# US 11,077,864 B2 · Travel control apparatus, vehicle, travel control system, travel control method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,864 B2 - Document ID: US11077864B2 - Status: Granted - Kind: B2 - Application number: 16/285,379 - Filed: 2019-02-26 - Published: 2019-09-19 - Granted: 2021-08-03 - Earliest claimed: 2018-03-13 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Kentaro Ishisaka; Takashi Watanabe; Takafumi Hirose; Takemi Tsukada; Katsuya Yashiro; Toru Kokaki; Hisashi Matsuda; Masaya Ikeda - Web page: https://patentgrep.com/patent/US11077864B2 ## CPC - B60W 50/12: Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation - B60W 40/08: related to drivers or passengers - B60W 60/0051: {from occupants to vehicle} - B60W 60/0055: {only part of driving tasks shifted to occupants} - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - 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) - B60W 2040/0809: {Driver authorisation; Driver identity check} - B60W 2040/0863: {due to erroneous selection or response of the driver} - B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means} - B60W 2540/043: Identity of occupants - B60W 2540/22: Psychological state; Stress level or workload - B60W 2540/221: Physiology, e.g. weight, heartbeat, health or special needs - B60W 2540/30: Driving style - B60W 2556/45: 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 ## Abstract A travel control apparatus controls automated driving travel of a vehicle by making a transition between a plurality of control states based on a surrounding environment of the vehicle. The travel control apparatus includes a skill level acquisition unit configured to acquire a skill level of a vehicle occupant about automated driving, and a control unit configured to control the automated driving travel of the vehicle in one of the plurality of control states based on the surrounding environment of the vehicle sensed by a sensing unit. ## Claims ### Claim 1 A travel control apparatus that controls automated driving travel of a vehicle by making a transition between a plurality of control states based on a surrounding environment of the vehicle, the travel control apparatus comprising: a skill level acquisition unit configured to acquire a skill level of a vehicle occupant about automated driving; and a control unit configured to control the automated driving travel of the vehicle in one of the plurality of control states based on the surrounding environment of the vehicle sensed by a sensing unit, wherein in a case where it is determined, based on a result of sensing by the sensing unit, that a transition can be made from a first control state, one of the plurality of control states, to a second control state, which has a higher automatization rate of the automated driving travel or has a lower level of requested task to the vehicle occupant than the first control state, the control unit controls performing an automated driving function in the second control state based on the skill level, wherein the skill level acquisition unit acquires the skill level based on an achievement ratio of requested tasks that is calculated from an output count of the requested tasks to the vehicle occupant and a count of appropriate actions taken by the vehicle occupant with respect to the requested tasks, the skill level based on the achievement ratio of the requested task is an index that changes dynamically in a time-based driving history, in a case where a proper action is taken for a requested task, the achievement ratio of the requested task is increased, and in a case where a proper action is not taken for the requested task, the achievement ratio of the requested task is decreased, wherein the requested task to the vehicle occupant contains at least one of a request for an action relating to enabling an operation of an automated driving function in the first control state and a request for an action relating to enabling an operation of an automated driving function in the second control state, the skill level acquisition unit determines whether the vehicle occupant has taken an appropriate action with respect to each request for an action and acquires the skill level in a form of the achievement ratio of the requested task that is calculated based on a result of the determination, in a case where the skill level of the vehicle occupant is higher than a threshold value, the control unit enables the operation of the automated driving function in the second control state, and in a case where the skill level of the vehicle occupant is equal to or lower than the threshold value, the control unit prevents the operation of the automated driving function in the second control state. ### Claim 2 (depends on 1) The travel control apparatus according to claim 1, wherein the skill level acquisition unit acquires the skill level based on a frequency of a requested task that is output to the vehicle occupant within a preset time period. ### Claim 3 (depends on 1) The travel control apparatus according to claim 1, wherein the skill level acquisition unit acquires the skill level based on an experience value of the vehicle occupant about driving an automated driving vehicle. ### Claim 4 (depends on 3) The travel control apparatus according to claim 3, wherein the experience value contains cumulative information about a traveling distance in which the vehicle occupant drives in the first control state or a traveling time in which the vehicle occupant drives in the first control state. ### Claim 5 (depends on 1) The travel control apparatus according to claim 1, further comprising a communication unit configured to communicate a server apparatus that issues a score of a learning experience of the vehicle occupant about the automated driving function and adds a score of a skill level of the vehicle occupant stored in a database, to the issued score, wherein the skill level acquisition unit acquires the skill level of the vehicle occupant from the server apparatus via the communication unit. ### Claim 6 (depends on 5) The travel control apparatus according to claim 5, further comprising: a shooting unit disposed in such a manner as to shoot an interior of the vehicle and configured to shoot a face image of