# US 11,299,155 B2 · Driving control apparatus for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,155 B2 - Document ID: US11299155B2 - Status: Granted - Kind: B2 - Application number: 16/783,990 - Filed: 2020-02-06 - Published: 2020-08-13 - Granted: 2022-04-12 - Earliest claimed: 2019-02-08 - Assignees: Suzuki Motor Corporation - Applicants: Suzuki Motor Corporation - Inventors: Katsuhiko Sato - Web page: https://patentgrep.com/patent/US11299155B2 ## CPC - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/12: Lane keeping - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 2510/1005: Transmission ratio engaged - B60W 2540/10: Accelerator pedal position - B60W 2540/12: Brake pedal position - B60W 2540/18: Steering angle - B60W 2540/215: Selection or confirmation of options - B60W 2540/223: Posture, e.g. hand, foot, or seat position, turned or inclined - B60W 2552/00: Input parameters relating to infrastructure - 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 ## Abstract An ACC function for performing constant speed cruise according to a target speed when there is no preceding other vehicle in a vehicle's driving lane and performing following cruise by maintaining a predetermined inter-vehicle distance when there is a preceding other vehicle, an LKA function for maintaining cruise, an override function for stopping the ACC function and the LKA function by a driver's operation intervention, and a fallback function for performing fallback control of the ACC function and/or the LKA function, with notifying the driver of stopping the ACC function and/or the LKA function and operation takeover, at a time of system operational design domain deviation of the ACC function and/or the LKA function, override threshold values of the functions serving as a determination criterion of the operation intervention for stopping the ACC function and/or the LKA function at the time of system operational design domain deviation are configured to be altered to a value greater than during normal operation when the functions are within a system operational design domain. ## Claims ### Claim 1 A driving control apparatus for a vehicle, comprising: an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's driving lane and other vehicles driving in the driving lane and a function for obtaining the vehicle's moving state; a path generating part for generating a target path on the basis of information obtained by the environmental condition estimating part; and a vehicle control part configured to perform speed control for keeping a preset target speed or target inter-vehicle distance with a preceding other vehicle and steering control for causing the vehicle to follow the target path, and having: an ACC function for performing constant speed cruise according to the target speed when there is no preceding other vehicle in the vehicle's driving lane and performing following cruise by maintaining the predetermined inter-vehicle distance when there is a preceding other vehicle; an LKA function for maintaining cruise in the vehicle's driving lane by following control to the target path; an override function for stopping the ACC function and the LKA function by a driver's operation intervention equal to or greater than override threshold values; a function for monitoring whether the surrounding environment and the state of the vehicle are maintained within a system operational design domain for performing the ACC function and the LKA function on the basis of information obtained by the environmental condition estimating part; and a function for performing fallback control of the ACC function and/or the LKA function, with notifying the driver of stopping the ACC function and/or the LKA function and operation takeover when the deviation of the surrounding environment or the state of the vehicle to perform the ACC function and/or the LKA function from the system operational design domain is detected, wherein when the deviation from the system operational design domain is detected, the override threshold values serving as a determination criterion of the operation intervention for stopping the ACC function and/or the LKA function are set to second values greater than the first values during normal operation when the surrounding environment and the state of the vehicle are maintained within the system operational design domain. ### Claim 2 (depends on 1) The driving control apparatus for the vehicle according to claim 1, wherein the system operational design domain deviation is determined on the basis that a vehicle state obtained by the environmental condition estimating part, an environmental condition including a road surface change obtained by the environmental condition estimating part using the surrounding recognition function, or a road condition obtained by the environmental condition estimating part using map information and positioning means, deviates from the system operational design domain. ### Claim 3 (depends on 1) The driving control apparatus for the vehicle according to claim 1, wherein the system operational design domain deviation is determined based on detecting at least one of driving operation environmental conditions including hands-off time continuation, seat belt release, wiper high-speed operation, door opening, system off, and gear position change. ### Claim 4 (depends on 1) The driving control apparatus for the vehicle according to claim 1, wherein the override threshold values include ACC override threshold values composed of an accelerator override threshold value serving as a determination criterion of accelerator operation intervention and/or a brake override threshold value serving as a determination criterion of brake operation intervention. ### Claim 5 (depends on 1) The driving control apparatus for the vehicle according to claim 1, wherein the override threshold values include LKA override threshold values composed of an additive steering override threshold value and/or a subtractive steering override threshold value serving as a determination criterion of steering operation intervention. ### Claim 6 (depends on 1) The driving control apparatus for the vehicle according to claim 1, wherein the second override threshold values are maintained from the notification of stopping the ACC function and the LKA function and operation takeover to end of the fallback control, and when the fallback control is finished, the override threshold values are set back to the first values.