# US 10,479,377 B2 · Drive assistance system and center > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,479,377 B2 - Document ID: US10479377B2 - Status: Granted - Kind: B2 - Application number: 15/521,626 - Filed: 2015-11-02 - Published: 2017-08-17 - Granted: 2019-11-19 - Earliest claimed: 2014-11-07 - Assignees: Denson Corporation - Applicants: Denso Corporation - Inventors: Kentarou Nishida - Web page: https://patentgrep.com/patent/US10479377B2 ## CPC - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60W 50/082: {Selecting or switching between different modes of propelling} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/0053: {from vehicle to occupant} - 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) - G08G 1/01: Detecting movement of traffic to be counted or controlled (G08G1/07 - G08G1/14 take precedence) - B60W 2050/0072: {Controller asks driver to take over} - B60W 2050/0095: {Automatic control mode change} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/65: Data transmitted between vehicles - B60W 2756/10: Involving external transmission of data to or from the vehicle - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A drive assistance system includes an onboard device that is mounted on a vehicle performing automatic driving based on sensing information detected by a sensor of the vehicle, and a center that communicates with the onboard device. The onboard device includes a sensing information acquisition portion that acquires the sensing information. Either the onboard device or the center includes an evaluation portion that evaluates a detection performance of the sensor based on the sensing information. The center includes a region specification portion that specifies a decrease region where the detection performance of the sensor decreases, the decrease region specified by the detection performance, based on the sensing information, and the decrease region specified by a position at which the sensing information has been detected. The onboard device stops the automatic driving when the vehicle is located in the decrease region. ## Claims ### Claim 1 A drive assistance system comprising: an onboard device that is mounted on a vehicle performing automatic driving based on sensing information detected by a sensor of the vehicle, wherein each of a plurality of vehicles performing automatic driving includes the onboard device and the sensor; and a center that communicates with the onboard device, wherein: the onboard device includes a sensing information acquisition portion that acquires the sensing information detected by the sensor; either the onboard device or the center includes an evaluation portion that evaluates a detection performance of the sensor based on the sensing information acquired by the sensing information acquisition portion; the center includes a region specification portion that specifies a decrease region where the detection performance of the sensor decreases based on the detection performance of the sensors and positions at which the sensing information has been detected by each of the sensors; and the onboard device stops the automatic driving when the vehicle is located in the decrease region specified by the region specification portion. ### Claim 2 (depends on 1) The drive assistance system according to claim 1, wherein: the onboard device includes a notification process portion that issues driving switch notification urging a driver to switch the automatic driving to manual driving; and the automatic driving is stopped based on the driving switch notification issued from the notification process portion. ### Claim 3 (depends on 1) The drive assistance system according to claim 1, wherein: the onboard device includes an automatic driving stop portion that stops the automatic driving; and the automatic driving is stopped by the automatic driving stop portion. ### Claim 4 (depends on 1) The drive assistance system according to claim 1, wherein: the center includes a decrease region transmission process portion that transmits information indicating the decrease region specified by the region specification portion to the onboard device; and the onboard device stops the automatic driving when the vehicle is located in the decrease region based on the information indicating the decrease region transmitted by the decrease region transmission process portion, and based on a current position of the vehicle. ### Claim 5 (depends on 1) The drive assistance system according to claim 1, wherein: the center includes a vehicle position acquisition portion that acquires a current position of the vehicle on which the onboard device is mounted; the center includes an instruction transmission process portion that transmits instruction information stopping the automatic driving of the vehicle when the vehicle is located in the decrease region based on the decrease region specified by the region specification portion, and based on the current position of the vehicle acquired by the vehicle position acquisition portion; and the onboard device stops the automatic driving in accordance with the instruction information received from the instruction transmission process portion. ### Claim 6 (depends on 1) The drive assistance system according to claim 1, wherein: the onboard device includes a recommended route acquisition portion that acquires a recommended route of the vehicle; and the automatic driving is stopped when the recommended route passes through the decrease region specified by the region specification portion. ### Claim 7 (depends on 1) The drive assistance system according to claim 1, wherein: the center includes, as the evaluation portion, a center evaluation portion; the onboard device transmits the sensing information acquired by the sensing information acquisition portion to the center; and the center evaluation portion evaluates the detection performance of the sensor based on the sensing information transmitted from the onboard device. ### Claim 8 (depends on 1) The drive assistance system according to claim 1, wherein: the sensor is configured by a plurality of types of sensors operated under different detection principles. ### Claim 9 (depends on 8) The drive assistance system according to claim 8, wherein: the plurality of types of sensors include a sensor that detects the sensing information on either a position or a gradient; and the evaluation portion evaluates the detection performance of the sensor based on an error between map information and the sensing information with respect to the sensor that detects the sensing information on either the position or the gradient. ### Claim 10 (depends on 8) The drive assistance system according to claim 8, wherein: the plurality of types of sensors include sensors of different classifications in an identical type operated under an identical detection principle; and the onboard device stops the automatic driving when the vehicle is located in the decrease region for the sensor of a classification identical to a classification of the sensor of the vehicle. ### Claim 11 (depends on 1) The drive assistance system according