# US 11,440,566 B2 · Vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,566 B2 - Document ID: US11440566B2 - Status: Granted - Kind: B2 - Application number: 17/005,998 - Filed: 2020-08-28 - Published: 2021-03-04 - Granted: 2022-09-13 - Earliest claimed: 2019-08-29 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Taichi Kawanai - Web page: https://patentgrep.com/patent/US11440566B2 ## CPC - B60W 60/0015: {specially adapted for safety} - B60W 10/18: including control of braking systems - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 60/00: Drive control systems specially adapted for autonomous road vehicles - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - B60W 2554/20: Static objects - B60W 2554/40: Dynamic objects, e.g. animals, windblown objects - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/20: Data confidence level - B60W 2720/106: Longitudinal acceleration - 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 - 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 Setting processing of a target acceleration is executed based on a deceleration feature. In the deceleration feature, a relationship between deceleration and a state of a slowdown target of a vehicle is defined. In the deceleration feature, the state is divided into multiple phases by a predetermined boundary deceleration. In the setting processing, at least one deceleration corresponding to the state is specified. Also, a plausibility indicating an accuracy of information on the state or the accuracy of information associated with the state is calculated for each of the at least one deceleration. Further, a minimum value of the at least one deceleration is specified. Based on a phase to which the minimum value belongs in the deceleration feature and a minimum value plausibility indicating a plausibility corresponding to the minimum value, the minimum value is reflected to a target acceleration in a reflection degree of 0 to 100%. ## Claims ### Claim 1 A vehicle control system in which automated driving control of a vehicle is executed, the vehicle control system comprising: an acquiring device which is configured to acquire driving environment information of the vehicle; and a controller which is configured to execute the automated driving control based on the driving environment information, wherein, in the automated driving control, the controller is configured to execute deceleration setting processing in which a target deceleration is set based on a deceleration feature, wherein a relationship between deceleration and a state of a slowdown target of the vehicle is defined in the deceleration feature, wherein: relative speed of the slowdown target and a distance from the slowdown target to the vehicle are included in the state; and the state is divided into multiple phases by a predetermined boundary deceleration in the deceleration feature, wherein, in the deceleration setting processing, the controller is configured to: specify, based on the driving environment information and the deceleration feature, at least one deceleration corresponding to the state; calculate for each of the at least one deceleration a plausibility indicating an accuracy of information on the state or the accuracy of information associated with the state; specify a minimum value of the at least one deceleration; and reflect the minimum value to the target deceleration with a reflection degree of 0 to 100% based on a minimum value phase indicating a phase to which the minimum value belongs in the deceleration feature and a minimum value plausibility indicating the plausibility corresponding to the minimum value. ### Claim 2 (depends on 1) The vehicle control system according to claim 1, wherein: the boundary deceleration includes a first deceleration which corresponds to a maximum deceleration of the vehicle; and in the deceleration setting processing, the controller is configured to set the reflection degree to 100% regardless of the minimum value plausibility when the minimum value phase belongs to a phase located closer to a rapid deceleration side than the first deceleration. ### Claim 3 (depends on 1) The vehicle control system according to claim 1, wherein: the boundary deceleration includes a second deceleration which corresponds to a minimum deceleration of the vehicle; and in the deceleration setting processing, the controller is configured to set the reflection degree to 0% regardless of the minimum value plausibility when minimum value phase belongs to a phase located closer to a slow deceleration side than the second deceleration. ### Claim 4 (depends on 1) The vehicle control system according to claim 1, wherein: the boundary deceleration includes a first deceleration which corresponds to a maximum deceleration of the vehicle, a second deceleration which corresponds to a minimum deceleration of the vehicle, and a third deceleration which corresponds to a deceleration between the maximum deceleration and the minimum deceleration; and in the deceleration setting processing, the controller is configured to change the reflection degree according to specified total number of the at least one deceleration when the minimum value phase belongs to a phase located between the first and third deceleration, wherein: the reflection degree is set to 100% when the specified total number is one; and the reflection degree is set to a value between 0 and 100% depending on the minimum value plausibility when the specified total number is two or more. ### Claim 5 (depends on 1) The vehicle control system according to claim 1, wherein: the boundary deceleration includes a first deceleration which corresponds to a maximum deceleration of the vehicle, a second deceleration which corresponds to a minimum deceleration of the vehicle, and a third deceleration which corresponds to a deceleration between the maximum deceleration and the minimum deceleration; and in the deceleration setting processing, the controller is configured to change the reflection degree according to a result of comparing the minimum value plausibility with a threshold when the minimum value phase belongs to a phase located between the second and third deceleration, wherein: the reflection degree is set to 100% when the minimum value plausibility is equal to or greater than the threshold; and the reflection degree is set to 0% when the minimum value plausibility is less than the threshold. ### Claim 6 (depends on 1) The vehicle control system according to claim 1, wherein: the slowdown target is a nearest moving or static obstacle of the vehicle on a driving trajectory of the vehicle; the driving environment information includes a distance from the moving or static obstacle to the vehicle and relative speed of the moving or static obstacle; and the plausibility