US 12,286,133 B2
Vehicle controller and vehicle control method
Genta Suzuki, Kariya (JP)
Assigned to KABUSHIKI KAISHA TOYOTA JIDOSHOKKI, Kariya (JP)
Filed by KABUSHIKI KAISHA TOYOTA JIDOSHOKKI, Kariya (JP)
Filed on Jan. 30, 2023, as Appl. No. 18/161,406.
Claims priority of application No. 2022-015002 (JP), filed on Feb. 2, 2022.
Prior Publication US 2023/0242148 A1, Aug. 3, 2023
Int. Cl. B60W 40/072 (2012.01); B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 40/072 (2013.01); B60W 2554/80 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A vehicle controller, comprising:
processing circuitry configured to execute
a recognition process of recognizing a state of an object in a recognizable area set on a front side of a host vehicle, and
a driving control process of performing a vehicle control of causing the host vehicle to travel based on a recognition result of the recognition process, wherein
the recognizable area includes a recognition area and a quasi-recognition area when a band-shaped scheduled traveling area along a travel route on which the host vehicle travels is curved,
there are multiple boundary positions between the recognition area and the quasi-recognition area, and
the driving control process includes
performing the vehicle control according to a first driving mode of maintaining a distance to an obstacle at a specified distance when the recognition result of the recognition process indicates that the obstacle exists in the recognition area, and
performing the vehicle control according to a second driving mode of maintaining a distance to one of the boundary positions that is farthest from the host vehicle at the specified distance when the recognition result of the recognition process indicates that an obstacle exists in the quasi-recognition area.