US 11,738,779 B2
Autonomous driving vehicle system
Hiromitsu Urano, Numazu (JP); Kentaro Ichikawa, Shizuoka-ken (JP); Taisuke Sugaiwa, Susono (JP); and Toshiki Kindo, Yokohama (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 29, 2021, as Appl. No. 17/514,613.
Application 17/514,613 is a continuation of application No. 16/845,260, filed on Apr. 10, 2020, granted, now 11,260,868.
Application 16/845,260 is a continuation of application No. 15/805,544, filed on Nov. 7, 2017, granted, now 10,654,482, issued on May 19, 2020.
Application 15/805,544 is a continuation of application No. 15/000,467, filed on Jan. 19, 2016, granted, now 9,845,096, issued on Dec. 19, 2017.
Claims priority of application No. 2015-008141 (JP), filed on Jan. 19, 2015.
Prior Publication US 2022/0048508 A1, Feb. 17, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/18 (2012.01); B60W 30/182 (2020.01); B60W 50/10 (2012.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC B60W 30/182 (2013.01) [B60W 50/10 (2013.01); G05D 1/0061 (2013.01); G05D 1/0088 (2013.01); G05D 1/0278 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2540/215 (2020.02); B60W 2900/00 (2013.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
10. A method of switching a driving state of a vehicle having autonomous driving vehicle control, the method comprising:
switching a driving state among (i) an autonomous driving state where traveling of the vehicle is controlled using a traveling plan, (ii) a cooperative driving state where the vehicle is controlled to travel in cooperation between the autonomous driving state, based on the traveling plan, and a manual driving operation of a driver, and (iii) a manual driving state,
wherein the switching the driving state comprises:
switching the driving state to the cooperative driving state when the driving state is the autonomous driving state and when an operation amount of the driving operation is equal to or greater than an intervention determination threshold value and less than a manual driving start threshold value, or when a duration count of the driving operation is equal to or greater than a first threshold value and less than a second threshold value, and
switching the driving state, when the driving state is the cooperative driving state, to the autonomous driving state when the operation amount is less than the intervention determination threshold value or the duration count is less than the first threshold value, and switching the driving state, when the driving state is the cooperative driving state, to the manual driving state when the operation amount is equal to or greater than the manual driving start threshold value or the duration count is equal to or greater than the second threshold value,
wherein, for a particular trip corresponding to the traveling plan, the switch from the autonomous driving state to the cooperative driving state is a reversible transition and the switch from the cooperative driving state to the manual driving state is an irreversible transition.