# US 11,079,246 B2 · Management system and control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,079,246 B2 - Document ID: US11079246B2 - Status: Granted - Kind: B2 - Application number: 16/256,559 - Filed: 2019-01-24 - Published: 2019-07-25 - Granted: 2021-08-03 - Earliest claimed: 2018-01-24 - Assignees: Toyota Jidosha Kabushiki Kaisha; Denso Corporation - Applicants: Toyota Jidosha Kabushiki Kaisha; Denso Corporation - Inventors: Naoki Yamamuro; Shinichi Adachi; Ryo Hattori; Taichi Amakasu; Keigo Hiruma - Web page: https://patentgrep.com/patent/US11079246B2 ## CPC - G01C 21/3453: {Special cost functions, i.e. other than distance or default speed limit of road segments} - B60F 1/043: {Vehicles comprising own propelling units} - B61L 27/20: Trackside control of safe travel of vehicle or train, e.g. braking curve calculation - B61L 27/40: Handling position reports or trackside vehicle data - B61L 29/24: Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning - G01C 21/3407: {specially adapted for specific applications} - G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents} - G08G 1/123: indicating the position of vehicles, e.g. scheduled vehicles; {Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams}(transmission of navigation instructions to vehicles G08G1/0968) - G08G 1/13: the indicator being in the form of a map - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B60F: VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; VEHICLES CAPABLE OF TRAVELLING IN OR ON DIFFERENT MEDIA, e.g. AMPHIBIOUS VEHICLES (air-cushion vehicles B60V) - B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B) - 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 management system according to the present disclosure is a management system that manages a travel plan of a vehicle that is capable of traveling on a road and a railway track, and includes controller that creates the travel plan of the vehicle. In a case where there is a route candidate track that is a railway track that is possibly used as a travel route of the vehicle, the controller acquires a railway operation schedule for the route candidate track, and determines whether the route candidate track can be used as the travel route of the vehicle, based on the operation schedule. In the case where the route candidate track can be used as the travel route of the vehicle, the controller creates a travel plan according to which the vehicle travels along the travel route including the route candidate track. ## Claims ### Claim 1 A management system that manages a travel plan of a vehicle, the management system comprising a controller comprising at least one processor configured to create the travel plan of the vehicle, wherein the controller determines, based on map data including a current position of the vehicle and a destination of the vehicle, whether there is a route candidate track that is a railway track and a road that is possibly used as a travel route of the vehicle, the vehicle is capable of traveling on the road and on the railway track, acquires a railway operation schedule for the route candidate track, in a case where presence of the route candidate track is determined, and determines whether the route candidate track can be used as the travel route of the vehicle, based on the railway operation schedule for the route candidate track acquired, and in a case where the route candidate track is determined as usable as the travel route of the vehicle, a travel plan is created such that the vehicle travels along the travel route including the route candidate track. ### Claim 2 (depends on 1) The management system according to claim 1, further comprising distributor that distributes, over a network, a travel schedule of the vehicle on the railway track that is made the route candidate track, in a case where the vehicle is to travel along the travel route including the route candidate track according to the travel plan created by the controller. ### Claim 3 (depends on 1) A control system that controls a vehicle that is a management target of the management system according to claim 1, the control system comprising travel controller that causes the vehicle to perform autonomous traveling according to the travel plan of the vehicle created by the controller. ### Claim 4 (depends on 1) A control system that controls a vehicle that is a management target of the management system according to claim 1, the control system comprising mode controller that places a control mode of a predetermined device in a road travel mode, when the vehicle is to travel on a road, and in a track travel mode, when the vehicle is to travel on a railway track, where the predetermined device is provided in the vehicle and is used to control a traveling state of the vehicle. ### Claim 5 (depends on 4) The control system according to claim 4, wherein the predetermined device is a vibration damping mechanism that damps vibration of the vehicle, the mode controller is damping controller that performs vibration damping control by controlling the vibration damping mechanism, and a control cycle of the vibration damping control is different between the road travel mode and the track travel mode. ### Claim 6 (depends on 4) The control system according to claim 4, further comprising travel controller that performs collision avoidance control for avoiding collision between the vehicle and an object, based on a sensing result of a sensor that performs sensing with respect to a surrounding state of the vehicle, wherein the predetermined device is the sensor, the mode controller is sensor controller that controls the sensor, and a sensing level of the sensor is different between the road travel mode and the track travel mode. ### Claim 7 A management method of managing a travel plan of a vehicle, the management method comprising the steps of: determining, based on map data including a current position of the vehicle and a destination of the vehicle, whether there is a route candidate track that is a railway track and a road that is possibly used as a travel route of the vehicle, the vehicle is capable of traveling on the road and on the railway track; acquiring a railway operation schedule for the route candidate track, in a case where presence of the route candidate track is determined; determining whether the route candidate track is usable as the travel route of the vehicle, based on the railway operation schedule for the route candidate track; and creating a travel plan according to which the vehicle travels along the travel route of the vehicle including the route candidate track, in a case where the route candidate track is determined as usable as the travel route of the vehicle. ### Claim 8 A program for causing a computer to perform a management method of managing a travel plan of a vehicle, a non-transitory computer usable medium having computer readable instructions embodied therein, the computer readable instructions, when executed by a processor, cause the processor to perform a management method, the management method comprising the steps of: determining, based on map data including a current position of the vehicle and a destination of the vehicle, whether there is a route candidate track that is a railway track and a road that is possibly used as a travel route of the vehicle, the vehicle is capable of traveling on the road and on the railway track; acquiring a railway operation schedule for the route candidate track, in a case where presence of the route candidate track is determined; determining whether the route candidate track is usable as the travel route of the vehicle, based on the railway operation schedule for the route candidate track; and creating a travel plan according to which the vehicle travels along the travel route of the vehicle including the route candidate track, in a case where the route candidate track is determined as usable as the travel route of the vehicle.