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:
Nov. 18, 2025
Filed:
Jul. 17, 2023
Toyota Jidosha Kabushiki Kaisha, Toyota Aichi-ken, JP;
Eiki Kitagawa, Edogawa-ku Tokyo-to, JP;
Satoru Akahane, Shinjuku-ku Tokyo-to, JP;
Yoshihiro Aotani, Kawasaki Kanagawa-ken, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
A travel controller determines whether a traveling lane in which a vehicle is traveling is a merged lane into which a merging lane merges using peripheral data that represents a surrounding situation of the vehicle, and while the traveling lane is the merged lane, repeatedly performs yielding determination to detect a merging vehicle traveling in the merging lane from the peripheral data, and to determine whether or not yielding control for securing a larger space for the merging vehicle to change the lane to the merged lane is necessary, the yielding determination at the first time being performed based on a relative positional relationship between the merging vehicle and the vehicle, the yielding determinations at the second and subsequent times being performed based at least on a result of a previous yielding determination, and controls travel of the vehicle according to the result of the yielding determination.