# US 10,309,790 B2 · Automatic driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,309,790 B2 - Document ID: US10309790B2 - Status: Granted - Kind: B2 - Application number: 15/335,895 - Filed: 2016-10-27 - Published: 2017-05-04 - Granted: 2019-06-04 - Earliest claimed: 2015-10-28 - Assignees: Honda Motor Co., Ltd.; Alpine Electronics, Inc. - Applicants: Honda Motor Co., Ltd.; Alpine Electronics, Inc. - Inventors: Hitoshi Konishi; Shuichi Suto - Web page: https://patentgrep.com/patent/US10309790B2 ## CPC - G01C 21/34: Route searching; Route guidance - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/18154: {Approaching an intersection} - B60W 60/001: {Planning or execution of driving tasks} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - G01C 21/3629: {Guidance using speech or audio output, e.g. text-to-speech (text to speech systems per se G10L13/00)} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An automatic driving system mounted on a vehicle includes a navigation device that searches for a route from a current position of the vehicle to a destination, a high precision map unit that generates detail information of the route based on the searched route and map information, and an automatic driving control device that performs automatic control of acceleration and deceleration and steering of the vehicle using at least the detail information. The high precision map unit divides the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputs the detail information currently required for the automatic control to the automatic driving control device in a unit of block region. ## Claims ### Claim 1 An automatic driving system mounted on a vehicle, the automatic driving system comprising: a navigation device that searches for a route from a current position of the vehicle to a destination; a route detail information generation device that generates detail information of the route by using the route searched by the navigation device and map information; and an automatic driving control device that performs automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the route detail information generation device divides the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputs the detail information currently required for the automatic control to the automatic driving control device, the route detail information generation device outputs the detail information in a unit of block region, wherein the route detail information generation device firstly outputs the detail information corresponding to a predetermined number of the block regions to the automatic driving control device, and for the block regions after that, upon determining the vehicle has passed one block region, outputs the detail information corresponding to the next block region to the automatic driving control device, and the automatic driving control device includes a detail information storage unit that stores therein the detail information output from the route detail information generation device and, upon determining that the vehicle has passed one block region, deletes the detail information of the passed block region from the detail information storage unit. ### Claim 2 (depends on 1) The automatic driving system according to claim 1, wherein the route detail information generation device causes the predetermined number to be different depending on a type of the detail information. ### Claim 3 (depends on 2) The automatic driving system according to claim 2, wherein the type of the detail information includes lane information that indicates a running lane that is runnable by the vehicle from now, lane supplementary information that indicates a content related to a running limit of the running lane that is runnable by the vehicle from a current position, and feature information corresponding to the running lane that is runnable by the vehicle from now. ### Claim 4 (depends on 3) The automatic driving system according to claim 3, wherein the predetermined number depending on the type of the detail information is the smallest for the feature information among the lane information, the lane supplementary information and the feature information. ### Claim 5 (depends on 3) The automatic driving system according to claim 3, wherein the feature information is information regarding one or more fixtures on or around the running lane. ### Claim 6 (depends on 2) The automatic driving system according to claim 2, wherein the detail information includes different types of information. ### Claim 7 (depends on 1) The automatic driving system according to claim 1, wherein the route detail information generation device firstly outputs the detail information corresponding to the predetermined number of the block regions which are first block regions in the route. ### Claim 8 (depends on 1) The automatic driving system according to claim 1, further comprising a vehicle periphery information sensor configured to detect periphery information of the vehicle, wherein the automatic driving control device generates an action plan of the vehicle by using the detail information and the periphery information, and performs automatic control of acceleration and deceleration and steering of the vehicle based on the action plan. ### Claim 9 An automatic driving system mounted on a vehicle, the automatic driving system comprising: a navigation device that searches for a route from a current position of the vehicle to a destination; a route detail information generation device that generates detail information of the route by using the route searched by the navigation device and map information; and an automatic driving control device that performs automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the route detail information generation device divides the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputs the detail information currently required for the automatic control to the automatic driving control device, the route detail information generation device outputs the detail information in a unit of block region, wherein the block regions are obtained by dividing the route by a predetermined distance and, with