# US 2019/0170522 A1 · Vehicle, route calculation device, and route calculation method

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- Number: US 2019/0170522 A1
- Document ID: US20190170522A1
- Status: Published application
- Kind: A1
- Application number: 16/203,013
- Filed: 2018-11-28
- Published: 2019-06-06
- Earliest claimed: 2017-12-01
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Hideki MATSUNAGA; Masaaki NAGASHIMA; Takeru GOTO; Hirokiyo KASAHARA; Yoshimitsu MURAHASHI; Takumi MACHIDA; Toshiaki TAKANO
- Web page: https://patentgrep.com/patent/US20190170522A1

## CPC

- 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}
- G06V 20/584: {of vehicle lights or traffic lights}
- G08G 1/096827: {where the route is computed onboard}
- G08G 1/096844: {where the complete route is dynamically recomputed based on new data}
- 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)
- G08G 1/00: Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D})
- 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)
- 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})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

If it is determined that, at a target exit of a roundabout that exists in a target route, a travel restricting event that restricts passing of a vehicle through the target exit has occurred on the basis of a peripheral travel environment detected by a peripheral environment detection unit, a route calculation device of the vehicle adds one circulation or a part of the circulation in the roundabout to the target route.

## Claims

### Claim 1

A vehicle comprising:
a destination setting device configured to set a destination of the vehicle;
a route calculation device configured to calculate a target route from a current position to the destination;
a travel control unit configured to cause the vehicle to travel autonomously in at least a part of a route to the destination; and
a peripheral environment detection unit configured to detect a peripheral travel environment of the vehicle and detect a roundabout that exists in the target route,
wherein if it is determined that, at a target exit of the roundabout that exists in the target route, a travel restricting event that restricts passing of the vehicle through the target exit has occurred on a basis of the peripheral travel environment, the route calculation device is configured to add one circulation or a part of the circulation in the roundabout to the target route.

### Claim 2 (depends on 1)

The vehicle according to claim 1, wherein if it is determined that the travel restricting event has occurred, the route calculation device is configured to set an exit whose expected detour time taken to reach a reference point in the target route is shortest among a plurality of different exits of the roundabout, as a new target exit.

### Claim 3 (depends on 1)

The vehicle according to claim 1, wherein if it is determined that the travel restricting event has occurred, the route calculation device is configured to:
calculate an initial expected time expected to take from the target exit to a reference point in the target route under a condition before it is determined that the travel restricting event has occurred or a condition reflecting the travel restricting event, an expected detour time expected to take to reach the reference point through a different exit of the roundabout, and an expected circulation time expected to take to go round the roundabout once; and
if the expected detour time is shorter than a total of the initial expected time and the expected circulation time, reset the target route so that the target route includes the different exit.

### Claim 4 (depends on 1)

The vehicle according to claim 1, wherein:
the peripheral environment detection unit is configured to detect a preceding vehicle that exists ahead of the vehicle; and
the route calculation device is configured to obtain reference information of the preceding vehicle stopping at the target exit, obtain comparative information of the preceding vehicle stopping at the target exit after one circulation, determine progress of the preceding vehicle by comparing the reference information and the comparative information, and maintain the target exit in a case where the progress is more than a progress threshold.

### Claim 5 (depends on 1)

The vehicle according to claim 1, wherein:
the peripheral environment detection unit is configured to detect a preceding vehicle that exists ahead of the vehicle; and
the route calculation device is configured to obtain reference information of the preceding vehicle stopping at the target exit, obtain comparative information of the preceding vehicle stopping at the target exit after one circulation, determine progress of the preceding vehicle by comparing the reference information and the comparative information, calculate an updated expected time taken to reach a reference point in the target route through the target exit on a basis of the progress, calculate an expected detour time taken to reach the reference point through a different exit of the roundabout, maintain the target route in a case where the expected detour time is longer than the updated expected time, and reset the target route so that the target route includes the different exit in a case where the expected detour time is shorter than the updated expected time.

### Claim 6 (depends on 5)

The vehicle according to claim 5, wherein the route calculation device is configured to repeat updating the progress or the updated expected time every time the vehicle goes round the roundabout.

### Claim 7 (depends on 5)

The vehicle according to claim 5, wherein the route calculation device is configured to cause the vehicle to go round the roundabout again in a case where a difference between the updated expected time and the expected detour time is less than a time threshold.

### Claim 8 (depends on 7)

The vehicle according to claim 7, wherein the route calculation device is configured to use the target route including the shorter one of the updated expected time and the expected detour time in a case where circulation times in the roundabout is more than a circulation times threshold in a state that the difference between the updated expected time and the expected detour time is less than the time threshold.

### Claim 9

A route calculation device configured to calculate a target route from a current position of a vehicle to a destination that is set through a destination setting device, wherein the route calculation device is configured to:
obtain, from a peripheral environment detection unit, information regarding a peripheral travel environment of the vehicle and information regarding a roundabout that exists in the target route; and
if it is determined that, at a target exit of the roundabout that exists in the target route, a travel restricting event that restricts passing of the vehicle through the target exit has occurred on a basis of the peripheral travel environment, add a circulation in the roundabout to the target route.

### Claim 10

A route calculation method including a target route calculation step where a route calculation device calculates a target route from a current position of a vehicle to a destination of the vehicle that is set through a destination setting device, the method comprising:
a detection step where a peripheral environment detection unit detects a peripheral travel environment of the vehicle and a roundabout that exists in the target route;
a determination step where the route calculation device determines whether, at a target exit of the roundabout that exists in the target route, a travel restricting event that restricts passing of the vehicle through the target exit has occurred on a basis of the peripheral travel environment; and
an addition step where the route calculation device adds a circulation in the roundabout to the target route in a case where it is determined that the travel restricting event has occurred.