# US 12,005,889 B2 · Arithmetic operation device for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,889 B2 - Document ID: US12005889B2 - Status: Granted - Kind: B2 - Application number: 17/467,450 - Filed: 2021-09-07 - Published: 2021-12-23 - Granted: 2024-06-11 - Earliest claimed: 2019-03-08 - Assignees: Mazda Motor Corporation - Applicants: Mazda Motor Corporation - Inventors: Daisuke Horigome; Shinsuke Sakashita; Masato Ishibashi; Eiichi Hojin; Akihiro Mitani; Kiyoyuki Tsuchiyama - Web page: https://patentgrep.com/patent/US12005889B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 60/001: {Planning or execution of driving tasks} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/02: related to ambient conditions - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/0015: {specially adapted for safety} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/0028: {Mathematical models, e.g. for simulation} - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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 automotive arithmetic device includes circuitry that calculates a first candidate route based on a vehicle external environment estimated using deep learning; sets a static safe area (SA2) based on a result of recognition of a target object outside a vehicle according to a predetermined rule; and determines a target motion of the motor vehicle. The circuitry selects the first candidate route as a travel route of the motor vehicle under a condition the first candidate route is entirely within the static safe area (SA2), and does not select the first candidate route as the travel route of the motor vehicle when the first candidate route at least partially deviates from the static safe area (SA2). ## Claims ### Claim 1 An automotive arithmetic device hosted on a motor vehicle, the automotive arithmetic device comprising: circuitry configured to estimate a vehicle external environment with a learned model that was trained by deep learning based on an output from an information acquisition device that acquires information of the vehicle external environment; calculate a first candidate route based on an estimation result previously obtained; recognize a target object outside the motor vehicle based on the output from the information acquisition device according to a predetermined rule set without using deep learning; set a static safe area which is an area where the target object is avoidable based on a recognition result that was previously provided by the circuitry; and determine a target motion of the motor vehicle by application of the first candidate route and the static safe area, wherein the circuitry sets the first candidate route as a route that the motor vehicle should take and determines the target motion of the motor vehicle so that the motor vehicle takes the first candidate route under a condition the first candidate route is entirely within the static safe area, and does not select the first candidate route as the route that the motor vehicle should take under a condition the first candidate route at least partially lies outside the static safe area, calculates a second candidate route that passes the static safe area only, and selects the second candidate route as the route that the motor vehicle should take and determines the target motion of the motor vehicle so the motor vehicle takes the second candidate route under a condition the first candidate route at least partially deviates from the static safe area. ### Claim 2 (depends on 1) The automotive arithmetic device of claim 1, wherein the circuitry is further configured to set a dynamic safe area which is an area that the motor vehicle is able to pass based on the estimation result, wherein the first candidate route is a route that passes the dynamic safe area. ### Claim 3 (depends on 1) The automotive arithmetic device of claim 1, wherein the first candidate route includes a plurality of first candidate routes, and under a condition at least one of the plurality of first candidate routes passes the static safe area only, the circuitry selects the first candidate route that passes the static safe area only as the route that the motor vehicle should take, and the circuitry selects the second candidate route as the route that the motor vehicle should take when all the plurality of first candidate routes partially deviate from the static safe area. ### Claim 4 (depends on 2) The automotive arithmetic device of claim 2, wherein the first candidate route includes a plurality of first candidate routes, and under a condition at least one of the plurality of first candidate routes passes the static safe area only, the circuitry selects the first candidate route that passes the static safe area only as the route that the motor vehicle should take, and the circuitry selects the second candidate route as the route that the motor vehicle should take when all the plurality of first candidate routes partially deviate from the static safe area. ### Claim 5 (depends on 1) The automotive arithmetic device of claim 1, wherein the circuitry is configured to set a destination that is forward of the motor vehicle, and respectively calculate the first candidate route to the destination and the second candidate route to the destination, and under a condition the motor vehicle has arrived at the destination, the circuitry sets a new destination that is different than the destination, and calculates another first candidate route and another second candidate route to the new destination. ### Claim 6 (depends on 2) The automotive arithmetic device of claim 2, wherein the circuitry is configured to set a destination that is forward of the motor vehicle, and respectively calculate the first candidate route to the destination and the second candidate route to the destination, and under a condition the motor vehicle has arrived at the destination, the circuitry sets a new destination that is different than the destination, and calculates another first candidate route and another second candidate route to the new destination. ### Claim 7 (depends on 3) The automotive arithmetic device of claim 3, wherein the circuitry is configured to set a destination that is forward of the motor vehicle, and respectively calculate the first candidate route to the destination and the second candidate route to the destination, and under a condition the motor vehicle has arrived at the destination, the circuitry sets a new destination that is different than the destination, and calculates another first candidate route and another second candidate route to the new destination. ### Claim 8 (depends on 4) The automotive arithmetic device of claim 4, wherein the circuitry is configured to set a destination that is forward of the motor vehicle, and respectively calculate the first candidate route to the destination and the second candidate route to the destination, and under a condition the motor vehicle has arrived at the destination, the circuitry sets a new destination that is different than the destination, and calculates another first candidate route and another second candidate route to the new destination. ### Claim 9 (depends on 1) The automotive arithmetic device of claim 1, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 10 (depends on 2) The automotive arithmetic device of claim 2, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 11 (depends on 3) The automotive arithmetic device of claim 3, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 12 (depends on 4) The automotive arithmetic device of claim 4, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 13 (depends on 5) The automotive arithmetic device of claim 5, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 14 (depends on 6) The automotive arithmetic device of claim 6, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 15 (depends on 7) The automotive arithmetic device of claim 7, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 16 (depends on 8) The automotive arithmetic device of claim 8, further comprising: a first arithmetic system including the circuitry; and a second arithmetic system that is independent of the first arithmetic system. ### Claim 17 (depends on 9) The automotive arithmetic device of claim 9, wherein the circuitry of the first arithmetic system is configured to set a dynamic safe area which is an area that the motor vehicle is able to pass based on the estimation result, and the second arithmetic system includes other circuitry that is configured to set the static safe area. ### Claim 18 A method for setting a candidate route for a motor vehicle comprising: estimating, with circuitry, a vehicle external environment with a learned model that was trained by deep learning based on an output from an information acquisition device that acquires information of the vehicle external environment; calculating a first candidate route based on an estimation result previously obtained; recognizing a target object outside the motor vehicle based on the output from the information acquisition device according to a predetermined rule set without using deep learning; setting a static safe area which is an area where the target object is avoidable based on a recognition result that was previously provided by the circuitry; and determining a target motion of the motor vehicle by application of the first candidate route and the static safe area, wherein the calculating includes setting the first candidate route as a route that the motor vehicle should take and determining the target motion of the motor vehicle so that the motor vehicle takes the first candidate route under a condition the first candidate route is entirely within the static safe area, and not selecting the first candidate route as the route that the motor vehicle should take under a condition the first candidate route at least partially lies outside the static safe area, calculating a second candidate route that passes the static safe area only, and selecting the second candidate route as the route that the motor vehicle should take and determining the target motion of the motor vehicle so the motor vehicle takes the second candidate route under a condition the first candidate route at least partially deviates from the static safe area.