System and methods for autonomous and semi-autonomous toll facility navigation

• US 10,628,819 B2
• Filed: 02/05/2016
• Issued: 04/21/2020
• Est. Priority Date: 02/05/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Rovik, Christopher L., Schmidt, Eric R.
• Primary Examiner(s): Singh, Rupangini
• Application Number:
  US15/017,379
• Publication Number:
  US 20170228717A1
• Time in Patent Office: 1,537 Days
• CPC Class Codes: G06Q 20/085 involving remote charge determination or related payment systems
• CPC Class Codes: G06Q 20/102 Bill distribution or payments
• CPC Class Codes: G06Q 20/145 Payments according to the detected use or quantity
• CPC Class Codes: G06Q 20/28 Pre-payment schemes, e.g. "pay before"
• CPC Class Codes: G06Q 2240/00 Transportation facility access, e.g. fares, tolls or parking
• CPC Class Codes: G07B 15/063 using wireless information transmission between the vehicle and a fixed station identification of vehicles G08G

Abstract

A computing device for a vehicle is provided. The computing device includes one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors. The one or more processors are configured to execute instructions stored in the memory to determine when a vehicle is approaching a toll facility; locate available information relating to the toll facility; determine a type of toll payment desired; determine if, based on the available information, the vehicle can be autonomously driven into a payment lane that is in accordance with the type of toll payment desired; and if the vehicle can be autonomously driven into a payment lane that is in accordance with the type of toll payment desired, autonomously drive the vehicle into a payment lane that is in accordance with the type of toll payment desired.

Claims

1. A computing device for a vehicle, the vehicle including a steering control system, a braking control system, a throttle control system, and a motive power control system, the computing device comprising one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:

determine when the vehicle is approaching a toll facility;

responsive to a determination that the vehicle is approaching a toll facility, determine if instructions with regard to a desired type of toll payment have been previously programmed;

responsive to a determination that instructions with regard to a desired type of toll payment have been previously programmed, acquire information relating to the toll facility, the information including locations of any payment lanes accepting the desired type of toll payment;

responsive to a determination that instructions with regard to a desired type of toll payment have been previously programmed, determine if, based on the acquired information relating to the toll facility, the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment; and

responsive to a determination that the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment, control operation of at least one of the steering control system, the braking control system, the throttle control system, and the motive power control system so as to guide the vehicle into the payment lane accepting the desired type of toll payment.

2. The computing device of claim 1 wherein the one or more processors are configured to execute instructions stored in the memory to, responsive to a determination that the vehicle cannot be autonomously driven into a payment lane that is in accordance with the type of toll payment desired, generate a notification that the vehicle cannot be autonomously driven into a payment lane that is in accordance with the type of toll payment desired.

3. The computing device of claim 1 wherein the type of toll payment desired is by a pre-paid pass, and wherein the one or more processors are configured to execute instructions stored in the memory to determine if, based on the acquired information, the vehicle can be autonomously driven into a pre-paid pass payment lane.

4. The computing device of claim 1 wherein the type of toll payment desired is by cash, and wherein the one or more processors are configured to execute instructions stored in the memory to:

generate a notification that the vehicle is approaching the toll facility; and

generate a notification querying a user as to whether the user will require change from the toll payment.

5. The computing device of claim 4 wherein the one or more processors are configured to execute instructions stored in the memory to determine, if the user will not require change from the toll payment and based on the available information, if the vehicle can be autonomously driven into an open manned payment lane.

6. The computing device of claim 1 wherein the type of toll payment desired is by a credit/debit card, and wherein the one or more processors are configured to execute instructions stored in the memory to:

generate a notification that the vehicle is approaching the toll facility; and

determine if, based on the acquired information, the vehicle can be autonomously driven into a credit/debit card payment lane.

7. A vehicle including the computing device of claim 1.

8. A vehicle navigation system including the computing device of claim 1.

9. A vehicle control system including the computing device of claim 1.

10. A method for navigating a vehicle through a toll facility, the vehicle including a steering control system, a braking control system, a throttle control system, and a motive power control system, the method comprising steps of:

determining when a vehicle is approaching a toll facility;

responsive to a determination that the vehicle is approaching a toll facility, determining if instructions with regard to a desired type of toll payment have been previously programmed;

responsive to a determination that instructions with regard to a desired type of toll payment have been previously programmed, acquiring information relating to the toll facility, the information including locations of any payment lanes accepting the desired type of toll payment;

responsive to a determination that instructions with regard to a desired type of toll payment have been previously programmed, determining if, based on the acquired information relating to the toll facility, the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment; and

responsive to a determination that the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment controlling operation of at least one of the steering control system, the braking control system, the throttle control system, and the motive power control system so as to guide the vehicle into the payment lane accepting the desired type of toll payment.

11. The method of claim 10 wherein the step of determining a type of toll payment desired comprises the step of determining if previously programmed instructions with regard to toll payment are stored in a memory.

12. The method of claim 11 further comprising the step of, if previously programmed instructions with regard to toll payment are not stored in the memory, generating a notification that the vehicle is approaching the toll facility.

13. The method of claim 11 wherein, if instructions with regard to a desired type of toll payment have been previously programmed, the step of determining a type of toll payment desired further comprises the step of determining if a pre-paid pass is to be used for payment.

14. The method of claim 13 wherein, if a pre-paid pass is to be used for payment, the step of determining if the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment comprises the step of determining if the vehicle can be autonomously driven into a pre-paid/pass toll lane.

15. The method of claim 11 wherein, if instructions with regard to a desired type of toll payment have been previously programmed, the step of determining a type of toll payment desired further comprises the step of determining if cash is to be used for payment.

16. The method of claim 15 further comprising the step of, if cash is to be used for payment, generating a notification querying a user as to whether the user will require change from the cash toll payment.

17. The method of claim 16 wherein, if the user will not require change from the cash toll payment, the step of determining if the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment comprises the step of determining if the vehicle can be autonomously driven into an automated cash payment lane.

18. The method of claim 16, further comprising the step of, if the user will require change from the cash toll payment, determining if vehicle can be autonomously driven to an open manned toll booth lane.

19. The method of claim 11 wherein, if instructions with regard to a desired type of toll payment have been previously programmed, the step of determining a type of toll payment desired further comprises the step of determining if a credit or debit card is to be used for payment.

20. The method of claim 19 wherein, if a credit or debit card is to be used for payment, the step of determining if the vehicle can be autonomously driven into a payment lane accepting the desired type of toll payment comprises the step of determining if the vehicle can be autonomously driven into a card payment lane.