US 12,280,799 B2
Travel controller and method for travel control
Yuki Horiuchi, Tokyo-to (JP); Taku Mitsumori, Kariya (JP); Yuji Yamanishi, Tokyo-to (JP); Yuki Takeda, Kariya (JP); and Masahiro Ishihara, Tokyo-to (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and AISIN CORPORATION, Kariya (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and AISIN CORPORATION, Aichi-ken (JP)
Filed on Dec. 22, 2022, as Appl. No. 18/086,988.
Claims priority of application No. 2021-213390 (JP), filed on Dec. 27, 2021.
Prior Publication US 2023/0202520 A1, Jun. 29, 2023
Int. Cl. B60W 60/00 (2020.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01)
CPC B60W 60/0013 (2020.02) [B60W 60/0015 (2020.02); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2540/225 (2020.02); G06T 2207/20081 (2013.01); G06T 2207/30201 (2013.01); G06T 2207/30268 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A travel controller comprising:
a processor configured to:
detect one or more objects from an environmental image representing surroundings of a vehicle capable of traveling under autonomous driving control satisfying a predetermined safety standard;
detect a looking direction of a driver of the vehicle from a face image representing a face region of the driver;
identify an object in the looking direction of the driver out of the one or more objects;
store the identified object and a situation condition indicating a situation at detection of the identified object in a memory in association with each other when a danger avoidance action performed by the driver to avoid danger is detected during travel of the vehicle;
change the predetermined safety standard, in the case where an object stored in the memory is detected during travel of the vehicle under the autonomous driving control and where a situation at detection of the object satisfies the situation condition;
make a learned situation condition, based on a plurality of situation conditions stored at different times in association with the object stored in the memory, the learned situation condition indicating a situation in which the danger avoidance action is detected at detection of the object;
at changing the predetermined safety standard, determine that the situation at detection of the object satisfies the situation condition, when the situation at detection of the object satisfies the learned situation condition;
at storing the identified object and the situation condition, store a rate at which the danger avoidance action is detected in the case where the situation at detection of the object during travel of the vehicle satisfies the situation condition;
at making the learned situation condition, make the learned situation condition so that the situation condition corresponding to a higher rate of detection of the danger avoidance action has priority over the situation condition corresponding to a lower rate of detection of the danger avoidance action; and
control a speed or a position of the vehicle under the autonomous driving control based on the changed predetermined safety standard.