# US 11,305,769 B2 · Vehicle control system, vehicle control method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,769 B2 - Document ID: US11305769B2 - Status: Granted - Kind: B2 - Application number: 16/706,934 - Filed: 2019-12-09 - Published: 2020-07-02 - Granted: 2022-04-19 - Earliest claimed: 2018-12-28 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Junpei Noguchi; Yasushi Shoda; Yuki Hara; Ryoma Taguchi; Yuta Takada - Web page: https://patentgrep.com/patent/US11305769B2 ## CPC - B60W 30/18009: {related to particular drive situations} - B60W 10/04: including control of propulsion units - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - 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 A vehicle control system includes: a recognizer that recognizes a surrounding environment of a vehicle; a driving controller that performs speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result obtained by the recognizer; and a wiper controller that controls a wiper attached to a window of the vehicle, wherein the wiper controller changes a degree of operation of the wiper according to a boarding position and a degree of approach when the vehicle moves to the boarding position at which an occupant boards the vehicle after the vehicle starts traveling under the control of the driving controller or when the vehicle starts traveling to move away from the boarding position under the control of the driving controller after the occupant alights from the vehicle. ## Claims ### Claim 1 A vehicle control system comprising: a recognizer that recognizes a surrounding environment of a vehicle; a driving controller that performs speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result obtained by the recognizer; and a wiper controller that controls a wiper attached to a window of the vehicle, wherein the wiper controller changes a degree of operation of the wiper according to a distance along a route from the vehicle to a boarding position when the vehicle moves to the boarding position at which an occupant boards the vehicle after the vehicle starts traveling under the control of the driving controller or according to a distance along a route from an alighting position to the vehicle when the vehicle starts traveling to move away from the alighting position at which the occupant alights from the vehicle under the control of the driving controller after the occupant alights from the vehicle at the alighting position. ### Claim 2 (depends on 1) The vehicle control system according to claim 1, wherein the wiper controller changes a degree of operation of the wiper according to the distance along the route from the vehicle to the boarding position at which the occupant boards the vehicle when the driving controller stops the vehicle to allow the occupant to board the vehicle after causing the vehicle to start traveling from a state in which the vehicle is parked. ### Claim 3 (depends on 1) The vehicle control system according to claim 1, wherein the wiper controller changes a degree of operation of the wiper according to the distance along the route from the vehicle to the boarding position at which the occupant boards the vehicle when the driving controller stops the vehicle to allow the occupant to board the vehicle after causing the vehicle to start traveling from a state in which the vehicle is parked in an unmanned parking area, and the position at which the occupant boards the vehicle is a boarding area determined in advance in correspondence to the unmanned parking area. ### Claim 4 (depends on 1) The vehicle control system according to claim 1, wherein the wiper controller changes a degree of operation of the wiper according to the distance along the route from the vehicle to a stopping area when the driving controller stops the vehicle in the stopping area having eaves to allow the occupant to board the vehicle after causing the vehicle to start traveling. ### Claim 5 (depends on 1) The vehicle control system according to claim 1, wherein the wiper controller decreases the degree of operation of the wiper when the recognizer recognizes a person around the boarding position at which the occupant boards the vehicle as compared to when no person is recognized. ### Claim 6 (depends on 5) The vehicle control system according to claim 5, wherein the wiper controller decreases the degree of operation of the wiper on a side in front of a position of the person recognized by the recognizer. ### Claim 7 (depends on 5) The vehicle control system according to claim 5, wherein the wiper controller restores the degree of operation of the wiper to an original state after the occupant boards the vehicle when the person recognized by the recognizer is only the occupant of the vehicle. ### Claim 8 (depends on 7) The vehicle control system according to claim 7, wherein the wiper controller decreases a degree of restoring the degree of operation of the wiper to an original state when the persons recognized by the recognizer is not only the occupant of the vehicle as compared to when the recognized person is only the occupant of the vehicle. ### Claim 9 (depends on 1) The vehicle control system according to claim 1, wherein the wiper controller causes the wiper to wipe the window before changing the degree of operation of the wiper. ### Claim 10 (depends on 1) The vehicle control system according to claim 1, wherein the wiper controller changes the degree of operation of the wiper on the basis of a position of eaves and the distance along the route from the vehicle to the boarding position when the recognizer recognizes that the eaves are present at the boarding position at which the occupant boards the vehicle. ### Claim 11 (depends on 1) The vehicle control system according to claim 1, wherein when the driving controller stops the vehicle to allow the occupant to board the vehicle after causing the vehicle to start traveling from a state in which the vehicle is parked at a parking position, the recognizer recognizes and divides a route from the parking position to the boarding position into a plurality of regions, and the wiper controller changes the degree of operation of the wiper according to which of the plurality of regions the vehicle separated from the boarding position by the distance along the route from the vehicle to the boarding position is traveling in. ### Claim 12 (depends on 11) The vehicle control system according to claim 11, wherein the recognizer recognizes and divides the route from the parking position to the boarding position into the plurality of regions by a predetermined distance. ### Claim 13 (depends on 1) The vehicle control system according to claim 1, wherein the vehicle moves to the boarding position or moves away from the alighting position after the vehicle starts traveling under the control by automated driving of the driving controller. ### Claim 14 A vehicle control method for causing a computer to execute: recognizing a surrounding environment of a vehicle; performing speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result; controlling a wiper attached to a window of the vehicle; and changing a degree of operation of the wiper according to a distance along a route from the vehicle to a boarding position when the vehicle moves to the boarding position at which the occupant boards the vehicle after the vehicle starts traveling or according to a distance along a route from an alighting position to the vehicle when the vehicle starts traveling to move away from the alighting position at which the occupant alights from the vehicle after the occupant alights from the vehicle at the alighting position. ### Claim 15 A storage medium storing a program for causing a computer to execute: recognizing a surrounding environment of a vehicle; performing speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result; controlling a wiper attached to a window of the vehicle; and changing a degree of operation of the wiper according to a distance along a route from the vehicle to a boarding position when the vehicle moves to the boarding position at which the occupant boards the vehicle after the vehicle starts traveling or according to a distance along a route from an alighting position to the vehicle when the vehicle starts traveling to move away from the alighting position at which the occupant alights from the vehicle after the occupant alights from the vehicle at the alighting position.