# US 12,179,750 B2 · Control device, method, non-transitory storage medium, and vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,750 B2 - Document ID: US12179750B2 - Status: Granted - Kind: B2 - Application number: 18/243,398 - Filed: 2023-09-07 - Published: 2023-12-28 - Granted: 2024-12-31 - Earliest claimed: 2020-03-18 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Masumi Dakemoto; Kaiji Itabashi; Yoshihisa Yamada - Web page: https://patentgrep.com/patent/US12179750B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - B60R 16/0231: {Circuits relating to the driving or the functioning of the vehicle (monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P)} - B60W 2050/0085: {Setting or resetting initial positions} - 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 ## Abstract A vehicle comprises a plurality of drive assist devices configured to implement a plurality of drive assist functions, respectively. The plurality of drive assist devices includes a first drive assist device, which includes an update information generation device configured to generate update information to update a middle point in steering control performed by at least one of the drive assist devices, and a second drive assist device which does not include the update information generation device. The update information generation device in the first drive assist device generates the update information when the first drive assist device receives a notification that permits updating the middle point. The second drive assist device receives the update information from the first drive assist device when the second drive assist device receives the notification. ## Claims ### Claim 1 A vehicle comprising a plurality of drive assist devices configured to implement a plurality of drive assist functions, respectively, wherein: the plurality of drive assist devices includes: a first drive assist device which includes an update information generation device configured to generate update information to update a middle point in steering control performed by at least one of the drive assist devices, and a second drive assist device which does not include the update information generation device; the update information generation device included in the first drive assist device is configured to generate the update information when the first drive assist device receives a notification that permits updating the middle point; the second drive assist device is configured to receive the update information from the first drive assist device when the second drive assist device receives the notification, the update information being generated by the first drive assist device; and the notification that permits updating the middle point is issued when the respective functions of all of the plurality of drive assist devices are stopped. ### Claim 2 (depends on 1) The vehicle according to claim 1, wherein: the plurality of drive assist devices includes two or more update information generation devices each of which is configured to generate the update information to update the middle point in steering control performed by at least one of the drive assist devices, and the two or more update information generation devices differ from each other in a method of generating the update information, in an accuracy of the generated update information, or in a format of the generated update information. ### Claim 3 (depends on 2) The vehicle according to claim 2, wherein: among the plurality of the update information generated by the two or more update information generation devices, each of the plurality of drive assist devices selects and uses the update information that is determined to be most compatible with the respective drive assist device based on specifications. ### Claim 4 (depends on 1) The vehicle according to claim 1, wherein: the update information generation device is configured to generate the update information multiple times; and the second drive assist device is configured to update the middle point in steering control when an amount of fluctuation in the middle point represented by the plurality of the update information received successively from the first drive assist device is equal to or less than a threshold value. ### Claim 5 (depends on 1) The vehicle according to claim 1, wherein the notification that permits updating the middle point is issued when a power source of the vehicle which has been turned off is turned on. ### Claim 6 (depends on 1) The vehicle according to claim 1, wherein the notification that permits updating the middle point is issued when a detected steering amount of the vehicle is equal to or less than a preset value. ### Claim 7 A method to be executed by a computer mounted on a vehicle, the vehicle including a plurality of drive assist devices configured to implement a plurality of drive assist functions, respectively, the plurality of drive assist devices including a first drive assist device which includes an update information generation device configured to generate update information to update a middle point in steering control performed by at least one of the drive assist devices, and a second drive assist device which does not include the update information generation device, the method comprising: causing the update information generation device included in the first drive assist device to generate the update information when the first drive assist device receives a notification that permits updating the middle point; and causing the second drive assist device to receive the update information from the first drive assist device when the second drive assist device receives the notification, the update information being generated by the first drive assist device, wherein the notification that permits updating the middle point is issued when the respective functions of all of the plurality of drive assist devices are stopped. ### Claim 8 (depends on 7) The method according to claim 7, wherein: the plurality of drive assist devices includes two or more update information generation devices each of which is configured to generate the update information to update the middle point in steering control performed by at least one of the drive assist devices, and the two or more update information generation devices differ from each other in a method of generating the update information, in an accuracy of the generated update information, or in a format of the generated update information. ### Claim 9 (depends on 8) The method according to claim 8, wherein: among the plurality of the update information generated by the two or more update information generation devices, each of the plurality of drive assist devices selects and uses the update information that is determined to be most compatible with the respective drive assist device based on specifications. ### Claim 10 (depends on 7) The method according to claim 7, wherein: the update information generation device is configured to generate the update information multiple times; and the second drive assist device is configured to update the middle point in steering control when an amount of fluctuation in the middle point represented by the plurality of the update information received successively from the first drive assist device is equal to or less than a threshold value. ### Claim 11 A non-transitory storage medium storing instructions, which when executed by a computer mounted on a vehicle, causes the computer to perform a process, the vehicle including a plurality of drive assist devices configured to implement a plurality of drive assist functions, respectively, the plurality of drive assist devices including a first drive assist device which includes an update information generation device configured to generate update information to update a middle point in steering control performed by at least one of the drive assist devices, and a second drive assist device which does not include the update information generation device, the process comprising: causing the update information generation device included in the first drive assist device to generate the update information when the first drive assist device receives a notification that permits updating the middle point; and causing the second drive assist device to receive the update information from the first drive assist device when the second drive assist device receives the notification, the update information being generated by the first drive assist device, wherein the notification that permits updating the middle point is issued when the respective functions of all of the plurality of drive assist devices are stopped. ### Claim 12 (depends on 11) The non-transitory storage medium according to claim 11, wherein: the plurality of drive assist devices includes two or more update information generation devices each of which is configured to generate the update information to update the middle point in steering control performed by at least one of the drive assist devices, and the two or more update information generation devices differ from each other in a method of generating the update information, in an accuracy of the generated update information, or in a format of the generated update information. ### Claim 13 (depends on 12) The non-transitory storage medium according to claim 12, wherein: among the plurality of the update information generated by the two or more update information generation devices, each of the plurality of drive assist devices selects and uses the update information that is determined to be most compatible with the respective drive assist device based on specifications. ### Claim 14 (depends on 11) The non-transitory storage medium according to claim 11, wherein: the update information generation device is configured to generate the update information multiple times; and the second drive assist device is configured to update the middle point in steering control when an amount of fluctuation in the middle point represented by the plurality of the update information received successively from the first drive assist device is equal to or less than a threshold value.