# US 12,759,592 B2 · Control device and control system

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- Number: US 12,759,592 B2
- Document ID: US12759592B2
- Status: Granted
- Kind: B2
- Application number: 18/813,630
- Filed: 2024-08-23
- Published: 2025-05-15
- Granted: 2026-10-13
- Earliest claimed: 2023-11-15
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Kento Iwahori; Shogo Yasuyama
- Web page: https://patentgrep.com/patent/US12759592B2

## CPC

- B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)}
- B60W 2556/45: External transmission of data to or from the vehicle
- B60W 2756/10: Involving 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

## Abstract

The control device used for moving the moving object movable by the unmanned driving includes an acquisition unit that acquires a result of inspection of the mounted device, a determination unit that determines whether movement by the remote manual driving mode is possible using the result of inspection, and a setting unit that sets the driving mode of the moving object to the remote manual driving mode when it is determined that movement by the remote manual driving mode is possible.

## Claims

### Claim 1

A control device controlling movement of a moving object that is movable by unmanned driving,
the moving object having a remote manual driving mode and an automated driving mode, the moving object in the remote manual driving mode receiving a manual control signal and moving using the received manual control signal, the manual control signal being a signal generated according to an operation of a maneuvering device by an external operator to control movement of the moving object, the maneuvering device being located at a different location from the moving object, the moving object in the automated driving mode moving using an automated control signal generated other than according to the operation of the maneuvering device by the external operator to control the movement of the moving object,
the moving object including a plurality of mounted devices mounted on the moving object,
the control device comprising a processor configured to
acquire results of inspection of the mounted devices, and
determine whether the moving object is movable in the automated driving mode based on the results of inspection, wherein
the processor is further configured to
determine whether the moving object is movable in the remote manual driving mode based on the results of inspection, in response to determining that the moving object is not movable in the automated driving mode, and
set a driving mode of the moving object to the remote manual driving mode in response to determining that the moving object is movable in the remote manual driving mode, and
the moving object is determined to be movable in the remote manual driving mode in a case where a function of a first mounted device of the mounted devices that contributes to the determination that the moving object is not movable in the automated driving mode is able to be compensated for by a function of a second mounted device of the mounted devices that is different from the first mounted device.

### Claim 2 (depends on 1)

The control device according to claim 1, wherein the moving object is further determined to be movable in the remote manual driving mode in a case where the function of a third mounted device of the mounted devices that contributes to the determination that the moving object is not movable in the automated driving mode is able to be compensated for by the external operator.

### Claim 3 (depends on 1)

The control device according to claim 1, wherein the moving object is determined to be movable in the remote manual driving mode in a case where the first mounted device that contributes to the determination that the moving object is not movable in the automated driving mode is either or both of a mounted sensor that is a sensor mounted on the moving object and an electric parking brake.

### Claim 4

A control system controlling movement of a moving object that is movable by unmanned driving, the control system comprising:
the moving object on which a plurality of mounted devices is mounted, the moving object having a remote manual driving mode and an automated driving mode; and
a processor configured to
acquire results of inspection of the mounted devices, and
determine whether the moving object is movable in the automated driving mode based on the results of inspection, wherein
the processor is further configured to
determine whether the moving object is movable in the remote manual driving mode in response to determining that the moving object is not movable in the automated driving mode, and
set a driving mode of the moving object to the remote manual driving mode in response to determining that the moving object is movable in the remote manual driving mode,
the moving object is determined to be movable in the remote manual driving mode in a case where a function of a first mounted device of the mounted devices that contributes to the determination that the moving object is not movable in the automated driving mode is able to be compensated for by a function of a second mounted device of the mounted devices that is different from the first mounted device,
the moving object in the remote manual driving mode receives a manual control signal and moves using the received manual control signal, the manual control signal being a signal generated according to an operation of a maneuvering device by an external operator to control movement of the moving object, and the maneuvering device being located at a different location from the moving object, and
the moving object in the automated driving mode moves using an automated control signal generated other than according to the operation of the maneuvering device by the external operator to control the movement of the moving object.

### Claim 5 (depends on 1)

The control device according to claim 1, wherein the results of inspection of the mounted devices include pass-fail information of the mounted devices, and
the pass-fail information of each of the mounted devices is determined by calculating and clustering similarities of state quantities of mounted devices of the same type at the same acquiring timing acquired from a plurality of moving objects.

### Claim 6 (depends on 1)

The control device according to claim 1, wherein the results of inspection of the mounted devices include pass-fail information of the mounted devices, and state quantities indicating states of the mounted devices, and
the pass-fail information of each of the mounted devices is determined by comparing time-series data representing a time-series change of state quantities of the same type of mounted devices acquired from a plurality of moving objects.

### Claim 7 (depends on 1)

The control device according to claim 1, wherein the results of inspection of the mounted devices include operating states of the mounted devices, and
the processor is further configured to classify the moving object into one class of a plurality of classes based on the operating states of the mounted devices, the operating states of the mounted devices indicating degrees of failures of the mounted devices.