# US 12,110,012 B2 · Vehicle control apparatus and vehicle control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,012 B2 - Document ID: US12110012B2 - Status: Granted - Kind: B2 - Application number: 17/648,768 - Filed: 2022-01-24 - Published: 2022-05-12 - Granted: 2024-10-08 - Earliest claimed: 2019-07-26 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Yu Maeda; Atsushi Baba - Web page: https://patentgrep.com/patent/US12110012B2 ## CPC - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 10/04: including control of propulsion units - B60W 10/20: including control of steering systems - B60W 40/02: related to ambient conditions - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - B60W 60/0015: {specially adapted for safety} - B60W 60/0016: {of the vehicle or its occupants} - B60W 60/00272: {relying on extrapolation of current movement} - B60W 60/00274: {considering possible movement changes} - G08G 1/09: Arrangements for giving variable traffic instructions ({railroad crossing signals B61L; reflectors E01F, G08B}; indicating arrangements for variable information by selection or combination of individual elements G09F9/00) - B60W 2554/4046: Behavior, e.g. aggressive or erratic - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2556/65: Data transmitted between vehicles - B60W 2710/20: Steering systems - B60W 2720/10: Longitudinal speed - B60W 2720/12: Lateral speed - 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 vehicle control apparatus is mounted in a subject vehicle provided with a running planning unit configured to calculate one or more candidate routes on which the subject vehicle is to travel. The vehicle control apparatus predicts an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle. ## Claims ### Claim 1 A vehicle control apparatus mounted in a subject vehicle provided with a running planning unit configured to calculate one or more candidate routes on which the subject vehicle is to travel, the vehicle control apparatus comprising: an action prediction unit configured to predict an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle; and a responsibility determination unit configured to determine responsibility for a potential accident assumed when the subject vehicle travels on a candidate route of the one or more candidate routes based on the action predicted by the action prediction unit, wherein when the action prediction unit predicts a deviation behavior in which at least either the subject vehicle or a nearby vehicle present in the vicinity of the subject vehicle deviates from a behavior according to a travel control, the action prediction unit predicts the action of the prediction target moving body when the deviation behavior occurs, and the responsibility determination unit determines responsibility for a potential accident when the deviation behavior occurs. ### Claim 2 (depends on 1) The vehicle control apparatus according to claim 1, wherein the action prediction unit (i) acquires the candidate route calculated by the running planning unit and (ii) predicts the action of the prediction target moving body when a travel control device provided in the subject vehicle causes the subject vehicle to travel on the candidate route. ### Claim 3 (depends on 1) The vehicle control apparatus according to claim 1, wherein the action prediction unit predicts the action of the prediction target moving body without acquiring the candidate route, and the responsibility determination unit (i) acquires the candidate route from the running planning unit, (ii) acquires the action of the prediction target moving body predicted by the action prediction unit, and (iii) determines the responsibility based on the candidate route and the action of the prediction target moving body. ### Claim 4 (depends on 1) The vehicle control apparatus according to claim 1, wherein when the running planning unit outputs one candidate route, the responsibility determination unit determines whether the responsibility accrues to the subject vehicle when the subject vehicle travels on the candidate route, when the responsibility determination unit determines that the responsibility does not accrue to the subject vehicle, the responsibility determination unit determines the candidate route as a route to be adopted in a vehicle control, and when the responsibility determination unit determines that the responsibility accrues to the subject vehicle, the responsibility determination unit instructs the running planning unit to recalculate the candidate route. ### Claim 5 (depends on 1) The vehicle control apparatus according to claim 1, wherein when the running planning unit outputs a plurality of candidate routes, the responsibility determination unit determines whether the responsibility accrues to the subject vehicle for each of the plurality of candidate routes when the subject vehicle travels on corresponding one of the plurality of candidate routes, and when the responsibility determination unit determines that the responsibility accrues to the subject vehicle for some of the plurality of candidate routes, the responsibility determination unit determines one candidate route determined according to a predetermined reference as a route to be adopted in a vehicle control. ### Claim 6 (depends on 1) The vehicle control apparatus according to claim 1, wherein the action prediction unit detects failure in a mechanism related to a behavior of the subject vehicle and thereby predicts an occurrence of the deviation behavior of the subject vehicle. ### Claim 7 (depends on 6) The vehicle control apparatus according to claim 6, further comprising: a transmission instruction unit configured to transmit information to the nearby vehicle via wireless communication, wherein when the action prediction unit detects the failure in the mechanism related to the behavior of the subject vehicle, the transmission instruction unit transmits information indicating the failure in the mechanism related to the behavior of the subject vehicle to the nearby vehicle via wireless communication. ### Claim 8 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a received information acquisition unit configured to acquire information transmitted from the nearby vehicle via wireless communication, wherein when the received information acquisition unit acquires information indicating failure in a mechanism related to a behavior of the nearby vehicle, the action prediction unit predicts an occurrence of the deviation behavior of the nearby vehicle. ### Claim 9 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a received information acquisition unit configured to acquire information transmitted from the nearby vehicle via wireless communication, the information including information on a travel control in the nearby vehicle; and a behavior recognition unit configured to recognize a behavior