# US 12,768,929 B2 · Vehicle control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,768,929 B2 - Document ID: US12768929B2 - Status: Granted - Kind: B2 - Application number: 18/559,369 - Filed: 2022-03-08 - Published: 2024-07-18 - Granted: 2026-10-20 - Earliest claimed: 2021-06-29 - Assignees: Hitachi Astemo, Ltd. - Applicants: Hitachi Astemo, Ltd. - Inventors: Yuta Tsurumoto; Keisuke Takeuchi; Seiya Ishii - Web page: https://patentgrep.com/patent/US12768929B2 ## CPC - G01S 5/021: {Calibration, monitoring or correction (G01S5/0252 takes precedence)} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A vehicle control device is provided which has enhanced robustness against a shielding object, further, which does not measure a received radio wave from a radio transmitter and which can continue, for example, automatic driving control by comparing two types of vehicle positions calculated using the radio transmitter installed outside a vehicle and a sensor mounted on the vehicle and detecting an error in order to reduce a detection error of the radio transmitter due to a failure in communication of the radio transmitter. Two types of vehicle positions calculated using the sensor mounted on the vehicle and the radio transmitter are compared, and it is determined that the radio transmitter is affected by a shielding object in a case where a temporal change of a vehicle position deviation and/or a behavior change of a vehicle position (first own vehicle position) based on the radio transmitter is detected. ## Claims ### Claim 1 A vehicle control device comprising: a processor configured to: receive a radio wave from a radio transmitter installed at an arbitrary position outside a vehicle and calculates relative positions of the vehicle and the radio transmitter; calculate a position of the vehicle on a basis of information acquired by a sensor mounted on the vehicle; determine that the received radio wave is affected by a shielding object on a basis of a temporal change of a deviation between a first own vehicle position and a second own vehicle position meets a predetermined threshold condition; and in response to determining that the sensor is affected by at least one of a step or a slip, update an initial position of the second own vehicle position by resetting the second own vehicle position to the first own vehicle position, wherein the resetting occurs after a predetermined period or after the vehicle has traveled by a predetermined distance. ### Claim 2 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine that the received radio wave is affected by a shielding object in a case where a change in behavior of the first own vehicle position caused by shielding of the received radio wave is detected. ### Claim 3 (depends on 2) The vehicle control device of claim 2, wherein the change in the behavior includes at least one of: behavior of losing the first own vehicle position, behavior in which a traveling direction of the vehicle based on the first own vehicle position is different, by greater than a predetermined yaw-difference threshold, from a traveling direction of the vehicle based on the information acquired by the sensor; or behavior in which vehicle speed of the vehicle based on the first own vehicle position is different, by a predetermined speed-difference threshold or greater, from vehicle speed of the vehicle based on the information acquired by the sensor. ### Claim 4 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine that an error is included in the second own vehicle position in a case where the temporal change of the deviation is equal to or less than the predetermined threshold. ### Claim 5 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine that an error is included in the first own vehicle position in a case where the temporal change of the deviation is greater than the predetermined threshold. ### Claim 6 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine that the sensor is affected by at least one of a step or a slip in a case where the temporal change of the deviation is equal to or less than the predetermined threshold. ### Claim 7 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine that the received radio wave is affected by a shielding object in a case where the temporal change of the deviation is greater than the predetermined threshold. ### Claim 8 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine that the received radio wave is affected by a shielding object in a case where a deviation between absolute coordinates of the vehicle acquired from an artificial satellite and the first own vehicle position is greater than the predetermined threshold. ### Claim 9 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to determine a position of the vehicle from the first own vehicle position and the second own vehicle position on a basis of a result of the determination of an error. ### Claim 10 (depends on 1) The vehicle control device of claim 1, wherein the processor is further configured to calculate the relative positions of the vehicle and the radio transmitter from at least one of distance information or orientation information acquired by at least one radio receiver mounted on the vehicle.