Patent ID: 11921501
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: nan (nan)
Classification: CPC nan | IPC B  G

Claim 0:
1. An automatic driving system comprising
a control device that controls automatic driving of a vehicle, and
a storage device that contains external environment information indicating an external environment of the vehicle, wherein:
the external environment information includes information indicating a prescribed velocity,
the control device issues transition demand through a HMI unit to a driver of the vehicle when a need arises for the driver of the vehicle to take over at least a part of the driving of the vehicle,
the control device determines a target deceleration based on the prescribed velocity, and sets the target deceleration to be equal to or lower than a predetermined upper limit value, and
during a driving transition phase, in which the driver of the vehicle takes over at least a part of driving of the vehicle from the control device, the control device decelerates the vehicle to the prescribed velocity using the target deceleration by taking into account the external environment information.