleration by taking into account the external environment information.