US 11,679,777 B2
Vehicle travel control apparatus
Hiroshi Watanabe, Okazaki (JP); Hiroki Yabushita, Toyota (JP); and Masato Takagi, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 9, 2021, as Appl. No. 17/397,411.
Application 17/397,411 is a continuation of application No. 16/874,130, filed on May 14, 2020, granted, now 11,110,934.
Claims priority of application No. JP2019-131082 (JP), filed on Jul. 16, 2019.
Prior Publication US 2021/0362729 A1, Nov. 25, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/18 (2006.01); B60W 50/14 (2020.01); B60W 40/09 (2012.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); B60W 10/18 (2012.01); B60W 40/08 (2012.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01)
CPC B60W 50/14 (2013.01) [B60W 10/18 (2013.01); B60W 30/12 (2013.01); B60W 30/18154 (2013.01); B60W 40/09 (2013.01); B60W 2040/0818 (2013.01); B60W 2050/143 (2013.01); B60W 2540/26 (2013.01); G06V 20/58 (2022.01); G06V 20/582 (2022.01); G06V 20/588 (2022.01)] 15 Claims
OG exemplary drawing
 
1. A vehicle travel control apparatus for a vehicle, comprising:
at least one processor programmed to:
repeatedly determine whether or not a driver of the vehicle is in an abnormal state in which the driver loses an ability to drive the vehicle;
start alert processing for the driver, when it is determined that the driver is in the abnormal state;
acquire peripheral information of the vehicle;
determine whether or not a travel scene of the vehicle is a predetermined specific scene based on the peripheral information;
start deceleration control to stop the vehicle at a first time point at which a first set time has elapsed since the start of the alert processing, if it has been determined since the start of the alert processing that the abnormal state is not resolved, and it has been determined since a second time point at which a second set time shorter than the first set time has elapsed from the start of the alert processing that the travel scene of the vehicle is not the predetermined specific scene; and
start deceleration control to stop the vehicle at a time point at which it is determined that the travel scene of the vehicle is the predetermined specific scene in a period between the second time point and the first time point, if it has been determined since the start of the alert processing that the abnormal state is not resolved.