# US 11,440,558 B2 · 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 11,440,558 B2 - Document ID: US11440558B2 - Status: Granted - Kind: B2 - Application number: 16/718,974 - Filed: 2019-12-18 - Published: 2020-06-25 - Granted: 2022-09-13 - Earliest claimed: 2018-12-21 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Atsushi Ishioka; Kanta Tsuji; Daiki Nishida; Shigehiro Honda; Takafumi Hirose - Web page: https://patentgrep.com/patent/US11440558B2 ## CPC - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - B60W 2050/0095: {Automatic control mode change} - B60W 2554/00: Input parameters relating to objects - 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 ## Abstract An automated driving control unit sets an automated driving state to a first automated driving state (step S3), in a case that an automated driving instruction unit has instructed the initiation of automated driving in a state in which a destination is set by a destination setting unit, sets the automated driving state to a second automated driving state (step S4), in a case that the automated driving instruction unit has instructed the initiation of automated driving in a state in which the destination is not set by the destination setting unit, and causes the automated driving state to transition from the first automated driving state to the second automated driving state (step S13), in a case that a current travel position lies outside of a travel route during the travel control in the first automated driving state. ## Claims ### Claim 1 A vehicle control device, comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the vehicle control device to: instruct initiation of automated driving of a host vehicle by an operation of a vehicle occupant; set a destination by an operation of the vehicle occupant, together with generating a travel route, including one or more travel lanes, to the destination in accordance with setting of the destination; specify a travel position of the host vehicle; set an automated driving state, together with performing a travel control for the host vehicle in accordance with the automated driving state; set the automated driving state to a first automated driving state in which the host vehicle is made to travel by the automated driving to the destination, in a case that the initiation of automated driving is instructed in a state in which the destination has been set; and set the automated driving state to a second automated driving state in which the host vehicle is made to travel by the automated driving along a road, in a case that the initiation of automated driving is instructed in a state in which the destination has not been set wherein in a case that a current travel position lies outside of a recommended lane included in the one or more travel lanes during the travel control in the first automated driving state, the one or more processors cause the vehicle control device to transition the automated driving state from the first automated driving state to the second automated driving state. ### Claim 2 (depends on 1) The vehicle control device according to claim 1, wherein: after the automated driving state has transitioned from the first automated driving state to the second automated driving state, the one or more processors cause the vehicle control device to generate a new travel route to the destination; and in a case that the current travel position lies inside of a new recommended lane included in the new travel route, the one or more processors cause the vehicle control device to cause the automated driving state to transition from the second automated driving state to the first automated driving state. ### Claim 3 (depends on 1) The vehicle control device according to claim 1, wherein the one or more processors cause the vehicle control device to issue a notification to the vehicle occupant that the automated driving state will be changed when the automated driving state transitions. ### Claim 4 (depends on 1) The vehicle control device according to claim 1, wherein the one or more processors cause the vehicle control device to: set the recommended lane in the travel route in which the one or more travel lanes are included; determine whether or not the host vehicle is traveling in the recommended lane; in a case that the host vehicle is traveling outside of the recommended lane, cause the automated driving state to transition from the first automated driving state to the second automated driving state; and in a case that a lane change control into the recommended lane is performed in the second automated driving state, cause the automated driving state to transition to the first automated driving state. ### Claim 5 (depends on 1) The vehicle control device according to claim 1, wherein the one or more processors cause the vehicle control device to: set the recommended lane in the travel route in which the one or more travel lanes are included; determine whether or not the host vehicle is traveling in the recommended lane; estimate a remaining distance from the travel position to a branching point of the recommended lane, or a remaining time from the travel position to the branching point; in a case that the remaining distance is longer than a predetermined distance, or in a case that the remaining time is longer than a predetermined time period, and in a case that the host vehicle is traveling outside of the recommended lane, maintain the automated driving state in the first automated driving state; and in a case that the remaining distance is shorter than the predetermined distance, or in a case that the remaining time is shorter than the predetermined time period, and in the case that the host vehicle is traveling outside of the recommended lane, cause the automated driving state to transition from the first automated driving state to the second automated driving state. ### Claim 6 (depends on 1) The vehicle control device according to claim 1, wherein the one or more processors cause the vehicle control device to: set the recommended lane in the travel route in which the one or more travel lanes are included; determine whether or not the host vehicle is traveling in the recommended lane; in a case that the host vehicle is traveling outside of the recommended lane, perform a lane change control into the recommended lane; and in a case that the destination is deleted or changed during the lane change control, determine whether to stop or continue the lane change control based on a degree of progress of the lane change. ### Claim 7 A vehicle control device, comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the vehicle control device to: instruct initiation of automated driving of a host vehicle by an operation of a vehicle occupant; set a destination by an operation of the vehicle occupant, together with generating a travel route to the destination in accordance with setting of the destination; specify a travel position of the host vehicle; set an automated driving state, together with performing a travel control for the host vehicle in accordance with the automated driving state; and issue a notification to the vehicle occupant; wherein the one or more processors cause the vehicle control device to: set the automated driving state to a first automated driving state in which the host vehicle is made to travel by the automated driving to the destination, in a case that the initiation of automated driving is instructed in a state in which the destination has been set; set the automated driving state to a second automated driving state in which the host vehicle is made to travel by the automated driving along a road, in a case that the initiation of automated driving is instructed in a state in which the destination has not been set; and perform a lane change control in the first automated driving state and the second automated driving state; and issue a first notification in a case that the lane change control is suspended in the first automated driving state, and issue a second notification that differs from the first notification in a case that the lane change control is suspended in the second automated driving state. ### Claim 8 A vehicle control device, comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the vehicle control device to: instruct initiation of automated driving of a host vehicle by an operation of a vehicle occupant; set a destination by an operation of the vehicle occupant, together with generating a travel route to the destination in accordance with setting of the destination; and set an automated driving state, together with performing a travel control for the host vehicle in accordance with the automated driving state; set the automated driving state to a first automated driving state in which the host vehicle is made to travel by the automated driving to the destination, in a case that the initiation of automated driving is instructed in a state in which the destination has been set; set the automated driving state to a second automated driving state in which the host vehicle is made to travel by the automated driving along a road, in a case that the initiation of automated driving is instructed in a state in which the destination has not been set; and prohibit a lane change operation by the automated driving, in a case that the destination is canceled or changed during the travel control in the first automated driving state.