# US 2023/0141235 A1 · Evacuation travel assistance device, evacuation travel assistance method, and non-transitory computer readable recording medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0141235 A1 - Document ID: US20230141235A1 - Status: Published application - Kind: A1 - Application number: 17/897,936 - Filed: 2022-08-29 - Published: 2023-05-11 - Earliest claimed: 2021-11-05 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Shogo OKAMOTO; Masaya ENDO - Web page: https://patentgrep.com/patent/US20230141235A1 ## CPC - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - G01S 13/931: of land vehicles - B60W 10/20: including control of steering systems - B60W 40/02: related to ambient conditions - B60W 40/08: related to drivers or passengers - B60W 60/001: {Planning or execution of driving tasks} - B60W 60/0016: {of the vehicle or its occupants} - G01S 13/08: Systems for measuring distance only (indirect measurement G01S13/46) - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/867: {Combination of radar systems with cameras} - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2552/50: Barriers - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2556/20: Data confidence level - B60W 2556/40: High definition maps - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60Y 2302/05: Leading to automatic stopping of the vehicle - G01S 2013/9314: {Parking operations} - 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 - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A surrounding environment information generating unit acquires surrounding position information indicating a measured position of a side wall including a side wall of an evacuation spot, and generates measured map information for the side wall using the surrounding position information. When driving operation by a driver cannot be performed, a corrected map information generating unit calculates a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall in base map information and that in the measured map information by a reliability, and generates corrected map information obtained by applying the correction value to the base map information. A route generating unit generates an evacuation travel route with the evacuation spot as a destination using the corrected map information. A vehicle control unit outputs a vehicle speed command for the host vehicle using the evacuation travel route. ## Claims ### Claim 1 An evacuation travel assistance device comprising: processing circuitry to acquire driver state information and determine whether a driver is capable of driving on a basis of the driver state information, the driver state information making it possible to estimate whether the driver is in a state where the driver can perform a driving operation; to acquire host vehicle environment information including host vehicle position information indicating a position of a host vehicle; to acquire map information on a road that is a traveling destination of the host vehicle and obtain, on a basis of the map information, base map information; to acquire surrounding environment information including surrounding position information and division line information and generate measured map information for a side wall including a side wall of an evacuation spot on a basis of the surrounding position information, the surrounding position information indicating a position of the side wall including the side wall of the evacuation spot measured by a surrounding environment information acquiring device, the division line information indicating a division line of a traveling path measured by the surrounding environment information acquiring device; to calculate, when it is determined that the driving operation by the driver cannot be performed, a correction value obtained by multiplying a difference between a distance from a traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the base map information and a distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information by a reliability that is equal to or less than 1, and generate corrected map information obtained by applying the correction value to the base map information; to generate, when it is determined that the driving operation by the driver cannot be performed, an evacuation travel route with the evacuation spot as a destination spot by using the host vehicle position information and the corrected map information; and to output, when it is determined that the driving operation by the driver cannot be performed, a vehicle speed command on a basis of the evacuation travel route, the vehicle speed command being a command for performing speed control and steering control of the host vehicle that performs evacuation travel. ### Claim 2 (depends on 1) The evacuation travel assistance device according to claim 1, wherein when the distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the base map information is larger than the distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information and the reliability is equal to or more than a set value, the processing circuitry generates the corrected map information to which the correction value is applied, and when the reliability is less than the set value, the processing circuitry generates corrected map information to which the distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information is applied. ### Claim 3 (depends on 1) The evacuation travel assistance device according to claim 1, wherein when the distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the base map information is larger than the distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information, the processing circuitry generates, regardless of the reliability, corrected map information to which the distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information is applied. ### Claim 4 (depends on 1) The evacuation travel assistance device according to claim 1, wherein the surrounding environment information acquiring device is a millimeter-wave radar. ### Claim 5 (depends on 4) The evacuation travel assistance device according to claim 4, wherein the processing circuitry gives, when it is determined that the driving operation by the driver cannot be performed, irradiation direction switching information to the millimeter-wave radar, the irradiation direction switching information giving an instruction to change an irradiation direction so that an irradiation density of the millimeter-wave radar on the side wall including the side wall of the evacuation spot is relatively higher than an irradiation density of the millimeter-wave radar on another area. ### Claim 6 (depends on 5) The evacuation travel assistance device according to claim 5, wherein the irradiation direction switching information is information which means making an irradiation interval of a transmission wave from the millimeter-wave radar for the side wall including the side wall of the evacuation spot narrower