Patent ID: 11920936
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Measurement (Instruments)
Classification: CPC B  G | IPC G

Claim 11:
12. A method for controlling a vehicle, comprising:
executing stored non-transitory computer readable program instructions with a processor, the processor:
automatically comparing a sensor signal representing surroundings of the vehicle with a map including information on lanes of a road being traveled by the vehicle to detect a lane being traveled by the vehicle among the lanes, the sensor signal being obtained by a sensor mounted on the vehicle;
automatically determining whether a position of the detected lane relative to an edge of the road may differ from an actual position based on information received by the processor;
automatically identifying an action required of the vehicle before the vehicle reaches a predetermined location being away from the current position of the vehicle by a predetermined distance, based on a travel route of the vehicle;
estimating a first required time or a first required distance for the action for the case that the position of the detected lane relative to an edge of the road is correct;
estimating a second required time or a second required distance for the action for the case that the position of the detected lane relative to the edge of the road differs from the actual position;
automatically setting start timing of the action, based on the second required time or the second required distance, so that the action will finish before the vehicle reaches the predetermined location, when the position of the detected lane relative to the edge of the road may differ from the actual position and the second required time or the second required distance is longer than the first required time or the first required distance; and
automatically setting the start timing of the action, based on the first required time or the first required distance, so that the action will finish before the vehicle reaches the predetermined location, when the position of the detected lane relative to the edge of the road does not differ from the actual position or when the first required time or the first required distance is longer than the second required time or the second required distance; and
automatically executing the action based on the set start timing.