# US 2017/0285647 A1 · Vehicle control device and vehicle

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- Number: US 2017/0285647 A1
- Document ID: US20170285647A1
- Status: Published application
- Kind: A1
- Application number: 15/459,206
- Filed: 2017-03-15
- Published: 2017-10-05
- Earliest claimed: 2016-03-31
- Assignees: Subaru Corporation
- Applicants: Subaru Corporation
- Inventors: Hirotaka SAITO; Junya SEKI; Kazufumi SUZUKI; Yuki OSADA
- Web page: https://patentgrep.com/patent/US20170285647A1

## CPC

- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60Q 5/006: {indicating risk of collision between vehicles or with pedestrians}
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 10/20: including control of steering systems
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)}
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60W 50/10: Interpretation of driver requests or demands
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- G01C 21/3461: {Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries}
- G01C 21/3492: {employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968)}
- G01C 21/3667: {Display of a road map (G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635)}
- G01C 21/3694: {Output thereof on a road map}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0219: {ensuring the processing of the whole working surface}
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- 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 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling}
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/06: Direction of travel
- B60W 2540/18: Steering angle
- B60W 2540/215: Selection or confirmation of options
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2552/30: Road curve radius
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/00: Input parameters relating to objects
- B60W 2554/20: Static objects
- B60W 2554/4026: Cycles
- B60W 2554/4029: Pedestrians
- B60W 2554/406: Traffic density
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2556/00: Input parameters relating to data
- 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
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- 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)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- 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})

## Abstract

Provided is a vehicle control device mounted on a vehicle including an environment recognition unit and an automatic operation control unit. The environment recognition unit is configured to acquire information on surrounding environment around the vehicle, and provide the automatic operation control unit with the information on the surrounding environment. The automatic operation control unit is configured to acquire select one proposed traveling line, as a target traveling line of the vehicle, from a plurality of proposed traveling lines, on a basis of the information on the surrounding environment, and allow the vehicle to travel along the target traveling line. The vehicle control device is configured to acquire provide display of an image of one or more non-selected traveling lines other than the proposed traveling line selected as the target traveling line from the plurality of proposed traveling lines, together with display of an image of the target traveling line.

## Claims

### Claim 1

A vehicle control device configured to be mounted on a vehicle that includes an environment recognition unit and an automatic operation control unit,
the environment recognition unit being configured to acquire information on surrounding environment around the vehicle, and providing the automatic operation control unit with the information on the surrounding environment,
the automatic operation control unit being configured to select one proposed traveling line, as a target traveling line of the vehicle, from a plurality of proposed traveling lines, on a basis of the information on the surrounding environment, and allow the vehicle to travel along the target traveling line, and
the vehicle control device being configured to provide display of an image of one or more non-selected traveling lines other than the proposed traveling line selected as the target traveling line from the plurality of proposed traveling lines, together with display of an image of the target traveling line.

### Claim 2 (depends on 1)

The vehicle control device according to claim 1,
wherein the vehicle control device provides display of information on a reason for non-selection of the non-selected traveling line.

### Claim 3 (depends on 1)

The vehicle control device according to claim 1,
wherein the automatic operation control unit has a function of selecting one non-selected traveling line as a new target traveling line from the one or more non-selected traveling lines, in accordance with a change in the information on the surrounding environment, and
the vehicle control device stops providing the display of the image of any non-selected traveling line of the one or more non-selected traveling lines, upon diminution of possibility that the relevant non-selected traveling line is selected as the ne target traveling line.

### Claim 4 (depends on 2)

The vehicle control device according to claim 2,
wherein the automatic operation control unit has a function of selecting one non-selected traveling line as a new target traveling line from the one or more non-selected traveling lines, in accordance with a change in the information on the surrounding environment, and
the vehicle control device stops providing the display of the image of any non-selected traveling line of the one or more non-selected traveling lines, upon diminution of possibility that the relevant non-selected traveling line is selected as the new target traveling line.

### Claim 5

A vehicle, comprising an environment recognition unit, an automatic operation control unit, and a vehicle control device,
the environment recognition unit being configured to acquire information on surrounding environment around the vehicle, and providing the automatic operation control unit with the information on the surrounding environment,
the automatic operation control unit being configured to select one proposed traveling line, as a target traveling line of the vehicle, from a plurality of proposed traveling lines, on a basis of the information on the surrounding environment, and allow the vehicle to travel along the target traveling line, and
the vehicle control device being configured to provide display of an image of one or more non-selected traveling lines other than the proposed traveling line selected as the target traveling line from the plurality of proposed traveling lines, together with display of an image of the target traveling line.