to claim 1, wherein: the onboard device includes, as the evaluation portion, a vehicle evaluation portion that evaluates the detection performance of the sensor based on the sensing information acquired by the sensing information acquisition portion at a plurality of points of time; the onboard device transmits detection performance information indicating the detection performance of the sensor evaluated by the vehicle evaluation portion to the center in association with a position of the onboard device at a point of time when the evaluation is determined; and the region specification portion specifies the decrease region based on the detection performance information transmitted from each of a plurality of the vehicles. ### Claim 12 (depends on 1) The drive assistance system according to claim 1, wherein: the region specification portion specifies the decrease region where the detection performance of the sensor mounted on the vehicle decreases based on the detection performance of the sensor mounted on a different vehicle and a position at which the sensor of the different vehicle detects the sensing information. ### Claim 13 (depends on 1) The drive assistance system according to claim 1, wherein: the evaluation portion compares the sensing information and a map data stored in a map database; and the evaluation portion determines that the detection performance of the sensor decreases greater as an error between the sensing information and the map data is greater. ### Claim 14 A center comprising: an upload information acquisition portion that communicates with an onboard device mounted on a vehicle performing automatic driving based on sensing information detected by a sensor of the vehicle, which is configured to perform automatic driving, wherein the upload information acquisition portion acquires the sensing information transmitted from each of the onboard device; a center evaluation portion that evaluates a detection performance of the sensor based on the sensing information transmitted from the onboard device; a region specification portion that specifies a decrease region where the detection performance of the sensor decreases based on the detection performance of the sensors and positions at which the sensing information has been detected by each of the sensors; a distribution portion that transmits information on the decrease region to a particular onboard device; and a map database that stores map data; wherein: the sensor of the vehicle includes at least one of a receiver for a global positioning system, a gyro sensor, a camera, or a radar; and the center evaluation portion compares the sensing information acquired by the upload information acquisition portion with at least one of a road included in the map data, an actual gradient of a link included in the map data, actual coordinates of a target included in the map data, or a position of the target included in the map data, and evaluates the detection performance of the sensor in accordance with a degree of error. ### Claim 15 (depends on 14) The center according to claim 14, wherein: the region specification portion specifies the decrease region where the detection performance of the sensor mounted on the vehicle decreases based on the detection performance of the sensor mounted on a second vehicle and a position at which the sensor of the second vehicle detects the sensing information. ### Claim 16 (depends on 14) The center according to claim 14, wherein: the evaluation portion compares the sensing information and a map data stored in a map database; and the evaluation portion determines that the detection performance of the sensor decreases greater as an error between the sensing information and the map data is greater. ### Claim 17 (depends on 14) The center according to claim 14, wherein: the decrease region is specified based on (i) a detection performance which is obtained through evaluation of a corresponding sensing information acquired from another vehicle on which a corresponding sensor having an identical type and an identical classification with the sensor mounted on the vehicle, and (ii) a position information at which the corresponding sensor detects the corresponding sensing information. ### Claim 18 A drive assistance system comprising: an onboard device that is mounted on a vehicle performing automatic driving based on sensing information detected by a sensor of the vehicle, wherein each of a plurality of vehicles performing automatic driving includes the onboard device and the sensor; and a server apparatus that communicates with the onboard device, wherein: the onboard device includes an ECU that acquires the sensing information detected by the sensor; at least one of the ECU of the onboard device and the server apparatus evaluates a detection performance of the sensor based on the sensing information acquired by the ECU of the onboard device; the server apparatus specifies a decrease region where the detection performance of the sensor decreases based on the detection performance of the sensors and a corresponding position at which the sensing information has been detected by each of the sensors; and the onboard device stops the automatic driving when the vehicle is located in the decrease region specified by server apparatus. ### Claim 19 A drive assistance system comprising: an onboard device that is mounted on a vehicle performing automatic driving based on sensing information detected by a sensor of the vehicle, wherein each of a plurality of vehicles performing automatic driving includes the onboard device and the sensor; and a center that communicates with the onboard device, wherein: the onboard device includes a sensing information acquisition portion that acquires the sensing information detected by the sensor; either the onboard device or the center includes an evaluation portion that evaluates a detection performance of the sensor based on the sensing information acquired by the sensing information acquisition portion; the center includes a region specification portion that specifies a decrease region where the detection performance of the sensor decreases based on the detection performance of the sensors and positions at which the sensing information has been detected by each of the sensors; and the onboard device controls the automatic driving to be terminated before the vehicle positions at the decrease region. ### Claim 20 (depends on 19) The drive assistance system according to claim 19, wherein: in a case where a navigation route passes the decrease region, the onboard device controls the automatic driving to be terminated before the vehicle arrives at the decrease region. ### Claim 21 (depends on 19) The drive assistance system according to claim 19, wherein: when the onboard device controls the automatic driving to be terminated, a notification making a driver perform a manual driving instead of the automatic driving is provided. ### Claim 22 (depends on 21) The drive assistance system according to claim 21, wherein: when the onboard device controls the automatic driving to be terminated, the automatic driving stops.