# US 11,027,730 B2 · Systems and methods for regulation of autonomous cruise control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,730 B2 - Document ID: US11027730B2 - Status: Granted - Kind: B2 - Application number: 16/315,196 - Filed: 2016-12-07 - Published: 2019-09-19 - Granted: 2021-06-08 - Earliest claimed: 2016-12-07 - Assignees: Toyota Motor Europe - Applicants: Toyota Motor Europe - Inventors: Paul Girond - Web page: https://patentgrep.com/patent/US11027730B2 ## CPC - B60W 30/14: {Adaptive} cruise control - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 40/04: Traffic conditions - B60W 40/06: Road conditions - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - 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 1/0962: having an indicator mounted inside the vehicle, e.g. giving voice messages - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - H04W 4/021: Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60K 2310/246: releasing speed control, e.g. inhibiting speed control if a brake pedal is depressed - B60K 2310/248: resuming speed control, e.g. returning to old target speed - B60W 2400/00: Indexing codes relating to detected, measured or calculated conditions or factors - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/10: Number of lanes - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/00: Input parameters relating to objects - B60W 2554/4023: large-size vehicles, e.g. trucks - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/65: Data transmitted between vehicles - 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}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract A driver assistance system for a vehicle including an autonomous cruise control to autonomously control at least vehicle speed, position data obtaining unit to obtain vehicle position data, ego-vehicle sensor data obtaining unit to obtain ego-vehicle sensor data related to objects in proximity to the vehicle, works data receiving unit to receive works data regarding current roadworks within a predetermined distance of the vehicle, and a processor to determine, based on the ego-vehicle sensor data, the works data, the position data, the vehicle's position and direction of travel relative to one or more roadworks, and when the processor determines the vehicle is approaching one or more roadworks and the vehicle distance to the roadwork is less than a threshold distance, or when the processor determines that the vehicle is already present within a roadwork and the autonomous cruise control is enabled, disable the autonomous cruise control. ## Claims ### Claim 1 A driver assistance system for a vehicle, comprising: an autonomous cruise control configured to autonomously control at least a vehicle speed; position data obtaining module configured to obtain position data indicative of the vehicle's position; ego-vehicle sensor data obtaining device configured to obtain ego-vehicle sensor data related to objects in proximity to the vehicle; works data receiver configured to receive works data regarding current roadworks within a predetermined distance of the vehicle; and a processor configured to: determine, based on the ego-vehicle sensor data, the works data, and the position data, the vehicle's position and direction of travel relative to one or more roadworks; and when the processor determines that the vehicle is approaching a roadwork of the one or more roadworks and that the vehicle distance to the roadwork is less than a threshold distance, or when the processor determines that the vehicle is already present within a roadwork and the autonomous cruise control is enabled, disable the autonomous cruise control; and the processor configured to: determine, based on the ego-vehicle sensor data, the works data, and the position data, when the vehicle is exiting the roadwork; and when the processor determines that the vehicle is exiting the roadwork, the processor is configured to re-enable the autonomous cruise control. ### Claim 2 (depends on 1) The driver assistance system according to claim 1, wherein when the vehicle distance to the roadwork is greater than the threshold value or the vehicle is determined to be not approaching the roadwork based on the direction of travel relative to the roadwork, the processor is configured to maintain functions of the autonomous cruise control. ### Claim 3 (depends on 1) The driver assistance system according to claim 1, wherein the processor is configured to provide a warning before at least one of disabling of the autonomous cruise control and re-enabling the autonomous cruise control, the warning comprising at least one of an audible warning and a visual warning. ### Claim 4 (depends on 1) The driver assistance system according to claim 1, wherein disabling of the autonomous cruise control is performed gradually over a predetermined time period. ### Claim 5 (depends on 1) The driver assistance system according to claim 1, comprising a works data transmitter configured to transmit data related to a location of a suspected roadwork. ### Claim 6 (depends on 5) The driver assistance system according to claim 5, wherein when the processor determines the presence of a suspected roadwork based on the ego-vehicle sensor data but not indicated by the works data, the processor is configured to cause the works data transmitter to transmit the vehicle position and an indication of the suspected roadwork to a remote receiver. ### Claim 7 (depends on 1) The driver assistance system according to claim 1, wherein when the processor determines the presence of a suspected roadwork based on the ego-vehicle sensor data but not indicated by the works data, the processor is configured to disable the autonomous cruise control until the processor determines an end of the suspected roadwork based on the ego-vehicle sensor data. ### Claim 8 A method for driver assistance, comprising: obtaining position data indicative of the vehicle's position; obtaining ego-vehicle sensor data of objects in proximity to the vehicle; receiving works data regarding current roadworks in proximity to the vehicle via at least one of 3G or 4G wireless communication, and C2C; determining, based on the ego-vehicle sensor data, the works data, and the position data, the vehicle's position and direction of travel relative to one or more roadworks; and when the vehicle is approaching a roadwork of the one or more roadworks and the vehicle proximity to the roadwork is less than a threshold distance, or when the vehicle is already present within one of the one or more roadworks and the autonomous cruise control is enabled, disabling the autonomous cruise control; and determining, based on the ego-vehicle sensor data, the works data, and the position data, when the vehicle is exiting the roadwork; and when the vehicle is exiting the roadwork, re-enabling the autonomous cruise control. ### Claim 9 (depends on 8) The method for driver assistance according to claim 8, comprising, wherein when the vehicle proximity to the roadwork is greater than the threshold value or the vehicle is determined as not approaching the roadwork based on the direction of travel relative to the roadwork, maintaining the autonomous cruise control. ### Claim 10 (depends on 8) The method for driver assistance according to claim 8, comprising providing a warning before at least one of disabling of the autonomous cruise control and re-enabling the autonomous cruise control, the warning comprising at least one of an audible warning and a visual warning. ### Claim 11 (depends on 8) The method for driver assistance according to claim 8, wherein disabling of the autonomous cruise control is performed gradually over a predetermined time period. ### Claim 12 (depends on 8) The method for driver assistance according to claim 8, comprising: determining, based solely on the ego-vehicle sensor data, a suspected roadwork; and transmitting the vehicle position and an indication of the suspected roadwork to a remote receiver. ### Claim 13 (depends on 12) The method for driver assistance according to claim 12, comprising, when the vehicle is approaching or within the suspected roadwork, disabling the autonomous cruise control until an end of the suspected roadwork has been determined. ### Claim 14 A driver assistance system for a vehicle, comprising: an autonomous cruise control configured to autonomously control at least a vehicle speed; position data obtaining module configured to obtain position data indicative of the vehicle's position; ego-vehicle sensor data obtaining device configured to obtain ego-vehicle sensor data related to objects in proximity to the vehicle; works data receiver configured to receive works data regarding current roadworks within a predetermined distance of the vehicle; and a processor configured to: determine, based on the ego-vehicle sensor data, the works data, and the position data, the vehicle's position and direction of travel relative to one or more roadworks; and when the processor determines that the vehicle is approaching a roadwork of the one or more roadworks and that the vehicle distance to the roadwork is less than a threshold distance, or when the processor determines that the vehicle is already present within a roadwork and the autonomous cruise control is enabled, disable the autonomous cruise control; and the processor is configured to provide a warning before at least one of disabling of the autonomous cruise control and re-enabling the autonomous cruise control, the warning comprising at least one of an audible warning and a visual warning.