of the nearby vehicle using a detection result of a periphery monitoring sensor provided in the subject vehicle, wherein when there is the nearby vehicle whose divergence between a behavior according to the travel control indicated by the information acquired by the received information acquisition unit and the behavior recognized by the behavior recognition unit is equal to or greater than a specified value, the action prediction unit predicts an occurrence of the deviation behavior of the nearby vehicle. ### Claim 10 (depends on 9) The vehicle control apparatus according to claim 9, further comprising: a transmission instruction unit configured to output an instruction to transmit information to the nearby vehicle via wireless communication, wherein when the action prediction unit predicts the occurrence of the deviation behavior of the nearby vehicle, the transmission instruction unit outputs an instruction to transmit information indicating that the occurrence of the deviation behavior of the nearby vehicle to the nearby vehicle via wireless communication. ### Claim 11 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a received information acquisition unit configured to acquire information transmitted from the nearby vehicle via wireless communication, wherein when the received information acquisition unit acquires information indicating that an occurrence of a deviation behavior of another vehicle that is present in the vicinity of the subject vehicle and other than the nearby vehicle, the action prediction unit predicts the occurrence of the deviation behavior of another vehicle. ### Claim 12 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a road condition determination unit configured to successively determine a road condition of a road on which the vehicle is traveling; and a braking ability estimation unit configured to successively estimate a braking ability which is an ability to stop the subject vehicle based on the road condition determined by the road condition determination unit, wherein the action prediction unit predicts the action of the prediction target moving body based on the braking ability estimated by the braking ability estimation unit. ### Claim 13 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a characteristic updating unit mounted in the subject vehicle and configured to successively update a characteristic of a factor changing over time among brake influencing factors that have an influence on a braking ability that is an ability to stop the subject vehicle; and a braking ability estimation unit configured to successively estimate the braking ability based on the characteristics of the brake influencing factors, wherein the action prediction unit predicts the action of the prediction target moving body based on the braking ability estimated by the braking ability estimation unit. ### Claim 14 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: an environment information acquisition unit configured to acquire environment information which is information about an environment in which the subject vehicle is placed, except an obstacle in the vicinity of the subject vehicle; and an approach estimation unit configured to estimate a potential possibility of approaching between the subject vehicle and the obstacle based on the environment information acquired by the environment information acquisition unit, wherein the action prediction unit predicts the action of the prediction target moving body based on the possibility estimated by the approach estimation unit. ### Claim 15 (depends on 1) The vehicle control apparatus according to claim 1, wherein the running planning unit calculates the candidate route based on a route calculation algorism including a neural network corresponding to a preset driving policy. ### Claim 16 (depends on 1) The vehicle control apparatus according to claim 1, wherein the subject vehicle includes an autonomous driving function unit configured to automatically perform a speed control and a steering control on the subject vehicle and cause the subject vehicle to travel on a route, and the responsibility determination unit instructs the autonomous driving function unit to cause the subject vehicle to travel on the candidate route in which the responsibility determination unit determines that the responsibility does not accrue to the subject vehicle. ### Claim 17 (depends on 1) The vehicle control apparatus according to claim 1, further comprising: a storage medium configured to store the action of the prediction target moving body predicted by the action prediction unit. ### Claim 18 (depends on 17) The vehicle control apparatus according to claim 17, wherein the storage medium stores the candidate route calculated by the running planning unit together with the action of the prediction target moving body. ### Claim 19 (depends on 1) The vehicle control apparatus according to claim 1, wherein wherein the action prediction unit predicts the deviation behavior based on a failure in a mechanism related to a behavior of the prediction target moving body, and wherein the action prediction unit calculates divergence between a behavior in accordance with a travel control of the nearby vehicle and a behavior of the nearby vehicle detected with a sensor mounted on the subject vehicle to predict the deviation behavior of the nearby vehicle. ### Claim 20 A vehicle control method comprising: predicting an action of a prediction target moving body that includes a subject vehicle and at least one moving body present in a vicinity of the subject vehicle; predicting the action of the prediction target moving body when predicting a deviation behavior in which at least either the subject vehicle or a nearby vehicle present in the vicinity of the subject vehicle deviates from a behavior according to a travel control; and determining responsibility for a potential accident assumed when the subject vehicle travels on a candidate route as a candidate of a route on which the subject vehicle is to travel based on the predicted action. ### Claim 21 A vehicle control apparatus comprising a processor configured to: calculate one or more candidate routes on which a subject vehicle is to travel; predict an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle; and determine responsibility for a potential accident assumed when the subject vehicle travels on the candidate route based on the action predicted, wherein when the processor predicts a deviation behavior in which at least either the subject vehicle or a nearby vehicle present in the vicinity of the subject vehicle deviates from a behavior according to a travel control, the processor predicts the action of the prediction target moving body when the deviation behavior occurs, and determines responsibility for a potential accident when the deviation behavior occurs.