# US 12,603,003 B2 · Control device and unmanned driving method

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- Number: US 12,603,003 B2
- Document ID: US12603003B2
- Status: Granted
- Kind: B2
- Application number: 18/735,350
- Filed: 2024-06-06
- Published: 2025-01-02
- Granted: 2026-04-14
- Earliest claimed: 2023-06-29
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Kento Iwahori; Daiki Yokoyama
- Web page: https://patentgrep.com/patent/US12603003B2

## CPC

- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- G08G 1/164: {Centralised systems, e.g. external to vehicles}
- B60W 60/001: {Planning or execution of driving tasks}
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- 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 control device includes: an information acquisition unit that acquires capability information of a plurality of moving objects that can be moved by unmanned driving, the capability information being related to at least one capability of avoidance capability of avoiding collision against an obstacle, and reduction capability of reducing an impact at a time of the collision against the obstacle; and a control unit that controls unmanned driving of at least one moving object of the plurality of moving objects, and, when the plurality of moving objects enter an intersection from different directions at a same time, controls the at least one moving object to cause the plurality of moving objects to pass the intersection according to a priority order determined in descending order of the at least one capability using the capability information.

## Claims

### Claim 1

A control device comprising:
an information acquisition unit configured to acquire a capability information of a plurality of moving objects that can be moved by unmanned driving, wherein the capability information is related to at least one capability of avoidance capability of avoiding collision against an obstacle, and reduction capability of reducing an impact at a time of the collision against the obstacle; and
a control unit configured to control unmanned driving of at least one moving object of the plurality of moving objects, wherein when the plurality of moving objects enter an intersection from different directions at a same time, the control unit controls the at least one moving object to cause the plurality of moving objects to pass the intersection according to a priority order determined in descending order of the at least one capability using the capability information,
wherein the plurality of moving objects are moved by unmanned driving in a factory that manufactures the plurality of moving objects,
wherein the capability information includes information indicating the number of times of reinspection of the moving object in the factory, and
wherein the control unit makes the priority order higher as the number of times of reinspection is smaller.

### Claim 2 (depends on 1)

The control device according to claim 1, wherein
the control unit makes the priority order higher as the avoidance capability is higher, and makes the priority order higher as the reduction capability is higher in a case where the avoidance capability is the same.

### Claim 3 (depends on 1)

The control device according to claim 1, wherein
the capability information includes information indicating whether or not the moving object has an automatic avoidance function that is a function of automatically avoiding the collision against the obstacle, and
the control unit makes the priority order of the moving object that has the automatic avoidance function higher than the priority order of the moving object that does not have the automatic avoidance function.

### Claim 4

An unmanned driving method comprising:
acquiring a capability information of a plurality of moving objects that can be moved by unmanned driving, wherein the capability information is related to at least one capability of avoidance capability of avoiding collision against an obstacle, and reduction capability of reducing an impact at a time of the collision against the obstacle; and
moving the plurality of moving objects by unmanned driving, wherein when the plurality of moving objects enter an intersection from different directions at a same time, causing the plurality of moving objects to pass the intersection according to a priority order determined in descending order of the at least one capability using the capability information,
wherein the plurality of moving objects are moved by unmanned driving in a factory that manufactures the plurality of moving objects,
wherein the capability information includes information indicating the number of times of reinspection of the moving object in the factory, and
wherein the moving makes the priority order higher as the number of times of reinspection is smaller.