# US 11,299,171 B2 · Driving support control device of vehicle, driving support system of vehicle, and driving support control method of vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,171 B2 - Document ID: US11299171B2 - Status: Granted - Kind: B2 - Application number: 17/012,045 - Filed: 2020-09-04 - Published: 2020-12-24 - Granted: 2022-04-12 - Earliest claimed: 2018-03-09 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Kei Kamiya; Atsushi Ito - Web page: https://patentgrep.com/patent/US11299171B2 ## CPC - B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 40/114: Yaw movement - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - B60W 50/035: Bringing the control units into a predefined state, e.g. giving priority to particular actuators - B60W 50/045: {Monitoring control system parameters} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/0215: {Sensor drifts or sensor failures} - B60W 2050/0292: {Fail-safe or redundant systems, e.g. limp-home or backup systems} - G06V 20/56: exterior to a vehicle by using sensors mounted on 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 - 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}) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A driving support control device of a vehicle is provided including an acquiring unit configured to acquire a traveling state of the vehicle which is detected and a traveling environment of the vehicle, and a control unit, configured to, in a case where zero-point learning of a yaw rate sensor has not been completed, cause a driving support unit to execute collision avoidance support using a reduced operational area reduced from a reference operational area which becomes a reference in view of an error of the yaw rate sensor as an operational area of collision avoidance support, and the traveling state of the vehicle and the traveling environment of the vehicle. ## Claims ### Claim 1 A driving support control device of a vehicle comprising: an acquiring unit configured to acquire a traveling state of the vehicle which is detected and a traveling environment of the vehicle; and a control unit configured to, for a state in which a zero-point learning of a yaw rate sensor has not been completed, cause a driving support unit to execute collision avoidance support using the traveling state of the vehicle, the traveling environment of the vehicle, and a reduced operational area, wherein the zero-point learning comprises a calibration process performed by the yaw rate sensor in which the zero point of the yaw rate sensor is determined, and the reduced operational area comprises an area that is reduced relative to a reference operational area, which becomes a reference in view of an error of the yaw rate sensor as an operational area of collision avoidance support. ### Claim 2 (depends on 1) The driving support control device of the vehicle according to claim 1, wherein the control unit reduces the reference operational area in view of a maximum error of the yaw rate sensor. ### Claim 3 (depends on 1) The driving support control device of the vehicle according to claim 1, wherein the control unit uses the reference operational area in a case where zero-point learning of the yaw rate sensor has been completed. ### Claim 4 A driving support system comprising: a driving support control device of a vehicle including: an acquiring unit configured to acquire a traveling state of the vehicle which is detected and a traveling environment of the vehicle; and a control unit configured to, for a state in which a zero-point learning of a yaw rate sensor has not been completed, cause a driving support unit to execute collision avoidance support using the traveling state of the vehicle, the traveling environment of the vehicle, and a reduced operational area; a detecting unit configured to detect the traveling state and the traveling environment; and wherein the zero-point learning comprises a calibration process performed by the yaw rate sensor in which the zero point of the yaw rate sensor is determined, the reduced operational area comprises an area that is reduced relative to a reference operational area, which becomes a reference in view of an error of the yaw rate sensor as an operational area of collision avoidance support, and the driving support unit is configured to execute the collision avoidance support in accordance with an instruction from the control unit. ### Claim 5 A driving support control method of a vehicle, comprising: acquiring a traveling state of the vehicle which is detected and a traveling environment of the vehicle; determining whether zero-point learning of a yaw rate sensor has been completed; and for a state in which a zero-point learning of the yaw rate sensor has not been completed, executing collision avoidance support processing using the traveling state of the vehicle, the traveling environment of the vehicle, and a reduced operational area, wherein the zero-point learning comprises a calibration process performed by the yaw rate sensor in which the zero point of the yaw rate sensor is determined, and the reduced operational area comprises an area that is reduced relative to a reference operational area, which becomes a reference in view of an error of the yaw rate sensor as an operational area of collision avoidance support.