respect to the block region that includes an intersection, the block region is made longer than the length of the intersection. ### Claim 10 (depends on 9) The automatic driving system according to claim 9, wherein the block regions are obtained by dividing the route by a predetermined distance, and the route detail information generation device causes the predetermined distance to be different depending on the type of the detail information. ### Claim 11 (depends on 9) The automatic driving system according to claim 9, wherein, with respect to the block region that includes the intersection, the block region is made longer than the length of the intersection such that the block region of the intersection covers entirety of the intersection. ### Claim 12 (depends on 9) The automatic driving system according to claim 9, further comprising a vehicle periphery information sensor configured to detect periphery information of the vehicle, wherein the automatic driving control device generates an action plan of the vehicle by using the detail information and the periphery information, and performs automatic control of acceleration and deceleration and steering of the vehicle based on the action plan. ### Claim 13 An automatic driving system mounted on a vehicle, the automatic driving system comprising: a navigation device that searches for a route from a current position of the vehicle to a destination; a route detail information generation device that generates detail information of the route by using the route searched by the navigation device and map information; and an automatic driving control device that performs automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the route detail information generation device divides the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputs the detail information currently required for the automatic control to the automatic driving control device, the route detail information generation device outputs the detail information in a unit of block region, wherein the block regions are obtained by dividing the route by a predetermined distance, and the route detail information generation device causes the predetermined distance to be different depending on the type of the detail information, wherein the type of the detail information includes lane information that indicates a running lane that is runnable by the vehicle from now, lane supplementary information that indicates a content related to a running limit of the running lane that is runnable by the vehicle from a current position, and feature information corresponding to the running lane that is runnable by the vehicle from now. ### Claim 14 (depends on 13) The automatic driving system according to claim 13 wherein the predetermined distance depending on the type of the detail information is the shortest for the feature information among the lane information, the lane supplementary information and the feature information. ### Claim 15 (depends on 13) The automatic driving system according to claim 13, wherein, with respect to the block region that includes an intersection, the block region is made longer than the length of the intersection. ### Claim 16 (depends on 13) The automatic driving system according to claim 13, further comprising a vehicle periphery information sensor configured to detect periphery information of the vehicle, wherein the automatic driving control device generates an action plan of the vehicle by using the detail information and the periphery information, and performs automatic control of acceleration and deceleration and steering of the vehicle based on the action plan. ### Claim 17 (depends on 13) The automatic driving method according to claim 13, further comprising (iv) detecting periphery information of the vehicle by using a vehicle periphery information sensor, wherein the step (iii) generates, by the controller, an action plan of the vehicle by using the detail information and the periphery information, and performs automatic control of acceleration and deceleration and steering of the vehicle based on the action plan. ### Claim 18 An automatic driving method of a vehicle, comprising steps of: (i) searching for a route from a current position of the vehicle to a destination; (ii) generating, by using a computer, detail information of the route by using the route searched by the step (i) and map information; and (iii) performing, by a controller, automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the step (ii) comprises dividing the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputting the detail information currently required for the automatic control to the controller, the detail information is output in a unit of block region, wherein the step (ii) firstly outputs the detail information corresponding to a predetermined number of the block regions to the controller, and for the block regions after that, upon determining the vehicle has passed one block region, outputs the detail information corresponding to the next block region to the controller, and the controller includes a detail information storage unit that stores therein the detail information output from the step (ii) and, upon determining that the vehicle has passed one block region, deletes the detail information of the passed block region from the detail information storage unit. ### Claim 19 (depends on 18) The automatic driving method according to claim 18, wherein the step (ii) causes the predetermined number to be different depending on a type of the detail information. ### Claim 20 (depends on 19) The automatic driving method according to claim 19, wherein the type of the detail information includes lane information that indicates a running lane that is runnable by the vehicle from now, lane supplementary information that indicates a content related to a running limit of the running lane that is runnable by the vehicle from a current position, and feature information corresponding to the running lane that is runnable by the vehicle from now. ### Claim 21 (depends on 20) The automatic driving method according to claim 20, wherein the predetermined number depending on the type of