# US 11,305,757 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 11,305,757 B2 - Document ID: US11305757B2 - Status: Granted - Kind: B2 - Application number: 17/311,140 - Filed: 2018-12-11 - Published: 2022-01-27 - Granted: 2022-04-19 - Earliest claimed: 2018-12-11 - Assignees: Nissan Motor Co., Ltd.; RENAULT s.a.s. - Applicants: Nissan Motor Co., Ltd.; Renault S.A.S. - Inventors: Yasuhisa Hayakawa; Yasuhiro Sakurai; Yasuhiro Suzuki; Junichi Kuwabara - Web page: https://patentgrep.com/patent/US11305757B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - G07C 9/00309: {operated with bidirectional data transmission between data carrier and locks} - B60R 25/245: {where the antenna reception area plays a role} - B60W 60/0025: {specially adapted for specific operations} - B60W 60/00253: {Taxi operations} - E05B 77/54: Automatic securing or unlocking of bolts triggered by certain vehicle parameters, e.g. exceeding a speed threshold (triggered by vehicle collision E05B77/12) - E05B 81/58: including time control, e.g. for controlling run-time of electric motors - E05B 83/36: Locks for passenger or like doors - G05D 1/0011: {associated with a remote control arrangement} - B60W 2520/06: Direction of travel - B60W 2520/10: Longitudinal speed - B60W 2520/12: Lateral speed - B60W 2554/4041: Position - B60W 2556/10: Historical data - G07C 2209/08: With time considerations, e.g. temporary activation, valid time window or time limitations - G07C 2209/63: Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from 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 - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - E05B: LOCKS; ACCESSORIES THEREFOR; HANDCUFFS - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method performs autonomous travel control of a subject vehicle to a target stop position on the basis of a remote operation command from a remote operation device. The subject vehicle has an autonomous travel control function and an automatic locking/unlocking function for a vehicle door. The autonomous travel control is executed under a precondition that a locking/unlocking device for the door is unlocked. The method includes prohibiting the automatic locking/unlocking function from locking the door while the vehicle is executing autonomous travel control; detecting a distance between the vehicle and the remote operation device when the vehicle stops at the target stop; setting a temporal interval from when the vehicle stops until the locking/unlocking device for the door is locked using the automatic locking/unlocking function to a temporal interval in accordance with the distance; and locking the door using the automatic locking/unlocking function when the temporal interval has elapsed. ## Claims ### Claim 1 A vehicle travel control method for performing autonomous travel control of a vehicle to a target stop position on a basis of a remote operation command from a remote operation device located outside the vehicle, the vehicle having an autonomous travel control function and an automatic locking/unlocking function for a door of the vehicle, the autonomous travel control being executed under a precondition that a locking/unlocking device for the door is unlocked, the vehicle travel control method comprising: prohibiting the automatic locking/unlocking function from locking the locking/unlocking device for the door while the vehicle is executing the autonomous travel control; detecting a distance between the vehicle and the remote operation device when the vehicle stops at the target stop position; setting a temporal interval from when the vehicle stops until the locking/unlocking device for the door is locked using the automatic locking/unlocking function to a temporal interval in accordance with the distance; and locking the locking/unlocking device for the door using the automatic locking/unlocking function when the temporal interval has elapsed. ### Claim 2 (depends on 1) The vehicle travel control method according to claim 1, comprising setting the temporal interval relatively longer as the distance is shorter. ### Claim 3 (depends on 2) The vehicle travel control method according to claim 2, comprising, in the autonomous travel control in which the vehicle parked is controlled to exit to the target stop position, setting the temporal interval relatively longer than that in the autonomous travel control in which the vehicle is controlled to enter the target stop position. ### Claim 4 (depends on 2) The vehicle travel control method according to claim 2, comprising: detecting a position, a vehicle speed, and a traveling direction of the vehicle; detecting a position, a moving speed, and a moving direction of the remote operation device; determining whether the vehicle is traveling in a direction away from the remote operation device or the remote operation device is moving in a direction away from the vehicle; and when the vehicle is traveling in the direction away from the remote operation device, setting the temporal interval relatively longer than that when the remote operation device is moving in the direction away from the vehicle. ### Claim 5 (depends on 2) The vehicle travel control method according to claim 2, comprising: detecting whether or not a moving object is present around the vehicle; and when the moving object is present, setting the temporal interval relatively shorter than that when the moving object is not present. ### Claim 6 (depends on 2) The vehicle travel control method according to claim 2, comprising: accumulating history information of stopping at the target stop position; and setting the temporal interval relatively longer as the number of times in histories of stopping at the target stop position is larger. ### Claim 7 A vehicle travel control apparatus comprising: a travel controller configured to perform autonomous travel control of a vehicle having an autonomous travel control function; a controller configured to calculate a route from a current position to a target stop position and output a travel command to the travel controller; a locking/unlocking controller configured to perform automatic locking/unlocking control of a locking/unlocking device for a door of the vehicle; a remote operation device configured to command to execute or stop the controller from outside of the vehicle; a distance detector configured to detect a distance between the vehicle and the remote operation device when the vehicle stops at the target stop position; and a locking time setting device configured to set a temporal interval from when the vehicle stops until the locking/unlocking device for the door is locked to a temporal interval in accordance with the distance, the locking/unlocking controller operating to: prohibit locking of the locking/unlocking device for the door while the vehicle is executing the autonomous travel control; and lock the locking/unlocking device for the door when the temporal interval set by the locking time setting device has elapsed.