# US 10,310,503 B2 · Travel control apparatus for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,310,503 B2 - Document ID: US10310503B2 - Status: Granted - Kind: B2 - Application number: 15/057,293 - Filed: 2016-03-01 - Published: 2016-09-08 - Granted: 2019-06-04 - Earliest claimed: 2015-03-03 - Assignees: Subaru Corporation - Applicants: Subaru Corporation - Inventors: Hajime Oyama - Web page: https://patentgrep.com/patent/US10310503B2 ## CPC - G05D 1/0077: {using redundant signals or controls} - G05D 1/0251: {extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision (stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A travel control apparatus for a vehicle includes: a frontward environment recognition unit that obtains frontward environment information by recognizing a frontward environment of the vehicle; a frontward environment information reliability calculator that calculates a reliability of the frontward environment information; a map information storage unit that stores map information relating to a travel region of the vehicle on the basis of position information indicating a position of the vehicle; a map information updating unit that updates the map information while calculating a reliability of the map information; a control information selector that compares the reliability of the frontward environment information with update information relating to the map information, and selects either one of the frontward environment information and the map information as information to be used during automatic driving control; and an automatic driving control execution unit that executes the automatic driving control based on the selected information. ## Claims ### Claim 1 A travel control apparatus for an automatic driving control of a vehicle, the travel control apparatus comprising: an electric power steering device to turn wheels of the vehicle according to a variable; and a steering controller coupled to the electric power steering device, wherein the steering controller configured to: obtain frontward environment information by recognizing a frontward environment of the vehicle, the frontward environment being recognized by at least one or more cameras that capture images of subjects outside the vehicle; determine a reliability of the frontward environment information in a predetermined manner; determine a reliability of map data of a travel region in which the vehicle travels, the travel region being obtained using position information indicating a position of the vehicle, and the reliability of map data being determined by comparing the map data of the travel region with the frontward environment information obtained by the at least one or more cameras; store the reliability of the map data of the travel region, the reliability of the map data of the travel region, which is stored, being updated when the vehicle travels in the travel region; compare the reliability of the frontward environment information corresponding to the travel region with the reliability of the map data of the travel region, and select either one of the frontward environment information and the map data for the automatic driving control; and execute the automatic driving control along a target route by adjusting the variable using a control gain that varies according to the reliability of the selected one of the frontward environment information and the map data and providing the variable adjusted to the electric power steering device. ### Claim 2 (depends on 1) The travel control apparatus for a vehicle according to claim 1, wherein, when the reliability of the frontward environment information is not less than a preset value and is therefore determined to be high, the steering controller selects the frontward environment information, and when the reliability of the frontward environment information is less than the preset value and is therefore determined to be low, the steering controller selects the map data. ### Claim 3 (depends on 2) The travel control apparatus for a vehicle according to claim 2, wherein the reliability of the map data is associated with an updated time of the reliability of the map data, and when the map data is selected, the steering controller executes the automatic driving control based on the map data at a preset control gain in a case where the reliability of the map data is not less than the preset value and is therefore determined to be high, and the update time of the reliability of the map data indicates that the reliability of the map data is updated within a preset time period. ### Claim 4 (depends on 3) The travel control apparatus for a vehicle according to claim 3, wherein, in a case where the reliability of the map data is not less than the preset value and is therefore determined to be high, and the update time of the reliability of the map data indicates that the reliability of the map data is not updated within the preset time period, the steering controller executes the automatic driving control based on the map data after modifying the preset control gain to a lower control gain than the preset control gain at a preset speed. ### Claim 5 (depends on 4) The travel control apparatus for a vehicle according to claim 4, wherein, in a case where the reliability of the map data less than the preset value and is therefore determined to be low, the steering controller executes the automatic driving control based on the map data after modifying the preset control gain to a lower control gain than the preset control gain at a higher speed than the preset speed. ### Claim 6 (depends on 1) The travel control apparatus for a vehicle according to claim 1, wherein the reliability of the map data is associated with an updated time of the reliability of the map data, and when the map data is selected, the steering controller executes the automatic driving control based on the map data at a preset control gain in a case where the reliability of the map data is not less than the preset value and