US 11,797,002 B2
Autonomous driving system
Ryuta Hashimoto, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 29, 2021, as Appl. No. 17/564,957.
Application 17/564,957 is a continuation of application No. 17/003,367, filed on Aug. 26, 2020, granted, now 11,449,053.
Application 17/003,367 is a continuation of application No. 16/131,293, filed on Sep. 14, 2018, granted, now 10,788,825, issued on Sep. 29, 2020.
Claims priority of application No. 2017-197031 (JP), filed on Oct. 10, 2017.
Prior Publication US 2022/0121199 A1, Apr. 21, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); B60W 50/14 (2020.01); B60W 50/00 (2006.01)
CPC G05D 1/0061 (2013.01) [B60W 50/14 (2013.01); G05D 1/0088 (2013.01); B60K 2370/175 (2019.05); B60K 2370/186 (2019.05); B60W 2050/0072 (2013.01); B60W 2050/0091 (2013.01); B60W 2540/215 (2020.02)] 15 Claims
OG exemplary drawing
 
1. An autonomous driving apparatus comprising:
a processor configured to:
control autonomous driving of a vehicle;
plan a first operation instruction timing and a second operation instruction timing, the first operation instruction timing being a timing with respect to a duration of the autonomous driving at which a first operation instruction requesting a driver of the vehicle to perform a first response operation is to be presented, the second operation instruction timing being a timing with respect to a duration of the autonomous driving at which a second operation instruction requesting the driver to perform a second response operation is to be presented, the second response operation being different from the first response operation;
determine, as a preceding operation instruction, one of the first operation instruction and the second operation instruction whichever is to be presented first;
adjust at least one of the first operation instruction timing and the second operation instruction timing such that an operation instruction timing including a preceding operation instruction timing at which the preceding operation instruction is to be presented becomes earlier than the other operation instruction timing among the first operation instruction timing and the second operation instruction timing; and
present, after adjusting the at least one of the first operation instruction timing and the second operation instruction timing, to the driver via a Human Machine Interface, the first operation instruction and the second operation instruction at the first operation instruction timing and the second operation instruction timing, respectively.