# US 11,999,384 B2 · Travel route generation device and control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,384 B2 - Document ID: US11999384B2 - Status: Granted - Kind: B2 - Application number: 17/619,726 - Filed: 2020-06-17 - Published: 2022-11-10 - Granted: 2024-06-04 - Earliest claimed: 2019-06-18 - Assignees: IHI Corporation - Applicants: Ihi Corporation - Inventors: Satoru Tagawa - Web page: https://patentgrep.com/patent/US11999384B2 ## CPC - B60W 60/0016: {of the vehicle or its occupants} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - B60W 60/0015: {specially adapted for safety} - G08G 1/0129: {for creating historical data or processing based on historical data} - G08G 1/0141: {for traffic information dissemination} - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/35: Road bumpiness, e.g. potholes - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W 2556/10: Historical data - B60W 2556/45: External transmission of data to or from the vehicle - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2720/10: Longitudinal speed - 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 A travel route generation device (4) includes a travel route acquisition unit (4) configured to acquire position information (Pc) about a travel route (H) for a moving object (M) to perform autonomous travel or remotely controlled travel, a surrounding environment information acquisition unit (22) configured to acquire surrounding environment information, a dangerous location detection unit (23) configured to detect dangerous locations (Pd1 to Pd3) where there is a risk of an accident from the surrounding environment information, and an information processing unit (24) configured to add dangerous location information including first information indicating the dangerous locations (Pd1 to Pd3) to the position information (Pc) corresponding to the dangerous locations (Pd1 to Pd3). ## Claims ### Claim 1 A control device comprising: a travel route generation device, the travel route generation device including: at least one memory storing instructions; and at least one processor configured to execute the instructions; wherein the at least one processor is configured to: acquire position information about a moving object and acquire surrounding environment information which is information about a surrounding environment of the moving object, when the moving object does not perform autonomous travel or remotely controlled travel; record the position information acquired as course information of a travel route along which the moving object is to perform autonomous travel or remotely controlled travel; detect dangerous locations where there is a risk of an accident when the moving object travels along the travel route, from the surrounding environment information acquired; add dangerous location information including first information indicating the dangerous locations, to course information corresponding to the dangerous locations detected of the course information recorded; and store a course information table including the course information corresponding to the dangerous locations detected and the dangerous location information added to the course information corresponding to the dangerous locations detected, in a storage unit; and wherein the at least one processor is further configured to: add the dangerous location information further including second information indicating an operation of the moving object for reducing a risk at the dangerous location, to the course information corresponding to the dangerous location detected of the course information recorded; and a travel control device, the travel control device configured to cause the moving object to perform the autonomous travel or the remotely controlled travel on the basis of the course information table stored in the storage unit, wherein the travel control device is further configured to control the travel of the moving object such that operation of the moving object indicated by the second information is performed when the moving object travels at a position of the course information to which the dangerous location information is added. ### Claim 2 (depends on 1) The control device according to claim 1, wherein the dangerous locations include at least one of a first dangerous location having a road marking and a second dangerous location where the moving object and an obstacle are in proximity to each other. ### Claim 3 (depends on 1) The control device according to claim 1, wherein the second information includes information indicating that a travel speed of the moving object is decelerated to a prescribed speed or less.