# US 10,766,485 B2 · Vehicle control device

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- Number: US 10,766,485 B2
- Document ID: US10766485B2
- Status: Granted
- Kind: B2
- Application number: 16/126,109
- Filed: 2018-09-10
- Published: 2019-04-11
- Granted: 2020-09-08
- Earliest claimed: 2017-10-11
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Ryo Igarashi
- Web page: https://patentgrep.com/patent/US10766485B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)}
- B60W 40/04: Traffic conditions
- 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 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51)
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- B60W 2050/0091: {of control inputs}
- B60W 2050/065: {by reducing the computational load on the digital processor of the control computer}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2554/20: Static objects
- B60W 2554/402: Type
- B60W 2554/4029: Pedestrians
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2556/45: External transmission of data to or from the vehicle
- G06T 7/593: from stereo images
- G06T 2207/10012: Stereo images
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/10044: Radar image
- G06T 2207/30252: Vehicle exterior; Vicinity of 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
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A vehicle control device includes a detection unit detecting an object around the vehicle, a storage unit storing static object information acquired in advance and reliability of the static object information in association with each other, an acquisition unit acquiring calculation load information of the vehicle control device, a decision unit deciding a reliability threshold to be small with respect to an increase in a calculation load based on the calculation load information, a selection unit selecting the static object information associated with reliability equal to or greater than the reliability threshold from the static object information, a target decision unit deciding a tracking target by comparing a detection result and the static object information selected by the selection unit to each other, a tracking unit tracking the tracking target, and a control unit performing the traveling control based on a tracking result.

## Claims

### Claim 1

A vehicle control device comprising:
at least one processor and memory, wherein
the memory is configured to store static object information acquired in advance and reliability of the static object information in association with each other, and
the memory comprises computer instructions that are configured to, when executed by the at least one processor, cause the at least one processor to:
detect, based on an output of at least one sensor, an object around a vehicle as a detection result;
acquire calculation load information of the vehicle control device;
decide a reliability threshold to be small with respect to an increase in a calculation load based on the calculation load information;
select the static object information associated with reliability equal to or greater than the reliability threshold decided from the static object information stored in the memory;
decide a tracking target around the vehicle by comparing the detection result and the static object information selected to each other; and
track the tracking target decided as a tracking result; and
perform traveling control based on the tracking result.

### Claim 2 (depends on 1)

The vehicle control device according to claim 1, wherein the computer instructions are configured to, when executed by the at least one processor, cause the at least one processor to:
determine whether or not the object detected is a static object based on the static object information stored in the memory;
calculate reliability of a detection result of the object determined as the static object; and
select the detection result of the object in a predetermined priority order such that a total capacity of selected detection results of objects is equal to or less than a predetermined communication amount; and
transmit the detection result, of the object, selected to a server capable of communicating with the vehicle,
wherein the computer instructions are configured to cause the at least one processor to give a higher priority order to a detection result of the object with the lower reliability calculated.

### Claim 3 (depends on 2)

The vehicle control device according to claim 2, wherein the computer instructions are configured to, when executed by the at least one processor, cause the at least one processor to decide the reliability threshold for each of the static object information and decide the reliability threshold to be small with respect to an increase in a distance between the vehicle and the static object.

### Claim 4 (depends on 1)

The vehicle control device according to claim 1, wherein the computer instructions are configured to, when executed by the at least one processor, cause the at least one processor to decide the reliability threshold for each of the static object information and decide the reliability threshold to be small with respect to an increase in a distance between the vehicle and a static object.

### Claim 5 (depends on 1)

The vehicle control device according to claim 1, wherein the static object information includes information about a static object around the vehicle.

### Claim 6 (depends on 1)

The vehicle control device according to claim 1, wherein the calculation load information includes a utilization or occupancy rate of hardware or software resources.