US 12,409,834 B2
Vehicle controller, method, and computer program for vehicle control
Ryusuke Kuroda, Tokyo-to (JP); Kenichiro Aoki, Machida (JP); Tetsuro Sugiura, Chofu (JP); Takuya Fujiki, Tokyo-to (JP); Hitoshi Kamada, Kawasaki (JP); Wataru Kawashima, Nisshin (JP); and Tadashi Okubo, Machida (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jul. 21, 2023, as Appl. No. 18/356,492.
Claims priority of application No. 2022-134209 (JP), filed on Aug. 25, 2022.
Prior Publication US 2024/0067168 A1, Feb. 29, 2024
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 60/0015 (2020.02); B60W 60/0053 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/4046 (2020.02)] 4 Claims
OG exemplary drawing
 
1. A vehicle controller comprising:
a processor configured to:
detect a vehicle ahead of a host vehicle from time-series sensor signals obtained by a sensor provided on the host vehicle for sensing objects around the host vehicle,
track the vehicle ahead detected from the time-series sensor signals,
determine whether the vehicle ahead has performed an avoidance action, based on a result of tracking,
detect, when the vehicle ahead has performed the avoidance action, a trajectory of an edge of the vehicle ahead opposite a direction of avoidance in the avoidance action,
control travel of the host vehicle so that an edge of the host vehicle opposite the direction of avoidance moves along the trajectory,
detect a plurality of vehicles ahead of the host vehicle,
determine whether the avoidance action has been performed, for each of the vehicles ahead,
identify a location at which a vehicle just ahead of the host vehicle among the vehicles ahead started the avoidance action, and
transfer control of the host vehicle to a driver of the host vehicle in a case where each of the vehicles ahead has performed the avoidance action and where the host vehicle is able to stop before reaching the location at which the vehicle just ahead of the host vehicle started the avoidance action.