# US 12,214,810 B2 · Autonomous driving system, autonomous driving control method, and nontransitory storage medium

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- Number: US 12,214,810 B2
- Document ID: US12214810B2
- Status: Granted
- Kind: B2
- Application number: 17/734,513
- Filed: 2022-05-02
- Published: 2022-11-17
- Granted: 2025-02-04
- Earliest claimed: 2021-05-11
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Takayuki Iwamoto; Kunihito Satou; Takefumi Goto
- Web page: https://patentgrep.com/patent/US12214810B2

## CPC

- B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)}
- G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)}
- B60W 60/007: {Emergency override (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)}
- G05D 1/0055: {with safety arrangements}
- B60W 2556/45: External transmission of data to or from the vehicle
- 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
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

An autonomous driving system includes one or more storage devices configured to store specific position information indicating specific positions at which there is a possibility that remote assistance is required; and one or more processors configured to: determine presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to an autonomous driving vehicle; set, when an abnormality is detected in the remote assistance system, any one of the specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on the specific position information; set a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and control the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position.

## Claims

### Claim 1

An autonomous driving system configured to control an autonomous driving vehicle that is a target of remote assistance, the autonomous driving system comprising:
one or more storage devices configured to store specific position information indicating specific positions at which there is a possibility that the remote assistance is required; and
one or more processors configured to:
determine presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;
set, when the abnormality is detected in the remote assistance system, any one of the specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on the specific position information;
set a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and
control the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, wherein the one or more processors are further configured to:
acquire a first specific position closest to the current position on the target route based on the specific position information;
determine, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;
acquire, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;
set, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position; and
set, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.

### Claim 2

An autonomous driving control method, executed by one or more processors and controlling an autonomous driving vehicle that is a target of remote assistance, the autonomous driving control method comprising:
determining presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;
setting, when the abnormality is detected in the remote assistance system, any one of specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on specific position information, the specific position information indicating the specific positions at which there is a possibility that the remote assistance is required;
setting a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and
controlling the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, the autonomous driving control method further comprising:
acquiring a first specific position closest to the current position on the target route based on the specific position information;
determining, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;
acquiring, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;
setting, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position; and
setting, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.

### Claim 3

A non-transitory storage medium storing instructions that are executable by a computer and that causes the computer to perform functions for controlling an autonomous driving vehicle that is a target of remote assistance, the functions comprising:
determining presence or absence of an abnormality in a remote assistance system configured to provide the remote assistance to the autonomous driving vehicle;
setting, when the abnormality is detected in the remote assistance system, any one of specific positions on a target route from a current position of the autonomous driving vehicle to a destination as a limit position based on specific position information, the specific position information indicating the specific positions at which there is a possibility that the remote assistance is required;
setting a target retracting position such that the target retracting position is included in the target route from the current position to the limit position; and
controlling the autonomous driving vehicle such that the autonomous driving vehicle stops at the target retracting position, the functions further comprising:
acquiring a first specific position closest to the current position on the target route based on the specific position information;
determining, when the abnormality in the remote assistance system is performance degradation, whether the first specific position satisfies a permitted condition, the permitted condition including a vehicle control amount that is required to stop the autonomous driving vehicle at a position before the first specific position, is equal to or lower than a control amount threshold value, the vehicle control amount including deceleration and a steering amount;
acquiring, when the first specific position does not satisfy the permitted condition, a second specific position different from the first specific position on the target route based on the specific position information;
setting, when the first specific position does not satisfy the permitted condition, the second specific position as the limit position; and
setting, when the abnormality in the remote assistance system is a functional failure, the first specific position as the limit position.