# US 12,179,760 B2 · Vehicle control device, storage medium for storing computer program for vehicle control, and method for controlling vehicle

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- Number: US 12,179,760 B2
- Document ID: US12179760B2
- Status: Granted
- Kind: B2
- Application number: 18/074,235
- Filed: 2022-12-02
- Published: 2023-08-03
- Granted: 2024-12-31
- Earliest claimed: 2022-02-02
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Kenta Kumazaki
- Web page: https://patentgrep.com/patent/US12179760B2

## CPC

- B60W 30/146: {Speed limiting}
- B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for}
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/18145: {Cornering}
- B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means}
- B60W 2555/60: Traffic rules, e.g. speed limits or right of way
- B60W 2556/10: Historical data
- B60W 2720/10: Longitudinal 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

## Abstract

A vehicle control device has a processor configured to determine a set speed for a vehicle representing a target speed based on a speed limit of a road, and a current correction value corresponding to the speed limit of the road, count a number of changes the set speed for the vehicle has been changed by a driver, and calculate a new correction value for the set speed for the vehicle based on a correction coefficient determined based on the number of changes, and speed difference between the set speed for the vehicle after change and the speed limit of the road, each time the number of changes has been counted, wherein the next set speed for the vehicle is determined based on the speed limit of the road on which the vehicle is traveling and the new correction value corresponding to the speed limit of the road.

## Claims

### Claim 1

A vehicle control device comprising:
a processor configured to
determine a set speed for a vehicle representing a target speed for the vehicle while the vehicle is traveling, based on a speed limit of a road representing an upper allowable limit for traveling on the road on which the vehicle is traveling, and a current correction value corresponding to the speed limit of the road,
count a number of changes the set speed for the vehicle has been changed by a driver, and
calculate a new correction value for the set speed for the vehicle based on a correction coefficient determined based on the number of changes, and speed difference between the set speed for the vehicle after change and the speed limit of the road on which the vehicle is traveling, each time the number of changes has been counted,
wherein the next set speed for the vehicle is determined based on the speed limit of the road on which the vehicle is traveling and the new correction value corresponding to the speed limit of the road.

### Claim 2 (depends on 1)

The vehicle control device according to claim 1, wherein the processor is further configured to calculate the correction value as the product of the correction coefficient and the speed difference each time the set speed for the vehicle has been changed by driver operation.

### Claim 3 (depends on 1)

The vehicle control device according to claim 1, wherein relationship between the correction coefficient and number of changes has a first zone in which the correction coefficient increases as the number of changes increases, a second zone in which the correction coefficient increases more than the first zone as the number of changes increases, and a third zone in which the correction coefficient increases less than the second zone as the number of changes increases.

### Claim 4 (depends on 1)

The vehicle control device according to claim 1, wherein the processor is further configured to correct the current correction value for the speed limit of the road before and after the speed limit of the road for which the new correction value was calculated so that difference between the new correction value and the current correction value for the speed limit of the road is at or below a predetermined reference value, when the new correction value has been calculated.

### Claim 5

A computer-readable, non-transitory storage medium storing a computer program for vehicle control, which causes a processor execute a process, the process comprising:
determining a set speed for a vehicle representing a target speed for the vehicle while the vehicle is traveling, based on the speed limit of a road representing an upper allowable limit for traveling on the road on which the vehicle is traveling, and a current correction value corresponding to the speed limit of the road;
counting a number of changes the set speed for the vehicle has been changed by a driver; and
calculating a new correction value for the set speed for the vehicle based on a correction coefficient determined based on the number of changes, and speed difference between the set speed for the vehicle after change and the speed limit of the road on which the vehicle is traveling, each time the number of changes has been counted,
wherein the next set speed for the vehicle is determined based on the speed limit of the road on which the vehicle is traveling and the new correction value corresponding to the speed limit of the road.

### Claim 6

A method for controlling a vehicle carried out by a vehicle control device and the method comprising:
determining a set speed for a vehicle representing a target speed for the vehicle while the vehicle is traveling, based on the speed limit of a road representing an upper allowable limit for traveling on the road on which the vehicle is traveling, and a current correction value corresponding to the speed limit of the road;
counting a number of changes the set speed for the vehicle has been changed by a driver; and
calculating a new correction value for the set speed for the vehicle based on a correction coefficient determined based on the number of changes, and speed difference between the set speed for the vehicle after change and the speed limit of the road on which the vehicle is traveling, each time the number of changes has been counted,
wherein the next set speed for the vehicle is determined based on the speed limit of the road on which the vehicle is traveling and the new correction value corresponding to the speed limit of the road.