# US 2019/0170534 A1 · Traffic lane guidance system for vehicle and traffic lane guidance method for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0170534 A1 - Document ID: US20190170534A1 - Status: Published application - Kind: A1 - Application number: 16/269,749 - Filed: 2019-02-07 - Published: 2019-06-06 - Earliest claimed: 2013-10-09 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hiroki OKADA; Ryo NEYAMA - Web page: https://patentgrep.com/patent/US20190170534A1 ## CPC - G01C 21/3658: {Lane guidance} - B62D 15/021: {Determination of steering angle} - G01C 21/3446: {Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes} - 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) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A lane guidance system for a vehicle for guiding a vehicle to a recommended lane in which the vehicle is recommended to run out of traffic lanes included in a route from a first point to a second point through the use of an output unit mounted on the vehicle includes: a calculating unit that calculates a predicted value of an occurrence probability of sudden lane change as information indicating the occurrence probability of sudden lane change when the vehicle runs in sections corresponding to a plurality of links; a setting unit that sets the recommended lane on the basis of the predicted value; and a generating unit that generates guidance information for the recommended lane and that outputs the guidance information to the output unit. ## Claims ### Claim 1 A traffic lane guidance system for a vehicle for guiding a driver of the vehicle to a recommended lane in which the vehicle is recommended to run from among traffic lanes included in a route from a current point of the vehicle as a first point to a destination point of the vehicle as a second point, comprising: a vehicle component mounted on the vehicle to output guidance information for the driver; and a processor configured to: determine a predicted value indicating an occurrence probability of sudden lane change in the traffic lanes; determine an addition value, wherein the addition value in the traffic lanes in a direction intersecting a traveling direction of the vehicle is greater than the addition value in the traffic lanes along the traveling direction; determining the recommended lane based on the predicted value and the addition value; and output guidance information via the vehicle component to the driver according to the recommended lane. ### Claim 2 (depends on 1) The traffic lane guidance system for a vehicle according to claim 1, wherein the vehicle component is a human machine interface. ### Claim 3 (depends on 2) The traffic lane guidance system for a vehicle according to claim 2, wherein the human machine interface is one of a display and a speaker. ### Claim 4 (depends on 2) The traffic lane guidance system for a vehicle according to claim 2, wherein the processor is further configured to include a traffic lane included in the route in which the total sum of the predicted values of the occurrence probability of sudden lane change is minimized by applying a Dijkstra's algorithm to the predicted value of the occurrence probability of sudden lane change determined for each traffic lane included in the route from the first point to the second point. ### Claim 5 (depends on 1) The traffic lane guidance system for a vehicle according to claim 1, wherein the processor is further configured to determine, as the recommended lane, the traffic lane included in the route in which the sudden lane change of the vehicle occurs less in consideration of the entire route from the first point to the second point. ### Claim 6 (depends on 1) The traffic lane guidance system for a vehicle according to claim 1, wherein the processor is further configured to determine a weighting value for the addition value and gradually increases the weighting value determined for the addition value as a distance from a point, at which a steering operation frequency of the vehicle is greater than a predetermined threshold value, decreases in the route from the first point to the second point. ### Claim 7 (depends on 1) The traffic lane guidance system for a vehicle according to claim 1, wherein the processor is further configured to determine a second addition value which is different from a first addition value as the addition value to be added to the predicted values of the occurrence probability of sudden lane change when the addition value is the first addition value and determines the second addition value, when an appropriateness of personal driving characteristics for the traffic lanes is relatively high, to be smaller than that when the appropriateness is relatively low, and wherein the recommended lane is determined on the basis of the predicted values of the occurrence probability of sudden lane change to which the first addition value and the second addition value are added. ### Claim 8 (depends on 7) The traffic lane guidance system for a vehicle according to claim 7, wherein the processor is further configured to classify information acquired from a plurality of vehicles as information of elements of personal driving characteristics into a plurality of driving characteristic information groups, classify information of elements of lane characteristics into a plurality of lane characteristic information groups, and determine the second addition value to be added to the predicted values of the occurrence probability of sudden lane change, when an appropriateness of the driving characteristic information groups and the lane characteristic information groups is relatively high, to be smaller than that when the appropriateness is relatively low. ### Claim 9 (depends on 7) The traffic lane guidance system for a vehicle according to claim 7, wherein the processor is further configured to determine a third addition value which is different from the first addition value and the second addition value as the addition value to be added to the predicted values of the occurrence probability of sudden lane change and determines the third addition value, when an appropriateness of vehicle characteristics for the traffic lanes is relatively high, to be smaller than that when the appropriateness is relatively low, and wherein the processor determines the recommended lane on the basis of the predicted values of the occurrence probability of sudden lane change to which the first addition value, the second addition value, and the third addition value are added. ### Claim 10 (depends on 1) The traffic lane guidance system for a vehicle according to claim 1, wherein the traffic lanes include a plurality of positions spaced in the traveling direction of the vehicle in the traffic lanes of a route portion between neighboring points of intersection in the route from the first point to the second point. ### Claim 11 A traffic lane guidance method for a vehicle of guiding a driver of the vehicle to a recommended lane in which the vehicle is recommended to run from among traffic lanes included in a route from a current point of the vehicle as a first point to a destination point of the vehicle as a second point through the use of a vehicle component mounted on the vehicle to output guidance information for the driver and a processor, the method comprising: determining, using the processor, a predicted value indicating an occurrence probability of sudden lane change in the traffic lanes; determining an addition value in the traffic lanes, the addition value being greater in a direction intersecting a traveling direction of the vehicle than the addition value in the traffic lanes along the traveling direction; determining a recommended lane based on the predicted value and the addition value; and outputting guidance information via the vehicle component to the driver according to the recommended lane.