# US 12,371,058 B2 · Vehicle travel control device

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- Number: US 12,371,058 B2
- Document ID: US12371058B2
- Status: Granted
- Kind: B2
- Application number: 18/355,184
- Filed: 2023-07-19
- Published: 2023-11-09
- Granted: 2025-07-29
- Earliest claimed: 2019-04-24
- Assignees: Toyota Jidosha Kabushiki Kaisha; Denso Corporation
- Applicants: Toyota Jidosha Kabushiki Kaisha; Denso Corporation
- Inventors: Go Inoue; Yoshinori Watanabe; Hirotaka Tokoro
- Web page: https://patentgrep.com/patent/US12371058B2

## CPC

- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- B60W 30/12: Lane keeping
- B60W 50/0205: {Diagnosing or detecting failures; Failure detection models}
- B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W 60/0015: {specially adapted for safety}
- B60W 2050/0011: {Proportional Integral Differential [PID] controller}
- B60W 2050/0012: {Feedforward or open loop systems}
- B60W 2050/0042: {Transfer function lag; delays}
- B60W 2050/0215: {Sensor drifts or sensor failures}
- B60W 2050/0292: {Fail-safe or redundant systems, e.g. limp-home or backup systems}
- B60W 2520/10: Longitudinal speed
- B60W 2520/105: Longitudinal acceleration
- B60W 2520/125: Lateral acceleration
- B60W 2520/14: Yaw
- B60W 2540/18: Steering angle
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2720/14: Yaw
- 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 travel control device executes trajectory following control to make the vehicle follow a target trajectory. A delay time represents control delay of the trajectory following control. A delay compensation time is at least a part of the delay time. The trajectory following control includes: displacement estimation processing that estimates a displacement of the vehicle in the delay compensation time; and delay compensation processing that corrects a deviation between the vehicle and the target trajectory based on the estimated displacement to compensate the control delay. The displacement estimation processing is effective in an effective period and ineffective in an ineffective period. When the ineffective period is included in the delay time of the trajectory following control, the displacement estimation processing is executed in a temporary mode by using sensor-detected information in the effective period without using the sensor-detected information in the ineffective period.

## Claims

### Claim 1

A vehicle travel control device that controls travel of a vehicle, the vehicle travel control device comprising a controller configured to:
generate a target trajectory of the vehicle:
acquire, by a sensor installed on the vehicle, a first sensor detected information in a first period and a second sensor detected information in a second period, wherein the first period and the second period are different, and wherein the first sensor detected information and the second sensor detected information are detected between a time at which the target trajectory is generated and a delay time after the time at which the target trajectory is generated, the delay time representing control delay in the vehicle travel control;
when the first sensor detected information has an abnormality, estimate a displacement of the vehicle based on the second sensor detected information; and
execute vehicle travel control that controls travel of the vehicle to decrease a deviation between vehicle displacement and the target trajectory based on the estimated displacement.

### Claim 2 (depends on 1)

The vehicle travel control device according to claim 1, wherein
the controller is further configured to estimate the displacement of the vehicle based on the second sensor detected information detected in the second period without using the first sensor detected information detected in the first period.

### Claim 3 (depends on 1)

The vehicle travel control device according to claim 1, wherein the controller is further configured to:
estimate the first sensor detected information in the first period based on the second sensor detected information detected in the second period; and
estimate the displacement of the vehicle based on the second sensor detected information detected in the second period and the estimated first sensor detected information in the first period.

### Claim 4 (depends on 1)

The vehicle travel control device according to claim 1, wherein the time at which the target trajectory is generated is a first timing, wherein a second timing is later than the first timing by the delay time, and wherein
when a length of the second period between the first timing and the second timing is equal to or greater than a threshold, the controller is configured to estimate the displacement of the vehicle based on the second sensor detected information detected in the second period, and
when the length of the second period between the first timing and the second timing is less than the threshold, the controller is configured to estimate the first sensor detected information in the first period based on the second sensor detected information detected in the second period, and to estimate the displacement of the vehicle based on the second sensor detected information detected in the second period and the estimated sensor detected information in the first period.

### Claim 5 (depends on 1)

The vehicle travel control device according to claim 1, wherein the controller is further configured to:
correct the deviation between the vehicle displacement and the target trajectory based on the estimated displacement to compensate the control delay in the vehicle travel control; and
execute the vehicle travel control to decrease the corrected deviation.