| CPC B60W 60/0053 (2020.02) [B60W 50/14 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4026 (2020.02); B60W 2554/80 (2020.02)] | 4 Claims |
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1. A travel controller of a vehicle that can travel on a road under autonomous driving control comprising a processor configured to:
detect a two-wheeler, comprising a bicycle, located in surroundings of the vehicle from surrounding data representing the surroundings of the vehicle generated by a surrounding sensor mounted on the vehicle,
input the surrounding data to a classifier that is trained to classify two-wheeled moving objects from surrounding data and output a confidence rate indicating a degree of certainty that a detected moving object is a bicycle,
discriminate that the detected two-wheeler is a bicycle when the confidence rate output by the classifier is greater than a confidence rate threshold and not a bicycle when the confidence rate is not greater than the confidence rate threshold,
determine whether a target road on which the vehicle was traveling is a shared road on which travel by bicycles is permitted when the two-wheeler is detected,
when it is determined that the detected two-wheeler is a bicycle and the target road is a shared road, notify a driver of the vehicle of a transition demand demanding transition in control of the vehicle from autonomous driving control to manual driving control requiring driving operations by the driver and change the control of the vehicle from autonomous driving control to manual driving control,
when it is determined that the detected two-wheeler is not a bicycle and the target road is a shared road, not notify the driver of the transition demand, and
when it is determined that the target road is not a shared road, not notify the driver of the transition demand.
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