The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 25, 2020
Filed:
Nov. 15, 2017
Subaru Corporation, Tokyo, JP;
Akiyuki Abe, Tokyo, JP;
Masatoshi Hoshina, Tokyo, JP;
Yasuhiro Sekijima, Tokyo, JP;
Keisuke Kuwahara, Tokyo, JP;
SUBARU CORPORATION, Tokyo, JP;
Abstract
An automatic driving control apparatus includes a controller. Upon execution of automatic driving control, the controller determines, on the basis of positioning and map information, presence of a tollgate within a predetermined distance from a vehicle. The controller makes a transition to a tollgate passing mode, on a condition that the presence of the tollgate is determined within the predetermined distance and an increase in width of the road is recognized on the basis of the recognition of the outside environment. The controller causes the vehicle to approach the tollgate, on the basis of one or both of the map information and position information of an object recognized on the basis of the recognition of the outside environment, in a first period of time during which the tollgate passing mode is set and a position of the tollgate is unrecognizable on the basis of the recognition of the outside environment.