is the accuracy of the state of the moving or static obstacle. ### Claim 7 (depends on 1) The vehicle control system according to claim 1, wherein: the slowdown target is a nearest traffic signal of the vehicle on a driving trajectory of the vehicle; the driving environment information includes a distance from the traffic signal to the vehicle and relative speed of the traffic signal; and the plausibility is the accuracy associated with the state of the traffic signal where the traffic signal is red or yellow. ### Claim 8 A vehicle control system in which automated driving control of a vehicle is executed, the vehicle control system comprising: an acquiring device which is configured to acquire driving environment information of the vehicle; and a controller which is configured to execute the automated driving control based on the driving environment information, wherein: in the automated driving control, the controller is configured to execute deceleration setting processing in which a target deceleration is set based on a deceleration feature; wherein a relationship between deceleration and a state of a slowdown target of the vehicle is defined in the deceleration feature, wherein: relative speed of the slowdown target and a distance from the slowdown target to the vehicle are included in the state; and the state is divided into multiple phases by a predetermined boundary deceleration in the deceleration feature, the slowdown target is a nearest moving body of the vehicle which locates laterally of a driving trajectory of the vehicle; the driving environment information includes driving speed of the vehicle and a position of the moving body; and the state is a distance from the moving body to the vehicle, assuming that the moving body moves according to a predetermined speed distribution model to enter the driving trajectory, wherein, in the deceleration setting processing, the controller is configured to: specify at least one deceleration corresponding to the distance based on the driving speed, the position and deceleration feature; calculate, for each of the at least one deceleration, probability that the moving body exists at a position on the driving trajectory that is away from the vehicle by the distance until an estimated time that the vehicle travels along the driving trajectory to reach a side of the moving body elapses; specify a minimum value of the at least one deceleration; and reflect the minimum value to the target deceleration with a reflection degree of 0 to 100% based on a minimum value phase indicating a phase to which the minimum value belongs in the deceleration feature and a minimum probability indicating the probability corresponding to the minimum value. ### Claim 9 (depends on 8) The vehicle control system according to claim 8, wherein: the driving trajectory includes at least two candidates; and in the deceleration setting processing, the controller is configured to: specify the minimum value for each of the combination of the estimated time and the at least two candidates; when at least two minimum values having a same estimated time are specified, an optimal value to be reflected to the target deceleration is selected from the at least two minimum values, wherein the controller is further configured to execute trajectory setting processing in which a target driving trajectory of the vehicle is set when the optimal value is selected, wherein, in the trajectory setting processing, the controller is configured to set a candidate corresponding to the optimal value to the target driving trajectory of the vehicle in the estimated time. ### Claim 10 A vehicle control system in which automated driving control of a vehicle is executed, the vehicle control system comprising: an acquiring device which is configured to acquire driving environment information of the vehicle; and a controller which is configured to execute the automated driving control based on the driving environment information, wherein: in the automated driving control, the controller is configured to execute deceleration setting processing in which a target deceleration is set based on a deceleration feature; wherein a relationship between deceleration and a state of a slowdown target of the vehicle is defined in the deceleration feature, wherein: relative speed of the slowdown target and a distance from the slowdown target to the vehicle are included in the state; and the state is divided into multiple phases by a predetermined boundary deceleration in the deceleration feature, the slowdown target is a nearest potential moving target of the vehicle which is set in a barrier area located laterally of a driving trajectory of the vehicle; the driving environment information includes driving speed of the vehicle and a position of the barrier area; and the state is a distance from the potential moving body to the vehicle, assuming that the potential moving body moves according to a predetermined speed distribution model to enter the driving trajectory, wherein, in the deceleration setting processing, the controller is configured to: specify at least one deceleration corresponding to the distance based on the driving speed, the position and deceleration feature; calculate, for each of the at least one deceleration, probability that the potential moving body exists at a position on the driving trajectory that is away from the vehicle by the distance until an estimated time that the vehicle travels along the driving trajectory to reach a side of the potential moving body elapses; specify a minimum value of the at least one deceleration; and reflect the minimum value to the target deceleration with a reflection degree of 0 to 100% based on a minimum value phase indicating a phase to which the minimum value belongs in the deceleration feature and a minimum probability indicating the probability corresponding to the minimum value. ### Claim 11 (depends on 10) The vehicle control system according to claim 10, wherein: the driving trajectory includes at least two candidates; and in the deceleration setting processing, the controller is configured to: specify the minimum value for each of the combination of the estimated time and the at least two candidates; when at least two minimum values having a same estimated time are specified, an optimal value to be reflected to the target deceleration is selected from the at least two minimum values, wherein the controller is further configured to execute trajectory setting processing in which a target driving trajectory of the vehicle is set when the optimal value is selected, wherein, in the trajectory setting processing, the controller is configured to set a candidate corresponding to the optimal value to the target driving trajectory of the vehicle in the estimated time.