is therefore determined to be high, and the update time of the reliability of the map data indicates that the reliability of the map data is updated within a preset time period. ### Claim 7 (depends on 6) The travel control apparatus for a vehicle according to claim 6, wherein, in a case where the reliability of the map data is not less than the preset value and is therefore determined to be high, and the update time of the reliability of the map data indicates that the reliability of the map data is not updated within the preset time period, the steering controller executes the automatic driving control based on the map data after modifying the preset control gain to a lower control gain than the preset control gain at a preset speed. ### Claim 8 (depends on 7) The travel control apparatus for a vehicle according to claim 7, wherein, in a case where the reliability of the map data less than the preset value and is therefore determined to be low, the steering controller executes the automatic driving control based on the map data after modifying the preset control gain to a lower control gain than the preset control gain at a higher speed than the preset speed. ### Claim 9 A travel control apparatus for a vehicle, the travel control apparatus comprising: a camera configured to obtain frontward environment information which is an image of a frontward environment of the vehicle; and a controller programmed to: calculate a reliability of the frontward environment information; calculate a reliability of map data of a travel region in which the vehicle travels, wherein the map data of the travel region is compared with the frontward environment information corresponding to the travel region to calculate the reliability of map data of the travel region; compare the reliability of the frontward environment information corresponding to the travel region with the reliability of the map data of the travel region, and select either one of the frontward environment information and the map data for automatic driving control; and execute the automatic driving control to control a steering angle of the vehicle based on the selected one of the frontward environment information and the map data. ### Claim 10 (depends on 9) The travel control apparatus for a vehicle according to claim 9, wherein when the reliability of the frontward environment information is not less than a preset value, the controller selects the frontward environment information, and when the reliability of the frontward environment information is less than the preset value, the controller selects the map data. ### Claim 11 (depends on 10) The travel control apparatus for a vehicle according to claim 10, wherein the controller stores the reliability of the map data of the drive region, the reliability of the map data of the travel region being updated when the vehicle travels in the travel region, and an update time of the reliability of the map data of the drive region being also stored, and when the controller selects the map data, the controller executes the automatic driving control based on the map data at a preset control gain in a case where the stared reliability of the map data is not less than the preset value and is therefore determined to be high, and the update time of the reliability of the map data indicates that the stared reliability of the map data is updated within a preset time period. ### Claim 12 (depends on 11) The travel control apparatus for a vehicle according to claim 11, wherein in a case where the reliability of the map data is not less than the preset value, and the update time of the reliability of the map data indicates that the map data is not updated within the preset time period, the controller executes the automatic driving control based on the map data after modifying the preset control gain to a lower control gain than the preset control gain at a preset speed. ### Claim 13 (depends on 12) The travel control apparatus for a vehicle according to claim 12, wherein in a case where the reliability of the map data less than the preset value, the controller executes the automatic driving control based on the reliability of the map data after modifying the preset control gain to a lower control gain than the preset control gain at a higher speed than the preset speed. ### Claim 14 (depends on 9) The travel control apparatus for a vehicle according to claim 9, wherein the controller stores the reliability of the map data of the drive region, the reliability of the map data of the travel region being updated when the vehicle travels in the travel region, and an update time of the reliability of the map data of the drive region being also stored, and when the controller selects the map data, the controller executes the automatic driving control based on the map data at a preset control gain in a case where the reliability of the map data is not less than the preset value and is therefore determined to be high, and the update time of the reliability of the map data indicates that the reliability of the map data is updated within a preset time period. ### Claim 15 (depends on 14) The travel control apparatus for a vehicle according to claim 14, wherein in a case where the reliability of the map data is not less than the preset value, and the update time of the reliability of the map data indicates that the map data is not updated within the preset time period, the controller executes the automatic driving control based on the map data after modifying the preset control gain to a lower control gain than the preset control gain at a preset speed. ### Claim 16 (depends on 15) The travel control apparatus for a vehicle according to claim 15, wherein in a case where the reliability of the map data less than the preset value, the controller executes the automatic driving control based on the reliability of the map data after modifying the preset control gain to a lower control gain than the preset control gain at a higher speed than the preset speed.