# US 10,120,378 B2 · Vehicle automated driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,120,378 B2 - Document ID: US10120378B2 - Status: Granted - Kind: B2 - Application number: 15/471,218 - Filed: 2017-03-28 - Published: 2017-10-12 - Granted: 2018-11-06 - Earliest claimed: 2016-04-07 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Naoki Matsushita; Yuichi Kumai; Masaki Matsunaga; Masahiro Iwasaki - Web page: https://patentgrep.com/patent/US10120378B2 ## CPC - B60W 60/007: {Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/02: related to ambient conditions - B60W 40/08: related to drivers or passengers - B60W 50/082: {Selecting or switching between different modes of propelling} - B60W 50/10: Interpretation of driver requests or demands - B60W 50/12: Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 2040/0872: {Driver physiology} - B60W 2050/143: {Alarm means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2520/14: Yaw - B60W 2540/221: Physiology, e.g. weight, heartbeat, health or special needs - B60W 2540/223: Posture, e.g. hand, foot, or seat position, turned or inclined - B60W 2540/225: Direction of gaze - B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping - B60W 2540/26: Incapacity - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2552/30: Road curve radius - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/406: Traffic density - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2710/30: Auxiliary equipments - B60Y 2302/05: Leading to automatic stopping of the vehicle - G01S 19/13: Receivers - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An automated driving system 100 of a vehicle comprising: a surrounding environment information acquiring device 10; a vehicle information acquiring device 20; a driver information acquiring device 30; an automated driving executing part 90; a package determining part 91, a package proposing part 92; and an emergency condition judging part 93. The automated driving executing part performs automated driving of the vehicle based on an emergency driving assistance package packaging permissions of the plurality of driving assistance operations when the driver is in an emergency condition, if the emergency condition judging part judges that the driver is in an emergency condition, and performs automated driving of the vehicle based on the driving assistance package proposed by the packaging proposing part and approved by the driver, if the emergency condition judging part judges that the driver is not in an emergency condition. ## Claims ### Claim 1 An automated driving system of a vehicle comprising: a surrounding environment information acquiring device acquiring surrounding environment information relating to surrounding environment conditions of the vehicle; a vehicle information acquiring device acquiring vehicle information relating to conditions of the vehicle; a driver information acquiring device acquiring driver information relating to conditions of a driver of the vehicle; an automated driving executing part executing automated driving of the vehicle based on a driving assistance package packaging permissions for a plurality of driving assistance operations; a package determining part determining a driving assistance package to be proposed to the driver based on at least one of the surrounding environment information, the vehicle information, and the driver information, a package proposing part proposing the driving assistance package determined by the package determining part to the driver; and an emergency condition judging part judging if the driver is in an emergency condition based on the driver information, wherein the automated driving executing part performs automated driving of the vehicle based on an emergency driving assistance package packaging permissions of the plurality of driving assistance operations when the driver is in an emergency condition, if the emergency condition judging part judges that the driver is in an emergency condition, and performs automated driving of the vehicle based on the driving assistance package proposed by the packaging proposing part and approved by the driver, if the emergency condition judging part judges that the driver is not in an emergency condition. ### Claim 2 (depends on 1) The vehicle automated driving system according to claim 1, wherein the package determining part determines a driving assistance package to be proposed to the driver based on the driver information, and the emergency condition judging part judges that the driver is in an emergency condition when the driving assistance package determined by the package determining part is the emergency driving assistance package. ### Claim 3 (depends on 1) The vehicle automated driving system according to claim 1, wherein the system further comprises an alarm part issuing a warning to the driver, and the automated driving executing part performs automated driving of the vehicle based on the emergency driving assistance package if the emergency condition judging part judges that the driver is in an emergency condition after the warning by the alarm part. ### Claim 4 (depends on 2) The vehicle automated driving system according to claim 2, wherein the system further comprises an alarm part issuing a warning to the driver, and the automated driving executing part performs automated driving of the vehicle based on the emergency driving assistance package if the emergency condition judging part judges that the driver is in an emergency condition after the warning by the alarm part. ### Claim 5 (depends on 3) The vehicle automated driving system according to claim 3, wherein the alarm part issues the warning to the driver by sound. ### Claim 6 (depends on 4) The vehicle automated driving system according to claim 4, wherein the alarm part issues the warning to the driver by sound. ### Claim 7 (depends on 3) The vehicle automated driving system according to claim 3, wherein the alarm part issues the warning to the driver by changing the behavior of the vehicle. ### Claim 8 (depends on 4) The vehicle automated driving system according to claim 4, wherein the alarm part issues the warning to the driver by changing the behavior of the vehicle. ### Claim 9 (depends on 5) The vehicle automated driving system according to claim 5, wherein the alarm part issues the warning to the driver by changing the behavior of the vehicle. ### Claim 10 (depends on 6) The vehicle automated driving system according to claim 6, wherein the alarm part issues the warning to the driver by changing the behavior of the vehicle. ### Claim 11 (depends on 1) The vehicle automated driving system according to claim 1, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 12 (depends on 2) The vehicle automated driving system according to claim 2, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 13 (depends on 3) The vehicle automated driving system according to claim 3, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 14 (depends on 4) The vehicle automated driving system according to claim 4, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 15 (depends on 5) The vehicle automated driving system according to claim 5, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 16 (depends on 6) The vehicle automated driving system according to claim 6, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 17 (depends on 7) The vehicle automated driving system according to claim 7, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 18 (depends on 8) The vehicle automated driving system according to claim 8, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 19 (depends on 9) The vehicle automated driving system according to claim 9, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted. ### Claim 20 (depends on 10) The vehicle automated driving system according to claim 10, wherein in the emergency driving assistance package, an auto stop control of the vehicle and a hazard light turn on control of the vehicle are permitted.