US 12,434,743 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. 12, 2023, as Appl. No. 18/485,485.
Application 18/485,485 is a continuation of application No. 17/566,041, filed on Dec. 30, 2021, granted, now 11,840,264.
Application 17/566,041 is a continuation of application No. 17/514,613, filed on Oct. 29, 2021, granted, now 11,738,779, issued on Aug. 29, 2023.
Application 17/514,613 is a continuation of application No. 16/845,260, filed on Apr. 10, 2020, granted, now 11,260,868, issued on Mar. 1, 2022.
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 2024/0034364 A1, Feb. 1, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/182 (2020.01); B60W 50/10 (2012.01); G05D 1/00 (2006.01); B60W 50/08 (2020.01)
CPC B60W 60/0055 (2020.02) [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 50/082 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2520/14 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2540/215 (2020.02); B60W 2710/202 (2013.01); B60W 2900/00 (2013.01)] 15 Claims
OG exemplary drawing
 
6. A method of switching a driving state of a vehicle having autonomous driving vehicle control, using at least one electronic control unit (ECU), the method comprising:
acquiring an operation amount of a steering operation of a driver; and
switching the driving state among a first state in which the vehicle travels without the steering operation of the driver, a second state in which the vehicle travels based on at least both the steering operation of the driver and a steering control by the autonomous driving vehicle system, and a third state in which the vehicle travels by manual steering operation of the driver, and
when the driving state is the first state, switching the driving state to one of the second state or the third state based on the operation amount.