# US 2019/0377344 A1 · Vehicle control system, vehicle control method, and vehicle control program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0377344 A1 - Document ID: US20190377344A1 - Status: Published application - Kind: A1 - Application number: 16/479,962 - Filed: 2017-02-03 - Published: 2019-12-12 - Earliest claimed: 2017-02-03 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Atsushi Ishioka; Akihiko Otsu; Akira Mizutani; Daichi Kato; Kazuyuki Takahashi - Web page: https://patentgrep.com/patent/US20190377344A1 ## CPC - B60W 60/00184: {related to infrastructure} - G01C 21/34: Route searching; Route guidance - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G08G 1/0967: Systems involving transmission of highway information, e.g. weather, speed limits (transmission of navigation instructions to the vehicle G08G1/0968) - B60W 2552/50: Barriers - B60W 2554/408: Traffic behavior, e.g. swarm - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] 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 - 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 - 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 A vehicle control system includes: a static information acquirer that is configured to acquire static information that is static information relating to gates; a dynamic information acquirer that is configured to acquire dynamic information that is dynamic information relating to the gates; a selector that is configured to select a gate among a plurality of gates on the basis of the static information acquired by the static information acquirer and thereafter correct a selection result of gates on the basis of the dynamic information acquired by the dynamic information acquirer; and a gate passage controller that is configured to perform control of a vehicle such that the vehicle passes through the gate selected by the selector. ## Claims ### Claim at position 1 -8. (canceled) ### Claim 9 A vehicle control system comprising: a static information acquirer that is configured to acquire static information that is static information relating to gates and is configured to acquire before a subject vehicle approaches the gates; a dynamic information acquirer that is configured to acquire dynamic information that is dynamic information relating to the gates and is configured to acquire when the subject vehicle approaches the gates; a selector that is configured to select a gate among a plurality of gates on the basis of the static information acquired by the static information acquirer and thereafter correct a selection result of gates on the basis of the dynamic information acquired by the dynamic information acquirer; and a gate passage controller that is configured to perform control of a vehicle such that the vehicle passes through the gate selected by the selector. ### Claim 10 (depends on 9) The vehicle control system according to claim 9, wherein the information acquired before the subject vehicle approaches the gate includes at least one of a gate structure, a destination of the subject vehicle, and information representing whether or not the gate can be passed using an ETC in-vehicle device, and wherein the information acquired when the subject vehicle approaches the gate includes at least one of information representing whether or not the gate is in a usable state and information representing a congestion degree of the gate. ### Claim 11 (depends on 9) The vehicle control system according to claim 9, wherein the dynamic information acquirer repeatedly acquires the dynamic information, and wherein the selector repeatedly corrects the selection result of the gates. ### Claim 12 (depends on 10) The vehicle control system according to claim 10, wherein the dynamic information acquirer repeatedly acquires the dynamic information, and wherein the selector repeatedly corrects the selection result of the gates. ### Claim 13 (depends on 9) The vehicle control system according to claim 9, wherein the selector is configured to correct the selection result of the gates on the basis of a distance from a position of a subject vehicle to a gate, a distance between an arrival target position that is an arrival target in the case of entering the gate and other vehicle present in the vicinity of the arrival target position, and a relative speed between the other vehicle and the subject vehicle. ### Claim 14 (depends on 10) The vehicle control system according to claim 10, wherein the selector is configured to correct the selection result of the gates on the basis of a distance from a position of a subject vehicle to a gate, a distance between an arrival target position that is an arrival target in the case of entering the gate and other vehicle present in the vicinity of the arrival target position, and a relative speed between the other vehicle and the subject vehicle. ### Claim 15 (depends on 11) The vehicle control system according to claim 11, wherein the selector is configured to correct the selection result of the gates on the basis of a distance from a position of a subject vehicle to a gate, a distance between an arrival target position that is an arrival target in the case of entering the gate and other vehicle present in the vicinity of the arrival target position, and a relative speed between the other vehicle and the subject vehicle. ### Claim 16 (depends on 12) The vehicle control system according to claim 12, wherein the selector is configured to correct the selection result of the gates on the basis of a distance from a position of a subject vehicle to a gate, a distance between an arrival target position that is an arrival target in the case of entering the gate and other vehicle present in the vicinity of the arrival target position, and a relative speed between the other vehicle and the subject vehicle. ### Claim 17 A vehicle control system comprising: a selector that is configured to select a gate among a plurality of gates on the basis of information acquired before approaching a gate and thereafter correct a selection result of the gates on the basis of information acquired at the time of approaching the gates; and a gate passage controller that is configured to perform control of a vehicle such that the vehicle passes through the gate selected by the selector. ### Claim 18 A vehicle control method using an in-vehicle computer, the vehicle control method comprising: acquiring static information that is static information relating to gates and is acquired before a subject vehicle approaches the gates; acquiring dynamic information that is dynamic information relating to the gates and is acquired when the subject vehicle approaches the gates; selecting a gate among a plurality of gates on the basis of the static information acquired; thereafter correcting a selection result of gates on the basis of the dynamic information acquired; and performing control of a vehicle such that the vehicle passes through the gate selected.