# US 11,307,586 B2 · Offroad travel assistance system for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,586 B2 - Document ID: US11307586B2 - Status: Granted - Kind: B2 - Application number: 16/792,716 - Filed: 2020-02-17 - Published: 2021-08-19 - Granted: 2022-04-19 - Earliest claimed: 2020-02-17 - Assignees: Toyota Motor Engineering & Manufacturing North America, Inc. - Applicants: Toyota Motor Engineering & Manufacturing North America, Inc. - Inventors: Kevin J. James - Web page: https://patentgrep.com/patent/US11307586B2 ## CPC - B60W 40/09: Driving style or behaviour - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - B60W 60/001: {Planning or execution of driving tasks} - B60W 60/0015: {specially adapted for safety} - B60W 60/00184: {related to infrastructure} - B60W 60/0053: {from vehicle to occupant} - B60W 60/0055: {only part of driving tasks shifted to occupants} - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - G07C 5/0808: {Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005)} - B60W 2040/0809: {Driver authorisation; Driver identity check} - B60W 2300/185: Off-road vehicles - B60W 2540/215: Selection or confirmation of options - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 ## Abstract An offroad travel assistance system for a user vehicle includes one or more processors and a memory communicably coupled to the one or more processors and storing a user vehicle configuration evaluation module including computer-readable instructions that when executed by the one or more processors cause the one or more processors to determine if user vehicle configuration information describing the user vehicle is consistent with ride information similar to the user vehicle configuration information and describing a traversal of an offroad trail by a reference vehicle and, responsive to a determination that the user vehicle configuration information is not consistent with the ride information, autonomously control at least one portion of the user vehicle so as to prevent operation of the user vehicle to traverse the offroad trail. ## Claims ### Claim 1 An offroad travel assistance system for a user vehicle, the system comprising: one or more processors; and a memory communicably coupled to the one or more processors and storing a user vehicle configuration evaluation module including computer-readable instructions that when executed by the one or more processors cause the one or more processors to: determine if user vehicle configuration information describing the user vehicle is consistent with ride information similar to the user vehicle configuration information and describing a traversal of an offroad trail by a reference vehicle; responsive to a determination that the user vehicle configuration information is not consistent with the ride information, control at least one portion of the user vehicle so as to autonomously prevent manual operation of the user vehicle to traverse the offroad trail; responsive to a determination that the user vehicle configuration information is consistent with the ride information: determine if the reference vehicle encountered, during traversal of the offroad trail, a special condition which may require that supplemental vehicle system(s) and/or component(s) be installed in the user vehicle to enable the user vehicle to traverse the offroad trail; responsive to a determination that the reference vehicle encountered a special condition during traversal of the offroad trail, determine if the user vehicle is currently configured to traverse the offroad trail with regard to the special condition; and responsive to a determination that the user vehicle is not currently configured to traverse the offroad trail with regard to the special condition, check for user vehicle-compatible supplemental equipment that may be added to the user vehicle to facilitate trail traversal without damage. ### Claim 2 (depends on 1) The offroad travel assistance system of claim 1 wherein the memory further stores an autonomous driving module including computer-readable instructions that when executed by the one or more processors cause the one or more processors to autonomously operate the user vehicle so as to traverse the offroad trail. ### Claim 3 (depends on 2) The offroad travel assistance system of claim 2 wherein the autonomous driving module includes computer-readable instructions that when executed by the one or more processors cause the one or more processors to autonomously control operation of the user vehicle so as to traverse the offroad trail responsive to a user overriding autonomous control of the at least one portion of the user vehicle directed to preventing operation of the user vehicle to begin to drive the offroad trail. ### Claim 4 (depends on 3) The offroad travel assistance system of claim 3 wherein the autonomous driving module further includes computer-readable instructions that when executed by the one or more processors cause the one or more processors to enable a user to instruct the autonomous driving module to automatically autonomously operate the user vehicle so as to traverse the offroad trail when the user overrides autonomous control of the at least one portion of the user vehicle directed to preventing operation of the user vehicle to begin to drive the offroad trail. ### Claim 5 (depends on 2) The offroad travel assistance system of claim 2 wherein the autonomous driving module includes computer-readable instructions that when executed by the one or more processors cause the one or more processors to autonomously operate the user vehicle so as to traverse the offroad trail responsive to a determination that the user vehicle configuration information is consistent with the ride information similar to the user vehicle configuration information. ### Claim 6 (depends on 5) The offroad travel assistance system of claim 5 wherein the autonomous driving module further includes computer-readable instructions that when executed by the one or more processors cause the one or more processors to enable a user to instruct the autonomous driving module to automatically autonomously operate the user vehicle so as to traverse the offroad trail responsive to a determination that the user vehicle configuration information is consistent with the ride information. ### Claim 7 (depends on 1) The offroad travel assistance system of claim 1, wherein the user vehicle configuration evaluation module further includes instructions that when executed by the one or more processors cause the one or more processors to, responsive to autonomous control of at least one portion of the user vehicle so as to prevent operation of the user vehicle to traverse the offroad trail, enable a user to override autonomous control of the at least one portion of the user vehicle directed to preventing operation of the user vehicle to begin to drive the offroad trail. ### Claim 8 (depends on 1) The offroad travel assistance system of claim 1 wherein the user vehicle configuration evaluation module includes instructions that when executed by the one or more processors cause the one or more processors to: compare user vehicle configuration information including at least one operating specification of a system of the user vehicle with ride information relating to operation of a corresponding system of the reference vehicle during traversal of the offroad trail by the reference vehicle; and responsive to any operation of the corresponding system of the reference vehicle during traversal of the offroad trail by the reference vehicle being outside the at least one operating specification of the system of the user vehicle, determine that the user vehicle