# US 11,993,292 B2 · Automatic driving control apparatus for vehicle based on driving skill of driver > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,292 B2 - Document ID: US11993292B2 - Status: Granted - Kind: B2 - Application number: 16/933,393 - Filed: 2020-07-20 - Published: 2021-03-18 - Granted: 2024-05-28 - Earliest claimed: 2019-09-18 - Assignees: Subaru Corporation - Applicants: Subaru Corporation - Inventors: Ryosuke Namba; Hajime Oyama; Masato Mizoguchi; Keisuke Kuwahara - Web page: https://patentgrep.com/patent/US11993292B2 ## CPC - B60W 60/0051: {from occupants to vehicle} - B60W 40/08: related to drivers or passengers - B60W 40/109: Lateral acceleration - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - B60W 2040/0809: {Driver authorisation; Driver identity check} - B60W 2520/105: Longitudinal acceleration - B60W 2540/30: Driving style - B60W 2554/801: Lateral distance - 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 ## Abstract A automatic driving control apparatus for a vehicle can selectively switch a driving mode between a manual driving mode in which a driver manually performs driving operation of the own vehicle and an automatic driving mode in which driving operation is performed automatically along a set target traveling route. The automatic driving control apparatus includes a driving skill evaluation unit and a driving mode switching unit. The driving skill evaluation unit is configured to monitor the driving operation by the driver during traveling in the manual driving mode and evaluate a driving skill of the driver. The driving mode switching unit is configured to control the driving mode so as to be switchable to the automatic driving mode on condition that at least an evaluation value of the driver by the driving skill evaluation unit exceeds a threshold set in advance. ## Claims ### Claim 1 An automatic driving control apparatus for a vehicle, the vehicle having a driving mode that switches between 1) a manual driving mode in which a driver manually performs driving operation of the vehicle and 2) an automatic driving mode in which driving operation is performed automatically along a set target traveling route, the automatic driving control apparatus comprising: at least one processor configured to: acquire information associated with the driver; determine, based on the acquired information associated with the driver, whether the driver of the vehicle has previously been permitted to drive the vehicle under the automatic driving mode; in response to determining that the driver of the vehicle has not previously been permitted to drive the vehicle under the automatic driving mode: monitor the driving operation of the vehicle performed manually by the driver while the vehicle travels in the manual driving mode; evaluate a driving skill of the driver based on the monitored driving operation of the vehicle performed manually by the driver; when an evaluation value of the driving skill of the driver is higher than or equal to a threshold level required to operate the vehicle in the manual driving mode, control the driving mode of the vehicle to switch from the manual driving mode to the automatic driving mode; and when the evaluation value of the driving skill of the driver is lower than the threshold level, calculate, based on the evaluation value, a shift permission time period required for the driver to drive the vehicle under the manual driving mode prior to being permitted to switch from the manual driving mode to the automatic driving mode; and permit the driving mode of the vehicle to switch from the manual driving mode to the automatic driving mode for the driver having the evaluation value of the driving skill lower than the threshold level when the driver drives the vehicle under the manual driving mode for the calculated shift permission time period; and in response to determining that the driver of the vehicle has previously been permitted to drive the vehicle under the automatic driving mode: skip the evaluation of the driving skill of the driver; and proceed to control the driving mode of the vehicle to switch from the manual driving mode to the automatic driving mode without performing the evaluation of the driving skill of the driver. ### Claim 2 (depends on 1) The automatic driving control apparatus according to claim 1, further comprising a traveling environment recognizer configured to recognize a traveling environment outside the vehicle, wherein the at least one processor evaluates the driving skill of the driver on a basis of a behavior of the driver while the vehicle travels in a predetermined range with respect to the recognized traveling environment. ### Claim 3 (depends on 2) The automatic driving control apparatus according to claim 2, wherein the at least one processor calculates the evaluation value to be lower as at least a number of times acceleration/deceleration of the vehicle exceeds a predetermined threshold increases. ### Claim 4 (depends on 2) The automatic driving control apparatus according to claim 2, wherein the at least one processor calculates the evaluation value to be lower as a number of times by which lateral displacement occurs with respect to a center of a traveling path of the vehicle recognized by the traveling environment recognizer increases. ### Claim 5 (depends on 2) The automatic driving control apparatus according to claim 2, wherein the at least one processor calculates the evaluation value to be lower as a number of times by which unsteady driving occurs with respect to a traveling path of the vehicle recognized by the traveling environment recognizer increases. ### Claim 6 (depends on 2) The automatic driving control apparatus according to claim 2, wherein the at least one processor calculates the evaluation value to be lower as at least a number of times lateral acceleration of the vehicle exceeds