the vehicle occupant; and a processing unit configured to perform image processing on the face image and generate authentication information used for authenticating the vehicle occupant, wherein the skill level acquisition unit acquires the skill level of the vehicle occupant who is authenticated based on the authentication information, through communication with the server apparatus by the communication unit. ### Claim 7 (depends on 5) The travel control apparatus according to claim 5, further comprising an input unit configured to input authentication information that is stored in a memory of an electronic card, wherein the skill level acquisition unit acquires the skill level of the vehicle occupant who is authenticated based on the authentication information input by the input unit, through communication with the server apparatus by the communication unit. ### Claim 8 (depends on 5) The travel control apparatus according to claim 5, wherein the skill level acquisition unit regards the skill level acquired from the server apparatus at a time of a start of driving by the vehicle occupant starts driving, as an initial value of the skill level of the vehicle occupant, and at the time of the start of driving, the control unit controls performing the automated driving function in the second control state based on the initial value of the skill level. ### Claim 9 (depends on 8) The travel control apparatus according to claim 8, further comprising: a biological information sensing unit built in a steering wheel of the vehicle and configured to sense biological information on the vehicle occupant who grips the steering wheel; and a processing unit configured to analyze a degree of a tense state of the vehicle occupant driving the vehicle, based on a result of analyzing the biological information, wherein the skill level acquisition unit acquires the skill level of the vehicle occupant based on the degree of the tense state. ### Claim 10 (depends on 8) The travel control apparatus according to claim 8, wherein the skill level acquisition unit combines the initial value of the skill level of the vehicle occupant and the skill level of the vehicle occupant acquired after a start of driving, so as to acquire an after-driving-start skill level, and after the start of driving, the control unit controls performing the automated driving function in the second control state based on the after-driving-start skill level. ### Claim 11 A travel control apparatus that controls automated driving travel of a vehicle by making a transition between a plurality of control states based on a surrounding environment of the vehicle, the travel control apparatus comprising: a skill level acquisition unit configured to acquire a skill level of a vehicle occupant about automated driving; and a control unit configured to control the automated driving travel of the vehicle in one of the plurality of control states based on the surrounding environment of the vehicle sensed by a sensing unit, wherein in a case where it is determined, based on a result of sensing by the sensing unit, that a transition can be made from a first control state, one of the plurality of control states, to a second control state, which has a higher automatization rate of the automated driving travel than the first control state, the control unit controls performing an automated driving function in the second control state based on the skill level, wherein the skill level acquisition unit acquires the skill level based on an achievement ratio of requested tasks that is calculated from an output count of the requested tasks to the vehicle occupant and a count of appropriate actions taken by the vehicle occupant with respect to the requested tasks, the skill level based on the achievement ratio of the requested task is an index that changes dynamically in a time-based driving history, in a case where a proper action is taken for a requested task, the achievement ratio of the requested task is increased, and in a case where a proper action is not taken for the requested task, the achievement ratio of the requested task is decreased, wherein the requested task to the vehicle occupant contains at least one of a request for an action relating to enabling an operation of an automated driving function in the first control state and a request for an action relating to enabling an operation of an automated driving function in the second control state, the skill level acquisition unit determines whether the vehicle occupant has taken an appropriate action with respect to each request for an action and acquires the skill level in a form of the achievement ratio of the requested task that is calculated based on a result of the determination, in a case where the skill level of the vehicle occupant is higher than a threshold value, the control unit enables the operation of the automated driving function in the second control state, and in a case where the skill level of the vehicle occupant is equal to or lower than the threshold value, the control unit prevents the operation of the automated driving function in the second control state. ### Claim 12 A travel control apparatus that controls automated driving travel of a vehicle by making a transition between a plurality of control states based on a surrounding environment of the vehicle, the travel control apparatus comprising: a skill level acquisition unit configured to acquire a skill level of a vehicle occupant about automated driving; and a control unit configured to control the automated driving travel of the vehicle in one of the plurality of control states based on the surrounding environment of the vehicle sensed by a sensing unit, wherein in a case where it is determined, based on a result of sensing by the sensing unit, that a transition can be made from a first control state, one of the plurality of control states, to a second control state, which has a lower level of requested task to the vehicle occupant than the first control state, the control unit controls performing an automated driving function in the second control state based on the skill level, wherein the skill level acquisition unit acquires the skill level based on an achievement ratio of requested tasks that is calculated