Patent ID: 11945442
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A control method for an autonomous driving system, the autonomous driving system including an electronic control unit, the control method comprising:
presenting a first suggestion, by the electronic control unit, to a driver that a host vehicle make a discretionary lane change during autonomous driving based on map information, a position of the host vehicle on a map, and a surrounding environment of the host vehicle;
recognizing, by the electronic control unit, whether the driver accepts the first suggestion for the discretionary lane change based on information input by the driver to an input unit of the host vehicle;
in response to the electronic control unit presenting the first suggestion to the driver that the host vehicle make the discretionary lane change and recognizing that the driver accepts the first suggestion, causing, by the electronic control unit, the host vehicle to make the discretionary lane change;
in response to the electronic control unit presenting the first suggestion to the driver that the host vehicle make the discretionary lane change and recognizing that the driver rejects the first suggestion, not causing, by the electronic control unit, the host vehicle to make the discretionary lane change;
setting, by the electronic control unit, a first prohibition duration based on whether the driver accepts the first suggestion, recognized by the electronic control unit, the first prohibition duration being a duration during which another suggestion for the discretionary lane change is not allowed after the first suggestion for the discretionary lane change; and
in response to the electronic control unit presenting the first suggestion to the driver that the host vehicle make the discretionary lane change and recognizing that the driver rejects the first suggestion, extending, by the electronic control unit, the first prohibition duration by adding a variable adding duration to the first prohibition duration as compared to when the electronic control unit presenting the first suggestion to the driver that the host vehicle make the discretionary lane change and recognizes that the driver accepts the first suggestion, wherein a second suggestion for a discretionary lane change before an expiration of the extended first prohibition duration is not allowed, and a third suggestion after the extended first prohibition duration is allowed and presented to the driver,
in response to an input that the driver has made before the expiration of the extended first prohibition duration, shortening the extended first prohibition duration by subtracting a variable subtracting duration from the extended first prohibition duration; and
after the first prohibition duration is extended, in response to the electronic control unit presenting the third suggestion to the driver that the host vehicle make the discretionary lane change and recognizing that the driver accepts the third suggestion, shortening the extended first prohibition duration by subtracting the variable subtracting duration from the extended first prohibition duration.