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:
Oct. 06, 2020
Filed:
Nov. 15, 2017
Subaru Corporation, Tokyo, JP;
Akiyuki Abe, Tokyo, JP;
Masatoshi Hoshina, Tokyo, JP;
Keisuke Kuwahara, Tokyo, JP;
Yasuhiro Sekijima, Tokyo, JP;
SUBARU CORPORATION, Tokyo, JP;
Abstract
An automatic driving control apparatus includes a controller. Upon execution of an automatic driving control of a vehicle, the controller determines, on the basis of a result of positioning and map information, presence or absence of a tollgate within a predetermined distance from the 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 further recognized on the basis of a result of recognition of an outside environment. In the tollgate passing mode, the controller sets a first target path on the basis of position information, of the tollgate, that is recognized on the basis of the result of the recognition of the outside environment. The first target path is a target path along which the vehicle is to pass through the tollgate.