than an irradiation interval of the transmission wave from the millimeter-wave radar in normal automatic traveling. ### Claim 7 (depends on 5) The evacuation travel assistance device according to claim 5, wherein the irradiation direction switching information is information which means making an irradiation interval of a transmission wave from the millimeter-wave radar for the side wall including the side wall of the evacuation spot narrower than an irradiation interval of the transmission wave from the millimeter-wave radar in normal automatic traveling, and which means making an irradiation interval of the transmission wave from the millimeter-wave radar for a side wall other than the side wall including the side wall of the evacuation spot wider than the irradiation interval of the transmission wave from the millimeter-wave radar in the normal automatic traveling. ### Claim 8 (depends on 4) The evacuation travel assistance device according to claim 4, wherein the reliability is a value selected on a basis of magnitudes of a reception intensity and a reception density of an incoming wave received by the millimeter-wave radar, the reception intensity and the reception density being included in the surrounding environment information. ### Claim 9 (depends on 4) The evacuation travel assistance device according to claim 4, wherein the reliability is one of values of a plurality of steps from 0.1 to 1.0, and is a value selected from the values of the plurality of steps on a basis of magnitudes of a reception intensity and a reception density of an incoming wave received by the millimeter-wave radar, the reception intensity and the reception density being included in the surrounding environment information. ### Claim 10 (depends on 4) The evacuation travel assistance device according to claim 4, wherein the reliability is set, for the side wall including the side wall of the evacuation spot, to a value obtained by multiplying a first reliability that is equal to or less than 1 selected on a basis of magnitudes of a reception intensity and a reception density of an incoming wave received by the millimeter-wave radar by a second reliability that is equal to or less than 1 corresponding to an irradiation degree of a transmission wave from the millimeter-wave radar to the side wall including the side wall of the evacuation spot, the reception intensity and the reception density being included in the surrounding environment information. ### Claim 11 (depends on 4) The evacuation travel assistance device according to claim 4, wherein the reliability is set, for the side wall including the side wall of the evacuation spot, to a value obtained by multiplying a first reliability that is one of values of a plurality of steps from 0.1 to 1.0, and that is a value selected from the values of the plurality of steps on a basis of magnitudes of a reception intensity and a reception density of an incoming wave received by the millimeter-wave radar by a second reliability that is equal to or less than 1 corresponding to an irradiation degree of a transmission wave from the millimeter-wave radar to the side wall including the side wall of the evacuation spot, the reception intensity and the reception density being included in the surrounding environment information. ### Claim 12 An evacuation travel assistance method comprising: determining whether a driver is capable of driving on a basis of driver state information which makes it possible to estimate whether the driver is in a state where the driver can perform a driving operation; generating measured map information for a side wall including a side wall of an evacuation spot on a basis of surrounding environment information including surrounding position information indicating a measured position of the side wall including the side wall of the evacuation spot and division line information indicating a measured division line of a traveling path; calculating a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall including the side wall of the evacuation spot in base map information and a distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information by a reliability that is equal to or less than 1 when it is determined that the driving operation by the driver cannot be performed, and generating corrected map information obtained by applying the correction value to the base map information; generating an evacuation travel route with the evacuation spot as a destination spot by using host vehicle position information indicating a position of the host vehicle and the corrected map information when it is determined that the driving operation by the driver cannot be performed; and outputting a vehicle speed command on a basis of the evacuation travel route when it is determined that the driving operation by the driver cannot be performed, the vehicle speed command being a command for performing speed control and steering control of the host vehicle that performs evacuation travel. ### Claim 13 A non-transitory computer readable recording medium having stored thereon a program to be executed on a computer, the program causing the computer to perform: determining whether a driver is capable of driving on a basis of driver state information which makes it possible to estimate whether the driver is in a state where the driver can perform a driving operation; generating measured map information for a side wall including a side wall of an evacuation spot on a basis of surrounding environment information including surrounding position information indicating a measured position of the side wall including the side wall of the evacuation spot and division line information indicating a measured division line of a traveling path; calculating a correction value obtained by multiplying a difference between a distance from a traveling center line of a host vehicle to the side wall including the side wall of the evacuation spot in base map information and a distance from the traveling center line of the host vehicle to the side wall including the side wall of the evacuation spot in the measured map information by a reliability that is equal to or less than 1 when it is determined that the driving operation by the driver cannot be performed, and generating corrected map information obtained by applying the correction value to the base map information; generating an evacuation travel route with the evacuation spot as a destination spot by using host vehicle position information indicating a position of the host vehicle and the corrected map information when it is determined that the driving operation by the driver cannot be performed; and outputting a vehicle speed command on a basis of the evacuation travel route when it is determined that the driving operation by the driver cannot be performed, the vehicle speed command being a command for performing speed control and steering control of the host vehicle that performs evacuation travel.