the detail information is the smallest for the feature information among the lane information, the lane supplementary information and the feature information. ### Claim 22 (depends on 20) The automatic driving method according to claim 20, wherein the feature information is information regarding one or more fixtures on or around the running lane. ### Claim 23 (depends on 19) The automatic driving method according to claim 19, wherein the detail information includes different types of information. ### Claim 24 (depends on 18) The automatic driving method according to claim 18, wherein the step (ii) firstly outputs the detail information corresponding to the predetermined number of the block regions which are first block regions in the route. ### Claim 25 An automatic driving apparatus mounted on a vehicle, comprising: a navigation device that searches for a route from a current position of the vehicle to a destination; a route detail information generation controller that generates detail information of the route by using the route searched by the navigation device and map information; and an automatic driving controller that performs automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the route detail information generation controller divides the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputs the detail information currently required for the automatic control to the automatic driving controller, the route detail information generation controller outputs the detail information in a unit of block region, wherein the route detail information generation controller firstly outputs the detail information corresponding to a predetermined number of the block regions to the automatic driving controller, and for the block regions after that, upon determining the vehicle has passed one block region, outputs the detail information corresponding to the next block region to the automatic driving controller, and the automatic driving controller includes a detail information storage device that stores therein the detail information output from the route detail information generation controller and, upon determining that the vehicle has passed one block region, deletes the detail information of the passed block region from the detail information storage device. ### Claim 26 (depends on 25) The automatic driving apparatus according to claim 25, further comprising a vehicle periphery information sensor configured to detect periphery information of the vehicle, wherein the automatic driving controller generates an action plan of the vehicle by using the detail information and the periphery information, and performs automatic control of acceleration and deceleration and steering of the vehicle based on the action plan. ### Claim 27 An automatic driving method of a vehicle, comprising steps of: (i) searching for a route from a current position of the vehicle to a destination; (ii) generating, by using a computer, detail information of the route by using the route searched by the step (i) and map information; and (iii) performing, by a controller, automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the step (ii) comprises dividing the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputting the detail information currently required for the automatic control to the controller, the detail information is output in a unit of block region, and wherein the block regions are obtained by dividing the route by a predetermined distance and, with respect to the block region that includes an intersection, the block region is made longer than the length of the intersection. ### Claim 28 An automatic driving method of a vehicle, comprising steps of: (i) searching for a route from a current position of the vehicle to a destination; (ii) generating, by using a computer, detail information of the route by using the route searched by the step (i) and map information; and (iii) performing, by a controller, automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the step (ii) comprises dividing the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputting the detail information currently required for the automatic control to the controller, the detail information is output in a unit of block region, and wherein the block regions are obtained by dividing the route by a predetermined distance, and the step (ii) causes the predetermined distance to be different depending on the type of the detail information, wherein the type of the detail information includes lane information that indicates a running lane that is runnable by the vehicle from now, lane supplementary information that indicates a content related to a running limit of the running lane that is runnable by the vehicle from a current position, and feature information corresponding to the running lane that is runnable by the vehicle from now. ### Claim 29 An automatic driving system mounted on a vehicle, the automatic driving system comprising: a navigation device that searches for a route from a current position of the vehicle to a destination; a route detail information generation device that generates detail information of the route by using the route searched by the navigation device and map information; and an automatic driving control device that performs automatic control of acceleration and deceleration and steering of the vehicle using the detail information, wherein the route detail information generation device divides the route into a plurality of block regions and, out of the detail information corresponding to the block regions, outputs the detail information currently required for the automatic control to the automatic driving control device, the route detail information generation device outputs the detail information in a unit of block region, wherein the block regions are obtained by dividing the route by a predetermined distance, and the route detail information generation device causes the predetermined distance to be different depending on the type of the detail information, wherein, with respect to the block region that includes an intersection, the block region is made longer than the length of the intersection.