US 12,140,949 B2
Vehicle control device, vehicle control method and computer-readable storage medium
Ryuta Hashimoto, Susono (JP); Hiroki Fukuda, Sunto-gun (JP); and Akira Ito, Nukata-gun (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 7, 2023, as Appl. No. 18/462,494.
Application 18/462,494 is a continuation of application No. 17/529,977, filed on Nov. 18, 2021, granted, now 11,789,446.
Application 17/529,977 is a continuation of application No. 16/862,817, filed on Apr. 30, 2020, granted, now 11,215,992, issued on Jan. 4, 2022.
Application 16/862,817 is a continuation of application No. 16/284,287, filed on Feb. 25, 2019, granted, now 11,054,823, issued on Jul. 6, 2021.
Claims priority of application No. 2018-032309 (JP), filed on Feb. 26, 2018; and application No. 2018-178849 (JP), filed on Sep. 25, 2018.
Prior Publication US 2023/0418290 A1, Dec. 28, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); B60Q 9/00 (2006.01); B60W 30/18 (2012.01); B60W 50/08 (2020.01); B60W 50/14 (2020.01)
CPC G05D 1/0061 (2013.01) [B60Q 9/00 (2013.01); B60W 30/18163 (2013.01); B60W 50/082 (2013.01); B60W 50/14 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); B60W 2520/10 (2013.01); B60W 2552/00 (2020.02); B60W 2554/80 (2020.02); B60W 2720/106 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A vehicle control device which is configured to control automatic interflow of a subject vehicle from an interflow lane to a main lane,
wherein the vehicle control device comprising:
a processor; and
a memory device in which a computer-executable program is stored,
wherein, when the program is executed by the processor, the processor is configured to:
judge whether or not a predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a first position of an interflow zone within the interflow lane; and
start to execute a notification for urging manual interflow by a driver when it is judged that the condition for automatic interflow is not satisfied at the first position, while starting to execute the automatic interflow when it is judged that the condition for automatic interflow is satisfied at the first position.