US 12,304,524 B2
Vehicle control system and method of controlling vehicle
Satoshi Nakamura, Susono (JP); and Sho Hashimoto, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 7, 2022, as Appl. No. 18/076,919.
Claims priority of application No. 2021-206979 (JP), filed on Dec. 21, 2021.
Prior Publication US 2023/0192125 A1, Jun. 22, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 50/14 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 50/14 (2013.01); B60W 2556/10 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A vehicle control system comprising:
an automated-driving management device that generates a target trajectory for a vehicle; and
a vehicle-travel control device that executes vehicle travel control for the vehicle to follow the target trajectory and travel assistance control for the vehicle,
wherein the vehicle-travel control device is configured to:
estimate an evaluation level of the automated-driving management device from a standpoint of the vehicle-travel control device;
when the vehicle is approaching a caution point indicating a point where caution needs to be exercised in driving, determine whether the vehicle-travel control device has a history of passing through the caution point with the vehicle-travel control device having received an execution prohibition instruction to prohibit execution of the travel assistance control; and
when the vehicle-travel control device has received the execution prohibition instruction, and it is determined that the vehicle-travel control device does not have a history of passing through the caution point, change an execution mode of the travel assistance control based on the evaluation level such that the travel assistance control is more likely to be executed.