# US 11,897,482 B2 · Autonomous vehicle control for changing grip completion status in real-time to prevent unnecessary warning issuance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,482 B2 - Document ID: US11897482B2 - Status: Granted - Kind: B2 - Application number: 17/366,926 - Filed: 2021-07-02 - Published: 2022-01-27 - Granted: 2024-02-13 - Earliest claimed: 2020-07-21 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Kiyotoshi Sekine; Takahiko Kuwabara - Web page: https://patentgrep.com/patent/US11897482B2 ## CPC - B60W 40/09: Driving style or behaviour - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - B60W 30/18109: {Braking} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - 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} - G08G 1/0141: {for traffic information dissemination} - G08G 1/0967: Systems involving transmission of highway information, e.g. weather, speed limits (transmission of navigation instructions to the vehicle G08G1/0968) - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2040/0872: {Driver physiology} - B60W 2050/143: {Alarm means} - B60W 2540/223: Posture, e.g. hand, foot, or seat position, turned or inclined - B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping - G01S 17/931: of land vehicles - 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}) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A control device for a vehicle is configured to request that a driver grip a steering wheel at the time of a predetermined driving scene, judge whether a steering wheel grip status is a one-handed grip status or a two-handed grip status, and judge based on the steering wheel grip status whether the status is a grip completion status where the steering wheel has finished being gripped. The control device is further configured to change whether to judge the status is a grip completion status if at least a one-handed grip status or to judge whether the status is a grip completion status only if a two-handed grip status in accordance with the driving scene. ## Claims ### Claim 1 A control device for a vehicle, wherein the control device comprises a processor being configured to: perform automated driving for automatically performing a driving operation of the vehicle; request that a driver grip a steering wheel in response to determining that a current driving scene, determined based at least on information collected by sensors in the vehicle, corresponds to a predetermined driving scene; after the request has been made: judge based on input information from the driver on the steering wheel whether a steering wheel grip status is a one-handed grip status or a two-handed grip status; in response to judging that the steering wheel grip status is the two-handed grip status, automatically judge that the steering wheel grip status is a grip completion status where the gripping of the steering wheel is considered finished; in response to judging that the steering wheel grip status is the one-handed grip status, further judge at a time point later than when the request was made, whether the predetermined driving scene corresponds to a first type where the one-handed grip status would be sufficient for the grip completion status or corresponds to a second type where the two-hand grip status would be required for the grip completion status; in response to judging that the predetermined driving scene corresponds to the first type, judge that the steering wheel grip status is the grip completion status; and in response to judging that the predetermined driving scene corresponds to the second type, issue a warning. ### Claim 2 (depends on 1) The control device for the vehicle according to claim 1, wherein the processor is configured so that, when the predetermined driving scene is a scene requesting the driver to prepare for a driving operation relating to steering, including a case of merging into a lane or approaching a preceding vehicle, the processor judges that the predetermined driving scene corresponds to the second type and the two-handed grip status is required for the grip completion status. ### Claim 3 (depends on 1) The control device for the vehicle according to claim 1, wherein the processor is configured so that, when the predetermined driving scene is a scene requiring an ability of the driver to avoid danger to be enhanced, including a case in which the driver was asleep at the steering wheel or was distracted from driving for a preset period of time, the processor judges that the predetermined driving scene corresponds to the second type and the two-handed grip status is required for the grip completion status. ### Claim 4 (depends on 1) The control device of the vehicle according to claim 1, wherein the processor is configured so that, when the predetermined driving scene is a scene requesting the driver to prepare for a driving operation relating to braking, including a case in which a braking distance is expected to increase due to a change in a road surface condition due to weather, the processor judges that the predetermined driving scene corresponds to the first type and the one-handed grip status is sufficient for the grip completion status. ### Claim 5 (depends on 1) The control device for the vehicle according to claim 1, wherein the processor is configured so that, when the predetermined driving scene is a scene where it is not possible to determine a condition of the driver, including a case in which a status of the driver cannot be determined due to glare or a problem in a driver monitor camera in the vehicle, the processor judges that the predetermined driving scene corresponds to the first type the one-handed grip status is sufficient for the grip completion status. ### Claim 6 (depends on 1) The control device for the vehicle according to claim 1, wherein the processor is further configured to: issue a first warning to the driver so as to grip the steering wheel by both hands through an information provision device for providing information to the driver when the steering wheel grip status of the driver is the one-handed grip status in the case where the grip completion status requires the steering wheel grip status to be the two-handed grip status; and issue a second warning stronger in warning degree than the first warning through the information provision device when the steering wheel grip status remains to be the one-handed grip status even after a predetermined time has elapsed from when the first warning issued. ### Claim 7 A control method for an automated driven vehicle, the control method comprising: a grip request step for requesting a driver to grip a steering wheel in response to determining that a current driving scene, determined based at least on information collected by sensors in the vehicle, corresponds to a predetermined driving scene; after the grip request step: a grip status judging step for judging based on input information from the driver on the steering wheel whether a steering wheel grip status is a one-handed grip status or a two-handed grip status; and a grip completion judging step for: in response to judging that the steering wheel grip status is the two-handed grip status, automatically judging that the steering wheel grip status is a grip completion status where the gripping of the steering wheel is considered finished; and in response to judging that the steering wheel grip status is the one-handed grip status, further judging at a time point later than when the grip request step was performed, whether the predetermined driving scene corresponds to a first type where the one-handed grip status would be sufficient for the grip completion status or corresponds to a second type where the two-hand grip status would be required for the grip completion status; in response to judging that the predetermined driving scene corresponds to the first type, judging that the steering wheel grip status is the grip completion status; and in response to judging that the predetermined driving scene corresponds to the second type, issuing a warning. ### Claim 8 A nontransitory recording medium provided with a computer program which, when executed, cause a computer to: request a driver to grip a steering wheel in response to determining that a current driving scene, determined based at least on information collected by sensors in the vehicle, corresponds to a predetermined driving scene; after the request has been made: judge based on input information from the driver on the steering wheel whether a steering wheel grip status is a one-handed grip status or a two-handed grip status; in response to judging that the steering wheel grip status is the two-handed grip status, automatically judge that the steering wheel grip status is a grip completion status where the gripping of the steering wheel is considered finished; and in response to judging that the steering wheel grip status is the one-handed grip status, further judge at a time point later than when the request was made, whether the predetermined driving scene corresponds to a first type where the one-handed grip status would be sufficient for the grip completion status or corresponds to a second type where the two-hand grip status would be required for the grip completion status in response to judging that the predetermined driving scene corresponds to the first type, judge that the steering wheel grip status is the grip completion status; and in response to judging that the predetermined driving scene corresponds to the second type, issue a warning. ### Claim 9 (depends on 1) The control device for the vehicle according to claim 1, wherein the control device continues to perform the automated driving after judging that the steering wheel grip status is the grip completion status.