US 12,466,478 B2
Autonomous driving control device
Yoji Kunihiro, Susono (JP); Takahiro Kojo, Gotemba (JP); and Yutaka Aoki, Mishima (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 13, 2024, as Appl. No. 18/603,859.
Claims priority of application No. 2023-067386 (JP), filed on Apr. 17, 2023.
Prior Publication US 2024/0343302 A1, Oct. 17, 2024
Int. Cl. B62D 6/00 (2006.01); B62D 1/28 (2006.01)
CPC B62D 6/008 (2013.01) [B62D 1/286 (2013.01)] 5 Claims
OG exemplary drawing
 
1. An autonomous driving control device comprising:
a steering unit configured to be operated by a driver;
steered wheels configured to be steered in response to an operation of the steering unit;
an actuator configured to generate a steering force to steer the steered wheels; and
a detection unit configured to detect an operation amount of the steering unit, the autonomous driving control device being configured to be able to switch between a first control mode and a second control mode, the first control mode being a mode in which the actuator is controlled for driving without a need for the driver to operate the steering unit, the second control mode being a mode in which the actuator is controlled for driving in such a way that a steering force required to operate the steering unit is smaller than in the first control mode, wherein:
the autonomous driving control device includes a controller that controls the actuator, the controller including,
a steering determination unit configured to determine that the driver has operated the steering unit while driving with the actuator controlled in the first control mode,
an operation speed calculation unit configured to calculate a speed that is at least one of a deviation speed and a steering speed, the deviation speed being a change rate of deviation between a target steering angle during autonomous driving and an actual steering angle that is based on an operation amount detected by the detection unit, the steering speed being a change rate of the actual steering angle, and
a control mode switching unit configured to change, when the steering determination unit determines that the driver has operated the steering unit, an instruction value to be output to the actuator from an instruction value corresponding to a first target control amount of the actuator determined according to the first control mode to an instruction value corresponding to a second target control amount of the actuator determined according to the second control mode at a change rate corresponding to a speed that is at least one of the deviation speed and the steering speed calculated by the operation speed calculation unit.