# US 11,077,879 B2 · Vehicle travel control method and vehicle travel control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,879 B2 - Document ID: US11077879B2 - Status: Granted - Kind: B2 - Application number: 16/630,995 - Filed: 2017-07-20 - Published: 2020-07-16 - Granted: 2021-08-03 - Earliest claimed: 2017-07-20 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Katsuhiko Degawa; Takahiro Nojiri; Tatsuya Shino - Web page: https://patentgrep.com/patent/US11077879B2 ## CPC - B60W 30/12: Lane keeping - B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle} - B60K 35/265: {Voice} - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - 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) - B60K 35/22: Display screens - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/50: Barriers - B60W 2554/20: Static objects - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/55: using telemetry - 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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 travel-lane determination unit determines whether a vehicle has entered a traffic lane on which a toll booth is provided. After it is determined that the vehicle has entered the traffic lane, a travel control unit pulls the vehicle to a position shifted from the center of the traffic lane toward the toll booth in a traffic-lane width direction, by the time when the vehicle reaches the toll booth. ## Claims ### Claim 1 A vehicle travel control method for a vehicle travel control device that automatically steers a vehicle, comprising: determining whether the vehicle has entered a traffic lane on which a toll booth is provided; determining whether the toll booth is a manual-gate toll booth or an automatic-toll-gate; and in a case where the toll booth is the manual-gate toll booth, pulling the vehicle to a position within the traffic lane that is shifted from a center of the traffic lane toward the toll booth in a traffic-lane width direction, by the time when the vehicle reaches the toll booth. ### Claim 2 (depends on 1) The vehicle travel control method according to claim 1, further comprising: stopping the vehicle at a position within the traffic lane before the toll booth in a travel direction of the vehicle. ### Claim 3 (depends on 1) The vehicle travel control method according to claim 1, further comprising: setting a target vehicle position at which the vehicle is to be stopped to a position within the traffic lane before the toll booth in a travel direction of the vehicle; calculating a target route within the traffic lane from the position of the vehicle at the time when the vehicle enters the traffic lane to the target vehicle position; and performing steering control and braking-force control automatically along the target route. ### Claim 4 (depends on 3) The vehicle travel control method according to claim 3, wherein the vehicle entering the traffic lane triggers the calculating the target route. ### Claim 5 (depends on 3) The vehicle travel control method according to claim 3, wherein the target route is calculated such that the vehicle travels in the center in the traffic-lane width direction of the traffic lane before the vehicle pulls to the toll booth. ### Claim 6 (depends on 5) The vehicle travel control method according to claim 5, wherein the vehicle travels in the center in the traffic-lane width direction of the traffic lane, and after the vehicle decelerates, the vehicle pulls to the toll booth. ### Claim 7 (depends on 1) The vehicle travel control method according to claim 1, further comprising: notifying an occupant of the vehicle in advance that the vehicle is going to pull to the toll booth. ### Claim 8 (depends on 1) The vehicle travel control method according to claim 1, further comprising: in a case where the traffic lane with the manual-gate toll booth appears obstructed, prompting, by sound or display, an occupant of the vehicle that the vehicle will stop at a position before the toll booth before pulling the vehicle into the position. ### Claim 9 (depends on 1) The vehicle travel control method according to claim 1, further comprising: in a case where the vehicle is not going to be pulled to the toll booth, notifying an occupant of the vehicle that the vehicle is not going to be pulled to the toll booth. ### Claim 10 (depends on 1) The vehicle travel control method according to claim 1, further comprising: in a case where the toll booth is the automatic-toll-gate, the vehicle travels in the center of the traffic lane. ### Claim 11 A vehicle travel control device which comprises a camera that detects traffic lanes and an actuator that steers a vehicle automatically based on traffic-lane information, the device further comprising an electronic control unit configured to: determine whether the vehicle has entered a traffic lane on which a toll booth is provided; determine whether the toll booth is a manual-gate toll booth or an automatic-toll-gate, and in a case where the toll booth is the manual-gate toll booth, control travel of the vehicle to a position within the traffic lane that is shifted from a center of the traffic lane toward the toll booth in a traffic-lane width direction.