# US 12,767,143 B2 · Vehicle control device

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- Number: US 12,767,143 B2
- Document ID: US12767143B2
- Status: Granted
- Kind: B2
- Application number: 19/083,783
- Filed: 2025-03-19
- Published: 2025-09-25
- Granted: 2026-10-20
- Earliest claimed: 2024-03-21
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Ryuta Hashimoto; Koshi Odagiri; Takahiro Seta; Jun Hasegawa
- Web page: https://patentgrep.com/patent/US12767143B2

## CPC

- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2552/30: Road curve radius
- B60W 2554/4042: Longitudinal speed
- B60W 2554/406: Traffic density
- B60W 2556/20: Data confidence level
- 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
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A vehicle control device has a processor configured to acquire road information for a location outside of a detection range of a sensor mounted in a vehicle, to determine whether reliability of the road information is high or low, based on determining information representing a location with a large degree of variation in road condition, to decide to interpret the road information at a lower resolution when it has been determined that the reliability of the road information is low, and to generate a plan to control the vehicle based on the road information that has been interpreted at lower resolution, when it has been decided to interpret the road information at a lower resolution.

## Claims

### Claim 1

A vehicle control device comprising:
a processor configured to
acquire road information for a location outside of a detection range of a sensor mounted in a vehicle,
determine whether reliability of the road information is high or low, based on determining information representing a location with a large degree of variation in road condition,
decide to interpret the road information at a lower resolution when it has been determined that the reliability of the road information is low, and
generate a plan to control the vehicle, based on the road information that has been interpreted at lower resolution, when it has been decided to interpret the road information at a lower resolution.

### Claim 2 (depends on 1)

The vehicle control device according to claim 1, wherein
the determining information represents locations where there is a large degree of time-dependent variation in the road condition, and
the processor is further configured to determine that the reliability of the road information is low when the location represented by the road information matches a location where there is a large degree of time-dependent variation in the road condition represented in the determining information.

### Claim 3 (depends on 1)

The vehicle control device according to claim 1, wherein
the determining information represents locations and time periods where there is a large degree of time-dependent variation in the road condition, and
the processor is further configured to determine that the reliability of the road information is low when the location represented by the road information matches a location where there is a large degree of time-dependent variation in the road condition represented in the determining information, and the time at which the road information was acquired is within a time period with a large degree of time-dependent change in the road condition represented in the determining information.

### Claim 4 (depends on 1)

The vehicle control device according to claim 1, wherein the processor is further configured to generate determining information representing locations with a large degree of variation in road condition, between the locations as represented by the road information and areas near the locations represented by the road information, and to determine that the reliability of the road information is low when a location represented in the generated determining information matches a location represented by the road information.

### Claim 5 (depends on 1)

The vehicle control device according to claim 1, wherein
the determining information represents locations where there is a large degree of variation in curvature radius of a road, and
the processor is further configured to determine that the reliability of the road information is low when the location represented by the road information matches a location where there is a large degree of variation in curvature radius represented in the determining information, and the speed of another vehicle in the road information exceeds a reference speed estimated, based on a reference curvature radius.