US 12,172,645 B2
Vehicle control device for controlling lane change operation, medium for storing computer program for controlling vehicle lane change operation, and method for controlling vehicle lane change operation
Kota Harada, Tokyo-to (JP); Ryuta Hashimoto, Tokyo-to (JP); Takahiro Seta, Yokohama (JP); Takahiro Kawano, Tokyo-to (JP); and Yuki Mori, Tokyo-to (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/656,369.
Claims priority of application No. 2021-049726 (JP), filed on Mar. 24, 2021.
Prior Publication US 2022/0306115 A1, Sep. 29, 2022
Int. Cl. B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/18163 (2013.01) [B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 60/0013 (2020.02); B60W 60/0053 (2020.02); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2556/40 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A vehicle control device comprising:
a processor that is configured to
generate a first traveling lane plan representing a traveling lane in which a vehicle is traveling within a first driving zone of a navigation route, based on a current location of the vehicle, map information and the navigation route,
generate a first lane change plan representing movement of the vehicle between lanes, based on the first traveling lane plan, on surrounding environment information, or a request for movement between lanes by the driver,
determine whether or not there exists a control transfer request zone where the driver is to be given a request to transfer driving of the vehicle from automatic control to manual control at less than a first reference distance from the location of the vehicle on a post-movement traffic lane, when the first lane change plan has been generated, and
control the vehicle to cancel the first lane change plan and refrain from changing lanes when the control transfer request zone exists at less than the first reference distance from the location of the vehicle on a post-movement traffic lane.