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

Claim 9:
10. A non-transitory storage medium storing instructions that are executable by one or more processors and that cause the one or more processors to perform functions for controlling an automatic driving of a vehicle comprising:
acquiring external environment information indicating an external environment of the vehicle, wherein the external environment information includes information indicating a prescribed velocity;
issuing 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;
determining a target deceleration based on the prescribed velocity, and setting the target deceleration to be equal to or lower than a predetermined upper limit value; and
decelerating the vehicle to the prescribed velocity using the target deceleration by taking into account the external environment information. 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.