# US 12,594,962 B2 · Autonomous driving system

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- Number: US 12,594,962 B2
- Document ID: US12594962B2
- Status: Granted
- Kind: B2
- Application number: 18/761,875
- Filed: 2024-07-02
- Published: 2025-01-16
- Granted: 2026-04-07
- Earliest claimed: 2023-07-10
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Hiromitsu Urano; Masamichi Ohsugi
- Web page: https://patentgrep.com/patent/US12594962B2

## CPC

- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- G07C 5/0841: {Registering performance data (recording measured values G01D; information storage G11B)}
- G01C 21/3453: {Special cost functions, i.e. other than distance or default speed limit of road segments}
- 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
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)

## Abstract

An autonomous driving route along which autonomous driving control of a vehicle is executed is set. In the setting of the autonomous driving route, at least two candidates of a route from a current location to a destination of the vehicle are set. Next, for each of the at least two candidates, a fluctuation amount of log data that fluctuates in a memory device during a travel of the vehicle along the candidate of the route. Next, a future value of a free space in the memory device at which the vehicle arrives at a destination of the candidate of the route for each of the at least two candidates based on the fluctuation amount of the log data. Then, one candidate of the route from the at least two candidates of which the future value of the free space is the maximum is selected as the autonomous driving route.

## Claims

### Claim 1

An autonomous driving system mounted on a vehicle, comprising:
one or more processing circuitries; and
one or more memory devices,
wherein the one or more processing circuitries are configured to:
set an autonomous driving route indicating a route of the vehicle on which autonomous driving control of the vehicle is executed; and
store log data related to the autonomous driving control in the one or more memory devices while the vehicle is traveling along the autonomous driving route,
wherein, in the setting of the autonomous driving route, the one or more processing circuitries are configured to:
set at least two candidates for a route from a current location of the vehicle to a destination of the vehicle;
predict for each of the at least two candidates of the route a fluctuation amount of the log data that fluctuates in the one or more memory devices during the travel of the vehicle along the candidate of the route;
predict a future value of a free space in the one or more memory devices at which the vehicle arrives at a destination of the candidate of the route for each of the at least two candidates of the route based on the fluctuation amount of the log data predicted for each of the at least two candidates of the route;
select as the autonomous driving route one candidate of the route from the at least two candidates of the route of which the future value of the free space is the maximum; and
perform autonomous driving control of the vehicle based on the selected autonomous driving route.

### Claim 2 (depends on 1)

The autonomous driving system according to claim 1,
wherein, in the setting of the autonomous driving route, the one or more processing circuitries are configured to determine whether a current value of the free space is equal to or less than an upper limit value,
wherein the prediction of the fluctuation amount of the log data and the prediction of the future value of the free space are executed when it is determined that the current value of the free space is equal to or less than the upper limit value.

### Claim 3 (depends on 1)

The autonomous driving system according to claim 1, wherein, in the prediction of the fluctuation amount of the log data, the one or more processing circuitries are configured to:
calculate, for each of the at least two candidates of the route, a total quantity of the log data which is generated during the travel of the vehicle along the candidate of the route and a data quantity of the log data in the one or more memory devices which is decreased during the travel of the vehicle; and
calculate, for each of the at least two candidates of the route, the fluctuation of the log data by adding the total quantity of the log data generated during the travel of the vehicle and the data quantity of the log data decreased in the one or more memory devices during the travel of the vehicle.

### Claim 4 (depends on 1)

The autonomous driving system according to claim 1, wherein, in the setting of the autonomous driving route, the one or more processing circuitries are further configured to:
calculate, for each of the at least two candidates of the route, a generate quantity per unit time of the log data which is generated during the travel of the vehicle along the candidate of the route;
predict, for each of the at least two candidates of the route, a midway value indicating a value of the free space on the way to the destination of the vehicle based on a current value of the free space and an integrated value of the generated quantity per unit time; and
exclude, from the at least two candidates of the route, a candidate of the route of which the midway value is equal to or less than an allowable value.