US 12,246,716 B2
Control device of vehicle, control method, and storage medium
Yusuke Morita, Mishima (JP); Kuniaki Goto, Susono (JP); and Satoshi Takeyasu, Saitama (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 17, 2022, as Appl. No. 17/967,422.
Claims priority of application No. 2021-172602 (JP), filed on Oct. 21, 2021.
Prior Publication US 2023/0130037 A1, Apr. 27, 2023
Int. Cl. B60W 30/16 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 50/14 (2020.01)
CPC B60W 30/16 (2013.01) [B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 50/14 (2013.01); B60W 2420/403 (2013.01); B60W 2554/80 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A control device that controls traveling of a vehicle, the control device comprising a processor configured to:
acquire an image captured by a camera provided in the vehicle and estimating a vehicle-to-vehicle distance and a relative speed with respect to a preceding vehicle based on the image;
calculate a time to collision with respect to the preceding vehicle from the vehicle-to-vehicle distance and the relative speed;
determine whether fluctuation widths of fluctuations of any one of the vehicle-to-vehicle distance, the relative speed, and the time to collision are equal to or greater than predetermined threshold values;
upon determination that the fluctuation widths of the fluctuations of any one of the vehicle-to-vehicle distance, the relative speed, and the time to collision are equal to or greater than the predetermined threshold values, warn a driver of the vehicle and determine whether the fluctuations of the vehicle-to-vehicle distance, the relative speed, or the time to collision having the fluctuation width equal to or greater than the predetermined threshold value is periodic; and
upon determination that the fluctuations are periodic, determine a mean value for the periodic vehicle-to-vehicle distance, relative speed, or time to collision, and decelerate the vehicle based on the vehicle-to-vehicle distance, the relative speed, the time to collision, and the mean value.