# US 2021/0240181 A1 · Driving assistance device

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- Number: US 2021/0240181 A1
- Document ID: US20210240181A1
- Status: Published application
- Kind: A1
- Application number: 17/151,859
- Filed: 2021-01-19
- Published: 2021-08-05
- Earliest claimed: 2012-12-14
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Kentaro ICHIKAWA; Toshiki KINDO
- Web page: https://patentgrep.com/patent/US20210240181A1

## CPC

- B60W 60/0051: {from occupants to vehicle}
- B60Q 1/46: for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights {or hazard lights}
- B60W 50/10: Interpretation of driver requests or demands
- B60W 60/001: {Planning or execution of driving tasks}
- B60W 60/0053: {from vehicle to occupant}
- 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 21/3617: {using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement}
- 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)
- B60W 2720/10: Longitudinal speed
- 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

## Abstract

A driving assistance device, including an automated driving switch; an emergency button; and a controller configured to provide either automated driving in which travel is performed along a current travel path of a host vehicle or automated stopping in response to manipulation by a driver of the automated driving switch or of the emergency button.

## Claims

### Claim 1

A driving assistance device, comprising:
an input switch configured to be used to input an instruction for automated driving of a vehicle; and
a controller configured
to determine whether or not an automated driving destination has been set,
if the instruction for automated driving of the vehicle has been input by the input switch and the automated driving destination has been set, to generate a route of the vehicle to the automated driving destination and to control the vehicle to travel along the route to the automated driving destination,
if the instruction for automated driving of the vehicle has been input by the input switch and the automated driving destination has not been set, to determine whether or not a driver of the vehicle has a travel continuation intention,
if the driver of the vehicle has the travel continuation intention, to generate a route along a current travel path of the vehicle and to control the vehicle to travel along the route along the current travel path of the vehicle, and
if the driver of the vehicle does not have the travel continuation intention, to generate a route in order to perform automated stopping and to control the vehicle to travel along the route in order to perform automated stopping.

### Claim 2 (depends on 1)

The driving assistance device according to claim 1, comprising an emergency button,
wherein the controller is configured:
if an instruction for the vehicle to be in an automated driving operation state has been input by the emergency button and the automated driving destination has been set, to generate the route of the vehicle to the automated driving destination and to control the vehicle to travel along the route to the automated driving destination, and
if the instruction for the vehicle to be in the automated driving operation state has been input by the emergency button and the automated driving destination has not been set, to determine whether or not the driver of the vehicle has the travel continuation intention.

### Claim 3 (depends on 1)

The driving assistance device according to claim 1,
wherein the controller is configured to determine whether or not the driver of the vehicle has the travel continuation intention in accordance with a manipulation action of the driver.

### Claim 4 (depends on 1)

The driving assistance device according to claim 1,
wherein the controller is configured
to determine that the driver of the vehicle has the travel continuation intention if an accelerator pedal is pressed, and
to determine the driver of the vehicle does not have the travel continuation intention if the accelerator pedal is not pressed.

### Claim 5 (depends on 1)

The driving assistance device according to claim 1,
wherein the controller is configured
to determine that the driver of the vehicle has the travel continuation intention if a brake pedal is not pressed, and
to determine that the driver of the vehicle does not have the travel continuation intention if the brake pedal is pressed.

### Claim 6

A driving assistance method, comprising:
inputting by an input switch an instruction for a vehicle to be in an automated driving operation state;
determining whether or not an automated driving destination has been set;
if the instruction for the vehicle to be in the automated driving operation state has been input by the input switch and the automated driving destination has been set, generating a route of the vehicle to the automated driving destination and controlling the vehicle to travel along the route to the automated driving destination,
if the instruction for the vehicle to be in the automated driving operation state has been input by the input switch and the automated driving destination has not been set, determining whether or not a driver of the vehicle has a travel continuation intention,
if the driver of the vehicle has the travel continuation intention, generating a route along a current travel path of the vehicle and controlling the vehicle to travel along the route along the current travel path of the vehicle, and
if the driver of the vehicle does not have the travel continuation intention, generating a route in order to perform automated stopping and controlling the vehicle to travel along the route in order to perform automated stopping.

### Claim 7 (depends on 6)

The driving assistance method according to claim 6, further comprising:
if the instruction for the vehicle to be in the automated driving operation state has been input by an emergency button and the automated driving destination has been set, generating the route of the vehicle to the automated driving destination and controlling the vehicle to travel along the route to the automated driving destination, and
if the instruction for the vehicle to be in the automated driving operation state has been input by the emergency button and the automated driving destination has not been set, determining whether or not the driver of the vehicle has a travel continuation intention.

### Claim 8 (depends on 6)

The driving assistance method according to claim 6,
determining whether or not the driver of the vehicle has the travel continuation intention in accordance with a manipulation action of the driver.

### Claim 9 (depends on 6)

The driving assistance method according to claim 6,
determining that the driver of the vehicle has the travel continuation intention if an accelerator pedal is pressed, and
determining that the driver of the vehicle does not have the travel continuation intention if the accelerator pedal is not pressed.

### Claim 10 (depends on 6)

The driving assistance method according to claim 6,
determining that the driver of the vehicle has the travel continuation intention if a brake pedal is not pressed, and
determining that the driver of the vehicle does not have the travel continuation intention if the brake pedal is pressed.