# US 11,897,488 B2 · Autonomous driving assistance method and device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,488 B2 - Document ID: US11897488B2 - Status: Granted - Kind: B2 - Application number: 17/646,273 - Filed: 2021-12-28 - Published: 2022-05-05 - Granted: 2024-02-13 - Earliest claimed: 2017-05-16 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Kouichi Masuda; Hiroshi Ishikawa; Takahisa Yokoyama; Takehito Fujii - Web page: https://patentgrep.com/patent/US11897488B2 ## CPC - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - B60R 16/02: electric {constitutive elements} - 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) - B60R 21/01: Electrical circuits for triggering {passive} safety arrangements, {e.g. airbags, safety belt tighteners,} in case of vehicle accidents or impending vehicle accidents {(electrical circuits for transmission of signals between steering wheel and the vehicle itself B60R16/027; for electrically actuating belt retractor locking means B60R22/343)} - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 30/181: {Preparing for stopping} - B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts - B60W 60/00186: {related to the vehicle} - B60W 60/0053: {from vehicle to occupant} - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/226: Communication links with the remote-control arrangements - G05D 1/228: Command input arrangements located on-board unmanned vehicles - 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 2050/007: {Switching between manual and automatic parameter input, and vice versa} - B60W 2050/0072: {Controller asks driver to take over} - B60W 2050/0215: {Sensor drifts or sensor failures} - B60W 2050/0292: {Fail-safe or redundant systems, e.g. limp-home or backup systems} - B60W 2520/14: Yaw - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 An autonomous driving assistance device includes a manual driving control section, an autonomous driving control section, and a travelling condition determining section. If it is detected that there is a malfunction in a first sensor during control of the autonomous driving of the vehicle, the autonomous driving control section executes emergency autonomous driving until a predetermined condition is satisfied while changing, based on the determined travelling condition, a driving manner of an emergency autonomous driving as compared with a driving manner of the autonomous driving executed before no malfunctions are detected in the first sensor; and after the emergency autonomous driving is terminated, the autonomous driving assistance device being configured to selectively execute one of: causing the autonomous driving control section to stop the vehicle; and causing the manual driving control section to control the manual driving. ## Claims ### Claim 1 An autonomous driving assistance device installable to a vehicle, comprising: a manual driving control section configured to control the vehicle in accordance with manual driving by a driver of the vehicle; an autonomous driving control section configured to control autonomous driving of the vehicle using a detection result of a first sensor which detects a travelling state of the vehicle or a surrounding condition of the vehicle, the first sensor including a first yaw rate sensor used for stabilization control of the vehicle and a second yaw rate sensor used for position detection of the vehicle; a malfunction state detection section configured to detect whether there is a malfunction in the first sensor; and a travelling condition determining section configured to determine a travelling condition of the vehicle, wherein in response to it being detected that there is a malfunction in the first sensor during control of the autonomous driving of the vehicle, the autonomous driving control section is configured to execute emergency autonomous driving until a predetermined condition is satisfied while changing, based on the determined travelling condition, a driving manner of the emergency autonomous driving as compared with a driving manner of the autonomous driving executed before no malfunctions are detected in the first sensor, after the emergency autonomous driving is terminated, the autonomous driving assistance device being configured to selectively execute one of: causing the autonomous driving control section to stop the vehicle; and causing the manual driving control section to control the manual driving, and the autonomous driving control section is configured to: in response to a malfunction being detected in either one of the first yaw rate sensor and the second yaw rate sensor, control the emergency autonomous driving using the other one of the first and second yaw rate sensors; estimate a vehicle attitude using the other one of the first and second yaw rate sensors and a steering angle sensor installed to the vehicle, and determine whether the estimated vehicle attitude is stable; in response to determining that the estimated vehicle attitude is stable, continue a permitting state of braking of the vehicle for avoiding a collision with a forward vehicle that is travelling ahead of the vehicle; and in response to determining that the estimated vehicle attitude is not stable, change from the permitting state to a prohibiting state of braking of the vehicle.