Patent ID: 11938972
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B  G

Claim 5:
6. A method for automated driving control of a host vehicle located in traffic congestion, the method being executed by a hardware processor and comprising:
sensing at least one non-host vehicle around the host vehicle, based on a sensor signal obtained by a sensor for sensing a situation around the host vehicle, the sensor being mounted on the host vehicle;
calculating a motion value indicating motion of the sensed at least one non-host vehicle;
determining, when the motion value satisfies a congestion relief condition, that the traffic congestion is relieved around the host vehicle; and
setting the congestion relief condition, based on road environment information indicating environment of a road around the host vehicle, wherein the road environment information includes information identifying a congestion inducing location that is a cause of the traffic congestion in which the host vehicle is currently located,
the hardware processor, based on a current position of the host vehicle, (i) sets the congestion relief condition to a first threshold value when the current position of the host vehicle is in a first section of the traffic congestion that includes the congestion inducing location and at least a portion of a travel path downstream of the congestion inducing location in a travelling direction of the host vehicle, and (ii) sets the congestion relief condition to a second threshold value when the current position of the host vehicle is in a second section of the traffic congestion located upstream of the first section in the travelling direction of the host vehicle, and
the first threshold value is less than the second threshold value so that the congestion relief condition set to the first threshold value is relaxed compared to the congestion relief condition set to the second threshold value.