configuration information is not consistent with the ride information. ### Claim 9 (depends on 8) The offroad travel assistance system of claim 8 wherein the system of the user vehicle is an active suspension system of the user vehicle and the system of the reference vehicle is an active suspension system of the reference vehicle. ### Claim 10 (depends on 8) The offroad travel assistance system of claim 8 wherein the memory further stores a user vehicle configuration modification module including instructions that when executed by the one or more processors cause the one or more processors to: responsive to a determination that an operation of the corresponding system of the reference vehicle during traversal of the offroad trail was outside the at least one operating specification of the system of the user vehicle, determine at least one alternative corresponding user vehicle system compatible with the user vehicle and which is operable such that the operation of the corresponding system of the reference vehicle during traversal of the offroad trail would be within an operating specification of the alternative corresponding user vehicle system when the alternative corresponding user vehicle system is substituted in the user vehicle for the system of the user vehicle. ### Claim 11 (depends on 1) The offroad travel assistance system of claim 1 wherein the user vehicle configuration evaluation module includes instructions that when executed by the one or more processors cause the one or more processors to: compare user vehicle configuration information including at least one operating specification of a component of the user vehicle with ride information relating to operations of a corresponding component of the reference vehicle during traversal of the offroad trail by the reference vehicle; and responsive to any operation of the corresponding component of the reference vehicle during traversal of the offroad trail by the reference vehicle being outside the at least one operating specification of the component of the user vehicle, determine that the user vehicle configuration information is not consistent with the ride information. ### Claim 12 (depends on 11) The offroad travel assistance system of claim 11 wherein the memory further stores a user vehicle configuration modification module including instructions that when executed by the one or more processors cause the one or more processors to: responsive to a determination that an operation of the corresponding component of the reference vehicle during traversal of the offroad trail was outside the at least one operating specification of the component of the user vehicle, determine at least one alternative corresponding user vehicle component compatible with the user vehicle and which is operable such that the operation of the corresponding component of the reference vehicle during traversal of the offroad trail would be within an operating specification of the alternative corresponding user vehicle component when the alternative corresponding user vehicle component is substituted in the user vehicle for the component of the user vehicle. ### Claim 13 (depends on 1) The offroad travel assistance system of claim 1, wherein the user vehicle configuration evaluation module further includes instructions that when executed by the one or more processors cause the one or more processors to, responsive to a determination that the user vehicle configuration information is not consistent with the ride information, generate a message indicating that a current configuration of the user vehicle has been determined to be unsuitable for traversing the offroad trail. ### Claim 14 A vehicle comprising an offroad travel assistance system the system comprising: one or more processors; and a memory communicably coupled to the one or more processors and storing a user vehicle configuration evaluation module including computer-readable instructions that when executed by the one or more processors cause the one or more processors to: determine if user vehicle configuration information describing the user vehicle is consistent with ride information similar to the user vehicle configuration information and describing a traversal of an offroad trail by a reference vehicle; responsive to a determination that the user vehicle configuration information is not consistent with the ride information, control at least one portion of the user vehicle so as to autonomously prevent manual operation of the user vehicle to traverse the offroad trail; responsive to a determination that the user vehicle configuration information is consistent with the ride information: determine if the reference vehicle encountered, during traversal of the offroad trail, a special condition which may require that supplemental vehicle system(s) and/or component(s) be installed in the user vehicle to enable the user vehicle to traverse the offroad trail; responsive to a determination that the reference vehicle encountered a special condition during traversal of the offroad trail, determine if the user vehicle is currently configured to traverse the offroad trail with regard to the special condition; and responsive to a determination that the user vehicle is not currently configured to traverse the offroad trail with regard to the special condition, check for user vehicle-compatible supplemental equipment that may be added to the user vehicle to facilitate trail traversal without damage. ### Claim 15 A method of controlling operation of a user vehicle, the method comprising steps of: determining if user vehicle configuration information describing the user vehicle is consistent with ride information similar to the user vehicle configuration information and describing a traversal of an offroad trail by a reference vehicle; responsive to a determination that the user vehicle configuration information is not consistent with the ride information, autonomously controlling at least one portion of the user vehicle so as to prevent operation of the user vehicle to traverse the offroad trail; responsive to a determination that the user vehicle configuration information is consistent with the ride information, determining if the reference vehicle encountered, during traversal of the offroad trail, a special condition which may require that supplemental vehicle system(s) and/or component(s) be installed in the vehicle to enable the vehicle to traverse the offroad trail; responsive to a determination that the reference vehicle encountered a special condition during traversal of the offroad trail, determining if the user vehicle is currently configured to traverse the offroad trail with regard to the special condition; and responsive to a determination that the user vehicle is not currently configured to traverse the offroad trail with regard to the special condition, checking for user vehicle-compatible supplemental equipment that may be added to the user vehicle to facilitate trail traversal without damage. ### Claim 16 (depends on 15) The method of claim 15 further comprising the step of autonomously controlling operation of the user vehicle so as to traverse the offroad trail responsive to a user overriding autonomous control of the at least one portion of the user vehicle directed to preventing operation of the user vehicle to begin to drive the offroad trail. ### Claim 17 (depends on 15) The method of claim 15 further comprising the step of autonomously operating the user vehicle so as to traverse the offroad trail responsive to a determination that the user vehicle configuration information is consistent with the ride information similar to the user vehicle configuration information.