# US 2018/0023966 A1 · Route search device, control method, program and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0023966 A1 - Document ID: US20180023966A1 - Status: Published application - Kind: A1 - Application number: 15/694,683 - Filed: 2017-09-01 - Published: 2018-01-25 - Earliest claimed: 2015-03-03 - Assignees: Pioneer Corporation; Increment P Corporation - Applicants: Pioneer Corporation; Increment P Corporation - Inventors: Tomoaki IWAI; Yuji TAWARAGI; Tomoyuki FUJIEDA; Tetsuya KAWAHARA; Youko FUJITA - Web page: https://patentgrep.com/patent/US20180023966A1 ## CPC - G01C 21/3407: {specially adapted for specific applications} - B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units - B60W 60/0053: {from vehicle to occupant} - B60W 60/0057: {Estimation of the time available or required for the handover} - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - B60W 60/0061: {Aborting handover process} - G01C 21/26: specially adapted for navigation in a road network - 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} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0145: {for active traffic flow control} - G08G 1/096833: {where different aspects are considered when computing the route} - G08G 1/0969: having a display in the form of a map - B60W 2555/20: Ambient conditions, e.g. wind or rain - G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents} - G01C 21/367: {Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - 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) - 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 - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An enhanced map information processing unit 14 of a driving assistance device 1 acquires from a determination unit 13 information on surroundings of a vehicle which is needed to perform autonomous driving, and acquires from a server device 2 environment information on surroundings of a route on which autonomous driving is performed. On the basis of the acquired environment information, the enhanced map information processing unit 14 extracts, as an autonomous driving unsuitable location Pn, a location at which the accuracy of the acquirement of the sensor unit 12 is predicted not to satisfy a standard for acquiring the information on the surroundings of the vehicle needed to perform autonomous driving. An informing unit 18 alerts the extracted autonomous driving unsuitable location Pn to a user. ## Claims ### Claim 1 A route search device comprising: an acquirement unit configured to acquire information associated with surroundings of a moving body; a route search unit configured to search for or estimate a moving route of the moving body; an environment acquirement unit configured to acquire environment information on surroundings of the moving route; and an informing unit configured to provide information indicating that the moving route has been modified, based on the environment information on the surroundings, to avoid a section or a point on which autonomous driving by the acquirement unit is difficult. ### Claim 2 (depends on 1) The route search device of claim 1, wherein the section or the point on which autonomous driving is difficult comprises at least one of: a section having rainfall or snow fall higher than a standard value, a road surface freezing, or heavy fog that does not meet a standard accuracy; a section having no detectable marks such as a road white line, a sign, or a building for a sensor to perform autonomous driving; and a section where another vehicle previously operated and could not perform autonomous driving. ### Claim 3 A route search device comprising: an acquirement unit configured to acquire information on surroundings of a moving body; a route search unit configured to search for or estimate a moving route where the moving body moves; an environment acquirement unit configured to acquire environment information on surroundings of the moving route searched for or estimated by the route search unit; and an informing unit configured to inform a user of the moving route, wherein the route search unit is configured to, based on the environment information acquired by the environment information, search for or estimate the moving route avoiding a section or a point on which performing autonomous driving by use of the acquirement unit is difficult. ### Claim 4 (depends on 3) The route search device of claim 3, wherein the moving route comprises a first moving route where the moving body moves, and the route search unit is configured to, based on the environment information acquired by the environment information, search for or estimate a second moving route avoiding a section or a point which is on the first moving route and on which performing autonomous driving by use of the acquirement unit is difficult. ### Claim 5 (depends on 3) The route search device according to claim 3, wherein the moving route is modified by the route search unit to avoid a section or a point on at least one of a compartment line, a sign and a structure is not detectable by the acquirement unit. ### Claim 6 (depends on 3) The route search device of claim 3, wherein the section or the point on which performing autonomous driving by use of the acquirement unit is difficult comprises at least one of: a section having rainfall or snow fall higher than a standard value, a road surface freezing, or heavy fog that does not meet a standard accuracy; a section having no detectable marks such as a road white line, a sign, or a building for a sensor to perform autonomous driving; and a section where another vehicle previously operated and could not perform autonomous driving. ### Claim 7 A route search method executed by a route search device, comprising: acquiring information associated with surroundings of a moving body; searching for or estimating a moving route of the moving body; acquiring environment information on surroundings of the moving route; and informing a user by providing information indicating that the moving route has been modified, based on the environment information on the surroundings, to avoid a section or a point on which autonomous driving by the acquirement unit is difficult.