Patent ID: 11904907
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. An autonomous driving vehicle capable of executing autonomous driving, comprising:
an electronic control unit (ECU) programmed to:
acquire a first reference straight steering angle, which is a steering angle of the autonomous driving vehicle in a straight travelling state, based on lateral acceleration of the autonomous driving vehicle detected from a lateral acceleration sensor, a yaw rate of the autonomous driving vehicle detected from a yaw rate sensor, a vehicle speed of the autonomous driving vehicle detected from a vehicle speed sensor, and a steering angle of the autonomous driving vehicle detected from a steering sensor;
acquire a second reference straight steering angle which is the steering angle when a magnitude of a difference between an estimated yaw rate estimated from the steering angle of the autonomous driving vehicle and the yaw rate of the autonomous driving vehicle detected from the yaw rate sensor is less than a yaw rate threshold value; and
determine whether or not to permit an autonomous driving of the autonomous driving vehicle, the autonomous driving being permissible when both the first reference straight steering angle and the second reference straight steering angle are acquired and the autonomous driving not being permissible when the first reference straight steering angle is not acquired; and
control the autonomous driving of the autonomous driving vehicle based on the determined permissibility, wherein
the ECU is further configured to make a steering holding request for a driver of the autonomous driving vehicle and permit the autonomous driving of the autonomous driving vehicle when the first reference straight steering angle is acquired but the second reference straight steering angle is not acquired.