Back to results
US 12,759,552 B2Granted
Following travel control device, following travel control method, and non-transitory recording medium
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsShuntaro Tsutsumi, Shinji Ishikawa
Life of this patent
Estimating the term…
Abstract
A following travel control device recognizes a preceding vehicle, performs following travel control in which a host vehicle follows the preceding vehicle, generates a target travel trajectory of the host vehicle which draws a travel track different from the travel track of the preceding vehicle, makes the host vehicle travel autonomously along the target travel trajectory, interrupts the following travel control when circumstances in which the following travel control cannot be continued occur while the following travel control is performed, continues to recognize the preceding vehicle, and generates the target travel trajectory which can restart the following travel control.
Claims4
A following travel control device comprising a processor configured to:
- recognize a preceding vehicle;
- perform following travel control in which a host vehicle follows the preceding vehicle;
- determine whether a road on which the preceding vehicle is traveling extends in a straight line without branching;
- upon determination that the road on which the preceding vehicle is traveling extends in a straight line without branching, perform the following travel control by increasing a distance between the preceding vehicle and the host vehicle as compared to when the road on which the preceding vehicle is traveling does not extend in a straight line without branching;
- determine whether another vehicle has cut-in between the host vehicle and the preceding vehicle;
- upon determination that another vehicle has cut-in between the host vehicle and the preceding vehicle, determine whether a target travel trajectory can be generated which can restart the following travel control;
- upon determination that the target travel trajectory can be generated which can restart the following travel control, generate the target travel trajectory of the host vehicle which draws a travel track different from the travel track of the preceding vehicle;
- make the host vehicle travel autonomously along the target travel trajectory;
- and
- when the host vehicle reaches a position where the following travel control can be restarted, generate the target travel trajectory which can restart the following travel control.
7 more elements
A following travel control method comprising:
- recognizing a preceding vehicle;
- performing following travel control in which a host vehicle follows the preceding vehicle;
- determining whether a road on which the preceding vehicle is traveling extends in a straight line without branching;
- upon determination that the road on which the preceding vehicle is traveling extends in a straight line without branching, performing the following travel control by increasing a distance between the preceding vehicle and the host vehicle as compared to when the road on which the preceding vehicle is traveling does not extend in a straight line without branching;
- determining whether another vehicle has cut-in between the host vehicle and the preceding vehicle;
- upon determination that another vehicle has cut-in between the host vehicle and the preceding vehicle, determining whether a target travel trajectory can be generated which can restart the following travel control;
- upon determination that the target travel trajectory can be generated which can restart the following travel control, generating the target travel trajectory of the host vehicle which draws a travel track different from the travel track of the preceding vehicle;
- making the host vehicle travel autonomously along the target travel trajectory;
- and
- when the host vehicle reaches a position where the following travel control can be restarted, generating the target travel trajectory which can restart the following travel control.
7 more elements
A non-transitory recording medium having recorded thereon a computer program for causing a processor to perform a process comprising:
- recognizing a preceding vehicle;
- performing following travel control in which a host vehicle follows the preceding vehicle;
- determining whether a road on which the preceding vehicle is traveling extends in a straight line without branching;
- upon determination that the road on which the preceding vehicle is traveling extends in a straight line without branching, performing the following travel control by increasing a distance between the preceding vehicle and the host vehicle as compared to when the road on which the preceding vehicle is traveling does not extend in a straight line without branching;
- determining whether another vehicle has cut-in between the host vehicle and the preceding vehicle;
- upon determination that another vehicle has cut-in between the host vehicle and the preceding vehicle, determining whether a target travel trajectory can be generated which can restart the following travel control;
- upon determination that the target travel trajectory can be generated which can restart the following travel control, generating the target travel trajectory of the host vehicle which draws a travel track different from the travel track of the preceding vehicle;
- making the host vehicle travel autonomously along the target travel trajectory;
- and
- when the host vehicle reaches a position where the following travel control can be restarted, generating the target travel trajectory which can restart the following travel control.
7 more elements
Dependencies are inferred from the claim text.