US 11,840,264 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 Dec. 30, 2021, as Appl. No. 17/566,041.
Application 17/566,041 is a continuation of application No. 17/514,613, filed on Oct. 29, 2021.
Application 17/514,613 is a continuation of application No. 16/845,260, filed on Apr. 10, 2020, granted, now 11,260,868.
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 2022/0118978 A1, Apr. 21, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 50/10 (2012.01); G05D 1/02 (2020.01); B60W 50/08 (2020.01)
CPC B60W 60/0055 (2020.02) [B60W 50/10 (2013.01); G05D 1/0278 (2013.01); B60W 50/082 (2013.01); B60W 2420/403 (2013.01); B60W 2420/52 (2013.01); 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); G05D 2201/0213 (2013.01)] 16 Claims
OG exemplary drawing
 
16. A method of switching a driving state of a vehicle having autonomous driving vehicle control, the method comprising:
acquiring an operation amount of a steering operation of a driver; and
switching a driving state, based on the operation amount, among a first state where the vehicle travels without the steering operation of the driver, a second state where the vehicle travels based on at least one of the steering operation of the driver and an autonomous steering control by the autonomous driving vehicle system, and a third state where the vehicle travels by manual steering operation of the driver,
wherein the switching the driving state comprises
switching the driving state to the second state when the driving state is the first state, and the operation amount is equal to or greater than a first threshold value and less than a second threshold value, and
switching the driving state to the third state when the driving state is the second state, and the operation amount is equal to or greater than the second threshold value.