US 11,656,618 B2
Autonomous driving device
Kunihito Sato, Mishima (JP); Kentaro Ichikawa, Sunto-gun (JP); Maiko Hirano, Susono (JP); and Bunyo Okumura, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 30, 2021, as Appl. No. 17/565,956.
Application 17/565,956 is a continuation of application No. 16/881,776, filed on May 22, 2020, granted, now 11,392,119.
Application 16/881,776 is a continuation of application No. 16/036,064, filed on Jul. 16, 2018, granted, now 10,698,406, issued on Jun. 30, 2020.
Claims priority of application No. JP2017-162729 (JP), filed on Aug. 25, 2017.
Prior Publication US 2022/0128992 A1, Apr. 28, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); G01C 21/34 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0061 (2013.01) [G01C 21/3415 (2013.01); G05D 1/0212 (2013.01); G05D 2201/0213 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An autonomous driving device that is configured to execute autonomous driving control of a vehicle, the device comprising:
an electronic control unit programmed to:
start an autonomous driving control according to a second travel plan, after setting the second travel plan different from a first travel plan, based on a peripheral state of the vehicle and a state of the vehicle immediately after input of an intervention override operation, when the intervention override operation is input by an occupant of the vehicle, during execution of the autonomous driving control according to the first travel plan,
wherein the second travel plan is set to have difference from the first travel plan that is larger as an operation parameter related to the intervention operation becomes larger,
wherein the electronic control unit is further programmed to determine whether a restoration of the autonomous driving control is possible based upon the operation parameter being larger than a set value and when a difference between a position on a route in the first travel plan and a position on a route in the second travel plan is longer than a set distance.