# US 11,440,544 B2 · Vehicle control method and vehicle control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,544 B2 - Document ID: US11440544B2 - Status: Granted - Kind: B2 - Application number: 16/317,006 - Filed: 2017-06-06 - Published: 2019-07-11 - Granted: 2022-09-13 - Earliest claimed: 2016-07-12 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Nariaki Etori; Ryuji Kurosaki - Web page: https://patentgrep.com/patent/US11440544B2 ## CPC - B60W 30/17: with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go - B60R 21/00: Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks (safety belts or body harnesses in vehicles B60R22/00; seats constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats, B60N2/42; energy-absorbing arrangements for hand wheels for steering vehicles B62D1/11; energy-absorbing arrangements for vehicle steering columns B62D1/19) - B60W 30/14: {Adaptive} cruise control - B60W 50/10: Interpretation of driver requests or demands - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60W 2050/146: {Display means} - B60W 2520/04: Vehicle stop - B60W 2540/12: Brake pedal position - B60W 2540/18: Steering angle - B60W 2554/804: Relative longitudinal speed - 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 - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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}) ## Abstract A control method and a control apparatus for a vehicle are provided which allow a subject vehicle to start moving at an appropriate time during automated travel control in which the subject vehicle is controlled to make a stop without depending on a brake operation performed by the driver. The control method includes executing the automated travel control in which the subject vehicle is controlled to make a stop without depending on the braking operation performed by the driver, and when detecting a stop of a preceding vehicle during execution of the automated travel control, presenting start-moving command information for reminding the driver of a start-moving command for the subject vehicle. ## Claims ### Claim 1 A control method for a vehicle, comprising: executing automated follow-up travel control in which a subject vehicle is controlled to follow-up a preceding vehicle and to make a stop without depending on a braking operation performed by a driver; presenting start-moving command information, wherein the start-moving command information reminds the driver of a driver command used for the subject vehicle before the preceding vehicle starts moving, comprising: determining that the subject vehicle and the preceding vehicle are at a stop during execution of the automated travel control; determining that the driver does not step on a brake pedal; determining that a steering angle of steering is not a predetermined value or more; determining that a follow up control of autonomous driving is executable; and presenting the start-moving command information at a first time; and controlling the subject vehicle to start moving, comprising: commanding, by the driver command, the subject vehicle to start moving after the start-moving information is presented; determining whether the preceding vehicle is at a stop; after a period of time is determined while the preceding vehicle is at a stop, presenting the start moving command at a second time; commanding, by the driver command, the subject vehicle to start moving after the start-moving information is presented for the second time; detecting the preceding vehicle for which the stop is detected starts moving; and controlling, by a control device, the subject vehicle to start moving. ### Claim 2 (depends on 1) The control method for a vehicle according to claim 1, wherein when the subject vehicle makes the stop by detecting a stop of the preceding vehicle during the follow-up travel control in which the subject vehicle is controlled to travel to follow the preceding vehicle, the start-moving command information is presented. ### Claim 3 (depends on 2) The control method for a vehicle according to claim 2, wherein when a predetermined first period of time elapses after a vehicle speed of the subject vehicle becomes zero, a determination is made that the subject vehicle is at the stop. ### Claim 4 (depends on 3) The control method for a vehicle according to claim 3, wherein until the first period of time elapses after the vehicle speed of the subject vehicle becomes zero, the follow-up travel control is continued so that the subject vehicle is controlled to travel to follow the preceding vehicle, and after the first period of time elapses, the start-moving command information is presented and the follow-up travel control is canceled to execute follow-up waiting control of controlling the subject vehicle to make the stop until the driver commands the subject vehicle to start moving. ### Claim 5 (depends on 4) The control method for a vehicle according to claim 4, wherein when the driver commands the subject vehicle to start moving during the follow-up waiting control, the follow-up waiting control is canceled to execute the follow-up travel control. ### Claim 6 (depends on 1) The control method for a vehicle according to claim 1, wherein when the driver commands the subject vehicle to start moving, discontinuing the presentation of the start-moving command information. ### Claim 7 A control method for a vehicle, comprising: executing automated follow-up travel control in which a subject vehicle is controlled to follow-up a preceding vehicle and to make a stop without depending on a braking operation performed by a driver; when the subject vehicle and the preceding vehicle are at a stop during execution of the automated travel control and when the driver is not stepping on a brake pedal or a steering angle of steering is not a predetermined value or more, presenting start-moving command information at a first time for reminding the driver of a start-moving command for the subject vehicle before the preceding vehicle starts moving; and when the driver commands the subject vehicle to start moving after the start-moving command information is presented at the first time and when it is detected that the preceding vehicle for which the stop is detected starts moving, determining that the preceding vehicle is at a stop; after a period of time, presenting the start-moving command for a second time; and after the start-moving command is presented at the second time and after the driver commands the subject vehicle to start moving, controlling the subject vehicle to start moving. ### Claim 8 A control apparatus for a vehicle, comprising: a travel controller configured to execute automated follow-up travel control in which a subject vehicle is controlled to follow-up a preceding vehicle and to make a stop without depending on a braking operation performed by a driver; and a presentation device configured to, when the subject vehicle and the preceding vehicle are at a stop during execution of the automated travel control, present a start-moving command information at a first time for reminding the driver of a start-moving command for the subject vehicle before the preceding vehicle starts moving, the travel controller being further configured to, when the driver commands the subject vehicle to start moving after the start-moving command information is presented and when it is detected that the preceding vehicle for which the stop is detected starts moving, control the subject vehicle to start moving, wherein when a predetermined first period of time elapses and a determination is made that the driver does not step on a brake pedal, a steering angle of steering is not a predetermined value or more, and the follow-up travel control can be executed are satisfied, the start-moving command information is presented, and wherein when the preceding vehicle is determined to be at a stop for a period of time after the driver commands the subject vehicle to start moving, the presentation device is configured to display the start-move command at a second time. ### Claim 9 (depends on 1) The control method for a vehicle according to claim 1, wherein the preceding vehicle immediately precedes the subject vehicle with no intervening vehicles between the subject vehicle and the preceding vehicle.