a predetermined threshold increases. ### Claim 7 (depends on 2) The automatic driving control apparatus according to claim 2, wherein the predetermined range is a predetermined distance or a predetermined time. ### Claim 8 (depends on 3) The automatic driving control apparatus according to claim 3, wherein the predetermined range is a predetermined distance or a predetermined time. ### Claim 9 (depends on 4) The automatic driving control apparatus according to claim 4, wherein the predetermined range is a predetermined distance or a predetermined time. ### Claim 10 (depends on 1) The automatic driving control apparatus according to claim 1, wherein the automatic driving control apparatus further comprises a driver identification unit configured to identify the driver, and wherein when the driver is recognized as being previously identified by the driver identification unit, the at least one processor evaluates the driving skill of the driver based on i) previously evaluated driving skill of the driver evaluated when the driver was previously identified by the driver identification unit and ii) currently evaluated driving skill of the driver. ### Claim 11 (depends on 2) The automatic driving control apparatus according to claim 2, wherein the automatic driving control apparatus further comprises a driver identification unit configured to identify the driver, and wherein when the driver is recognized as being previously identified by the driver identification unit, the at least one processor evaluates the driving skill of the driver based on i) previously evaluated driving skill of the driver evaluated when the driver was previously identified by the driver identification unit and ii) currently evaluated driving skill of the driver. ### Claim 12 (depends on 3) The automatic driving control apparatus according to claim 3, wherein the automatic driving control apparatus further comprises a driver identification unit configured to identify the driver, and wherein when the driver is recognized as being previously identified by the driver identification unit, the at least one processor evaluates the driving skill of the driver based on i) previously evaluated driving skill of the driver evaluated when the driver was previously identified by the driver identification unit and ii) currently evaluated driving skill of the driver. ### Claim 13 (depends on 4) The automatic driving control apparatus according to claim 4, wherein the automatic driving control apparatus further comprises a driver identification unit configured to identify the driver, and wherein when the driver is recognized as being previously identified by the driver identification unit, the at least one processor evaluates the driving skill of the driver based on i) previously evaluated driving skill of the driver evaluated when the driver was previously identified by the driver identification unit and ii) currently evaluated driving skill of the driver. ### Claim 14 (depends on 1) The automatic driving control apparatus according to claim 1, wherein the at least one processor is configured to calculate the shift permission time period such that the shift permission time period becomes shorter as the calculated evaluation value of the driving skill becomes higher. ### Claim 15 A automatic driving control apparatus for a vehicle, the vehicle having a driving mode that switches between 1) a manual driving mode in which a driver manually performs driving operation of the vehicle and 2) an automatic driving mode in which driving operation is performed automatically along a set target traveling route, the automatic driving control apparatus comprising circuitry configured to: acquire information associated with the driver; determine, based on the acquired information associated with the driver, whether the driver of the vehicle has previously been permitted to drive the vehicle under the automatic driving mode; in response to determining that the driver of the vehicle has not previously been permitted to drive the vehicle under the automatic driving mode: monitor the driving operation of the vehicle by the driver while the vehicle travels in the manual driving mode; evaluate a driving skill of the driver based on the monitored driving operation of the vehicle by the driver; when an evaluation value of the driving skill of the driver is higher than or equal to a threshold level required to operate the vehicle in the manual driving mode, control the driving mode of the vehicle to switch to the automatic driving mode; when the evaluation value of the driving skill of the driver is lower than the threshold level, calculate, based on the evaluation value, a shift permission time period required for the driver to drive the vehicle under the manual driving mode prior to being permitted to switch from the manual driving mode to the automatic driving mode; and permit the driving mode of the vehicle to switch from the manual driving mode to the automatic driving mode for the driver having the evaluation value of the driving skill lower than the threshold level when the driver drives the vehicle under the manual driving mode for the calculated shift permission time period; and in response to determining that the driver of the vehicle has previously been permitted to drive the vehicle under the automatic driving mode: skip the evaluation of the driving skill of the driver; and proceed to control the driving mode of the vehicle to switch from the manual driving mode to the automatic driving mode without performing the evaluation of the driving skill of the driver. ### Claim 16 (depends on 15) The automatic driving control apparatus according to claim 15, wherein the circuitry is configured to calculate the shift permission time period such that the shift permission time period becomes shorter as the calculated evaluation value of the driving skill becomes higher.