A new federal complaint alleges that autonomous driving features, such as lane assist and collision avoidance in Toyota, Lexus and Scion vehicles, are infringing on patents owned by a California-based technology company.

The plaintiff, American GNC Corp., invents and licenses technologies such as sensors and gyroscopes used in vehicle navigation and collision avoidance systems. It alleges Toyota Motor Corp. and three of its Texas-based subsidiaries are aware that its vehicles are infringing on patents, yet have not entered an agreement to license the technology. The company raised the claims in a May 14 complaint in American GNC v. Toyota Motor, filed in the U.S. District Court for the Eastern District of Texas in Marshall.