from an output count of the requested tasks to the vehicle occupant and a count of appropriate actions taken by the vehicle occupant with respect to the requested tasks, the skill level based on the achievement ratio of the requested task is an index that changes dynamically in a time-based driving history, in a case where a proper action is taken for a requested task, the achievement ratio of the requested task is increased, and in a case where a proper action is not taken for the requested task, the achievement ratio of the requested task is decreased, wherein the requested task to the vehicle occupant contains at least one of a request for an action relating to enabling an operation of an automated driving function in the first control state and a request for an action relating to enabling an operation of an automated driving function in the second control state, the skill level acquisition unit determines whether the vehicle occupant has taken an appropriate action with respect to each request for an action and acquires the skill level in a form of the achievement ratio of the requested task that is calculated based on a result of the determination, in a case where the skill level of the vehicle occupant is higher than a threshold value, the control unit enables the operation of the automated driving function in the second control state, and in a case where the skill level of the vehicle occupant is equal to or lower than the threshold value, the control unit prevents the operation of the automated driving function in the second control state. ### Claim 13 (depends on 1) The travel control apparatus according to claim 1, wherein the vehicle occupant includes a driver sitting in a driver's seat of the vehicle and an occupant sitting in a front passenger seat of the vehicle. ### Claim 14 (depends on 13) The travel control apparatus according to claim 13, wherein the skill level acquisition unit multiplies a skill level of the driver and a skill level of the occupant sitting in the front passenger seat by different weight coefficients, and acquires a result of adding the skill levels multiplied by the weight coefficients as the skill level of the vehicle occupant. ### Claim 15 (depends on 1) A vehicle comprising the travel control apparatus according to claim 1. ### Claim 16 (depends on 1) A travel control system that comprises a travel control apparatus and a server apparatus that can communicate with the travel control apparatus over a network, wherein the travel control apparatus includes the travel control apparatus according to claim 1, the server apparatus includes a skill level database configured to store the skill level of the vehicle occupant, and the server apparatus: when receiving a registration request for the skill level from the travel control apparatus, stores identification information on the vehicle occupants in the skill level database after associating the identification information with authentication information for authenticating the vehicle occupants and with the skill level, and when receiving an acquisition request for the skill level from the travel control apparatus, acquires a skill level that corresponds to identification information on the vehicle occupant who is authenticated based on the authentication information, from the skill level database, and transmits the skill level to the travel control apparatus. ### Claim 17 A travel control method for controlling automated driving travel of a vehicle by making a transition between a plurality of control states based on a surrounding environment of the vehicle, the travel control method comprising: acquiring a skill level of a vehicle occupant about automated driving; and controlling the automated driving travel of the vehicle in one of the plurality of control states based on the surrounding environment of the vehicle sensed by a sensing unit, wherein in a case where it is determined, based on a result of sensing by the sensing unit, that a transition can be made from a first control state, one of the plurality of control states, to a second control state, which has a higher automatization rate of the automated driving travel or has a lower level of requested task to the vehicle occupant than the first control state, performing an automated driving function in the second control state is controlled based on the skill level in the controlling, wherein the skill level is acquired in the acquiring based on an achievement ratio of requested tasks that is calculated from an output count of the requested tasks to the vehicle occupant and a count of appropriate actions taken by the vehicle occupant with respect to the requested tasks, the skill level based on the achievement ratio of the requested task is an index that changes dynamically in a time-based driving history, in a case where a proper action is taken for a requested task, the achievement ratio of the requested task is increased, and in a case where a proper action is not taken for the requested task, the achievement ratio of the requested task is decreased, wherein the requested task to the vehicle occupant contains at least one of a request for an action relating to enabling an operation of an automated driving function in the first control state and a request for an action relating to enabling an operation of an automated driving function in the second control state, in the acquiring, it is determined whether the vehicle occupant has taken an appropriate action with respect to each request for an action and the skill level is acquired in a form of the achievement ratio of the requested task that is calculated based on a result of the determination, in a case where the skill level of the vehicle occupant is higher than a threshold value, the control unit enables the operation of the automated driving function in the second control state, and in a case where the skill level of the vehicle occupant is equal to or lower than the threshold value, the control unit prevents the operation of the automated driving function in the second control state. ### Claim 18 (depends on 17) A non-transitory computer-readable storage medium storing a program for causing a computer to execute each step of the travel control method according to claim 17.