# US 10,310,511 B2 · Automatic driving control system of mobile object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,310,511 B2 - Document ID: US10310511B2 - Status: Granted - Kind: B2 - Application number: 15/490,996 - Filed: 2017-04-19 - Published: 2017-10-26 - Granted: 2019-06-04 - Earliest claimed: 2016-04-20 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hiromitsu Urano; Taisuke Sugaiwa; Kunihito Sato; Kentaro Ichikawa; Kohei Otsuka; Bunyo Okumura; Maiko Hirano - Web page: https://patentgrep.com/patent/US10310511B2 ## CPC - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G01C 21/34: Route searching; Route guidance - G01C 21/3837: {Data obtained from a single source} - G01C 21/3848: {Data obtained from both position sensors and additional sensors} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0248: {in combination with a laser (lasers per se H01S)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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) ## Abstract An automatic operation control system of a mobile object includes an environment map storage unit configured to store environment map information and an electronic control unit configured to include an impassable region determining unit. The environment map information includes position information indicating a plurality of positions in a space and a state quantity variability of each of the plurality of positions, the state quantity variability is correlated with the corresponding position information, and the state quantity variability indicates a variation tendency of a state quantity of the corresponding position with respect to time. The impassable region determining unit is configured to determine an impassable region which is unsuitable for movement of the mobile object on the basis of the state quantity variability of the environment map information. ## Claims ### Claim 1 An automatic operation control system of a mobile object comprising: an environment map storage device configured to: store environment map information, the environment map information including position information indicating a plurality of positions in a space and a state quantity variability of each of the plurality of positions, the state quantity variability being correlated with corresponding position information, the state quantity variability indicating a variation tendency of a state quantity of a corresponding position with respect to time; and one or more processors configured to: determine an impassable region which is unsuitable for movement of the mobile object based on the state quantity variability of the environment map information; generate a route of the mobile object based on the impassable region; and control the mobile object to move along the generated route. ### Claim 2 (depends on 1) The automatic operation control system of a mobile object according to claim 1, wherein the one or more processors are further configured to: detect the position information indicating a position and a state quantity of the position at different times for each of the plurality of positions in the space; calculate the state quantity variability using the detected state quantity for each of the plurality of positions; and determine the impassable region based on the state quantity variability of the environment map information and newly calculated state quantity variability. ### Claim 3 (depends on 2) The automatic operation control system of a mobile object according to claim 2, wherein the environment map information further includes a state quantity representative value of each of the plurality of positions, the state quantity representative value being correlated with corresponding position information, the state quantity representative value being calculated based on the state quantity, and wherein the one or more processors are further configured to determine the impassable region based on the state quantity variability and the state quantity representative value of the environment map information and the newly calculated state quantity variability. ### Claim 4 (depends on 1) The automatic operation control system of a mobile object according to claim 1, wherein the environment map information further includes a state quantity representative value of each of the plurality of positions, the state quantity representative value being correlated with corresponding position information, the state quantity representative value being calculated based on the state quantity, and wherein the one or more processors are further configured to determine the impassable region based on the state quantity variability and the state quantity representative value of the environment map information. ### Claim 5 (depends on 4) The automatic operation control system of a mobile object according to claim 4, wherein the one or more processors are further configured to: detect the position information indicating a position in the space and the state quantity of the position; detect the position information indicating a position and a state quantity of the position at different times for each of the plurality of positions in the space; calculate the state quantity representative value using the detected state quantity for each of the plurality of positions; and determine the impassable region based on the state quantity variability and the state quantity representative value of the environment map information and newly calculated state quantity representative value. ### Claim 6 (depends on 1) The automatic operation control system of a mobile object according to claim 1, wherein the environment map information further includes a newest detection time of the state quantity variability, the newest detection time being correlated with a corresponding state quantity variability, and wherein the one or more processors are further configured to determine the impassable region based on the state quantity variability and the newest detection time on the environment map information. ### Claim 7 (depends on 1) The automatic operation control system of a mobile object according to claim 1, wherein the one or more processors are further configured to: determine a position of the mobile object; and generate the route of the mobile object based on a positional relationship between the impassable region and the position of the mobile object. ### Claim 8 (depends on 1) The automatic operation control system of a mobile object according to claim 1, wherein the one or more processors are further configured to: recognize an object near the mobile object; and generate the route of the mobile object based on a positional relationship between the impassable region and the recognized object.