# US 11,299,149 B2 · Considerate driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,149 B2 - Document ID: US11299149B2 - Status: Granted - Kind: B2 - Application number: 16/042,648 - Filed: 2018-07-23 - Published: 2020-01-23 - Granted: 2022-04-12 - Earliest claimed: 2018-07-23 - Assignees: DENSO International America, Inc.; Denso Corporation - Applicants: DENSO International America, Inc.; Denso Corporation - Inventors: Yu Yan - Web page: https://patentgrep.com/patent/US11299149B2 ## CPC - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/09: Driving style or behaviour - B60W 60/001: {Planning or execution of driving tasks} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0129: {for creating historical data or processing based on historical data} - G08G 1/0141: {for traffic information dissemination} - G08G 1/017: identifying vehicles (G08G1/015, G08G1/054 take precedence) - G08G 1/0175: {by photographing vehicles, e.g. when violating traffic rules} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096741: {where the source of the transmitted information selects which information to transmit to each vehicle} - G08G 1/096775: {where the origin of the information is a central station} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/162: {event-triggered} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/46: for vehicle-to-vehicle communication [V2V] - B60W 2554/801: Lateral distance - B60W 2554/803: Relative lateral speed - B60W 2554/804: Relative longitudinal speed - 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 - 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) ## Abstract Driving control systems and methods include a first vehicle having one or more processors programmed to receive an individual driving behavior model specific to a driver of a second vehicle proximate the first vehicle. The individual driving behavior model is based on historical driving behavior of the driver of the second vehicle. The one or more processors are programmed to identify a motion plan for the first vehicle based on the individual driving behavior model specific to the driver of the second vehicle, and to control movement of the first vehicle according to the identified motion plan. ## Claims ### Claim 1 A driving control system of a first vehicle, comprising: one or more processors programmed to responsive to receiving an individual driving behavior model specific to an individual driver of a second vehicle proximate the first vehicle, the individual driving behavior model being based on historical driving behavior of the individual driver of the second vehicle, identify a motion plan for the first vehicle based on the individual driving behavior model pertaining to the second vehicle and responsive to historic tendencies of the driver of the second vehicle, wherein the processor is further programmed to identify a vehicle identifier unique to the second vehicle responsive to image data of an external surface of the second vehicle generated by a camera of the first vehicle, and to identify a driver identifier of a second vehicle driver in response to a driver's image, wherein the individual driving behavior model is retrieved from a remote server in response to the vehicle identifier and driver identifier; and control movement of the first vehicle according to the identified motion plan based on the individual driving behavior model utilizing both the vehicle identifier and driver identifier. ### Claim 2 (depends on 1) The driving system of claim 1, wherein the one or more processors are programmed to, responsive to determining that the individual driving behavior model for the driver of the second vehicle is not available, identify the motion plan for the first vehicle based on a popular driving behavior model based on at least historic driving of several different drivers. ### Claim 3 (depends on 1) The driving system of claim 1, wherein the individual driving behavior model includes an aggressiveness rating, a reaction time rating, and a driving comfortability rating specific to the individual driver. ### Claim 4 (depends on 1) The driving system of claim 1, wherein the individual driving behavior model indicates an aggressiveness rating of the driver, and the one or more processors are programmed to identify the motion plan for the first vehicle based on the individual driving behavior model by being programmed to identify whether the first vehicle should enter a lane of the second vehicle in front of the second vehicle based on the aggressiveness rating. ### Claim 5 (depends on 1) The driving system of claim 1, wherein the individual driving behavior model indicates a reaction time rating for the driver, and the one or more processors are programmed to identify the motion plan for the first vehicle based on the individual driving behavior model by being programmed to identify whether the first vehicle should enter a lane of the second vehicle in front of the second vehicle based on the reaction time rating. ### Claim 6 (depends on 1) The driving system of claim 1, wherein the individual driving behavior model indicates a driving comfortability rating for the driver, and the one or more processors are programmed to identify the motion plan for the first vehicle based on the individual driving behavior model by being programmed to identify the motion plan based on the driving comfortability rating for the driver. ### Claim 7 (depends on 6) The driving system of claim 6, wherein a distance between the second vehicle and a third vehicle driving immediately in front of the second vehicle is greater than a safe merging distance for the first vehicle, and the one or more processors are programmed to not cause the first vehicle to enter a lane of the second vehicle between the second vehicle and the third vehicle based on the driving comfortability rating for the driver and the distance between the second vehicle and the third vehicle. ### Claim 8 (depends on 1) The driving system of claim 1, wherein the identification of the motion plan for the first vehicle is further based on an individual driving behavior model specific to a passenger of the second vehicle. ### Claim 9 (depends on 1) The driving system of claim 1, wherein the individual driving behavior model is received from the second vehicle responsive to the second vehicle becoming proximate to the first vehicle. ### Claim 10 (depends on 1) The driving system of claim 1, wherein the one or more processors are programmed to retrieve the individual driving behavior model from a remote server based on an identifier for the second vehicle detected via a camera of the first vehicle. ### Claim 11 (depends on 1) The driving system of claim 1, wherein the one or more processors are programmed to: identify a passenger currently present in the second vehicle; and responsive to identifying the passenger, download, from a remote server, an individual driving behavior model specific to only the passenger, wherein the motion plan for the first vehicle is further identified by the one or more processors based on the individual driving behavior model specific to the passenger. ### Claim 12 A controller for a first vehicle comprising: one or more processors; and memory storing instructions that, upon execution by the one or more processors, cause the one or more processors to receive an individual driving behavior model specific to a second vehicle traveling proximate the first vehicle, the individual driving behavior model being based on historical driving behavior of an individual driver associated with the second vehicle, identify a motion plan for the first vehicle based on the individual driving behavior model pertaining to the individual driver associated with the second vehicle, wherein the processor is further programmed to identify a vehicle identifier unique to the second vehicle responsive to image data of an external surface of the second vehicle generated by a camera of the first vehicle, and to identify a driver identifier of a second vehicle driver in response to a driver's image, wherein the individual driving behavior model is retrieved from a remote server in response to the vehicle identifier and driver identifier; and control driving of the first vehicle according to the identified motion plan based on the individual driving behavior model utilizing both the driver identifier and the vehicle identifier.