# US 9,751,528 B2 · In-vehicle control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,528 B2 - Document ID: US9751528B2 - Status: Granted - Kind: B2 - Application number: 14/915,115 - Filed: 2014-08-20 - Published: 2016-07-21 - Granted: 2017-09-05 - Earliest claimed: 2013-08-26 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Masaaki Uechi; Yoji Mizoguchi; Hiroshi Harada; Kumiko Kondo; Naoki Taki - Web page: https://patentgrep.com/patent/US9751528B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 50/045: {Monitoring control system parameters} - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/16: Pitch - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - G01S 7/4034: {in elevation, i.e. in the vertical plane} - G01S 7/4091: {during normal radar operation} - G01S 2013/9323: {Alternative operation using light waves} - G01S 2013/9324: {Alternative operation using ultrasonic waves} - G01S 2013/93273: {on the top of the vehicles} - 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 - 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 An in-vehicle control device includes a first sensor that acquires obstacle information in a first detection range, a second sensor that acquires obstacle information in a second detection range, the second detection range is nearer to a host vehicle than the first detection range, and a processor configured to perform predetermined control for preventing collision with an obstacle or for reducing damage at collision time based on the obstacle information received from the first sensor and the second sensor and, when the obstacle is not detected by the first sensor and the second sensor after starting the predetermined control based on the obstacle information received from the first sensor, uses positional relation information to determine whether the predetermined control is to be continued wherein the positional relation information indicates a height-direction positional relation between a predetermined part of the obstacle and the first detection range or the second detection range. ## Claims ### Claim 1 An in-vehicle control device comprising: a first sensor that acquires obstacle information in a first detection range; a second sensor that acquires obstacle information in a second detection range, the second detection range being more downward than the first detection range with respect to a host vehicle; and a processor configured to perform predetermined control for preventing collision with an obstacle or for reducing damage at collision time based on the obstacle information received from the first sensor and the second sensor and, when the obstacle is subsequently not detected by the first sensor and the second sensor after starting the predetermined control based on the obstacle information received from the first sensor, the processor determines whether the predetermined control is to be continued based on positional relation information that indicates a height-direction positional relation between a predetermined part of the obstacle and the first detection range or the second detection range. ### Claim 2 (depends on 1) The in-vehicle control device according to claim 1, wherein the positional relation information is information representing a height of the predetermined part of the obstacle, information representing a pitch angle of the host vehicle, or information representing a difference between a road slope at a position of the obstacle and a road slope at a position of the host vehicle. ### Claim 3 (depends on 2) The in-vehicle control device according to claim 2, wherein the processor cancels the predetermined control when a state, in which the obstacle is not detected by the first sensor and the second sensor, continues for a predetermined time during the predetermined control, the predetermined time being made variable based on the positional relation information. ### Claim 4 (depends on 1) The in-vehicle control device according to claim 1, wherein the processor cancels the predetermined control when a state, in which the obstacle is not detected by the first sensor and the second sensor, continues for a predetermined time during the predetermined control, the predetermined time being made variable based on the positional relation information. ### Claim 5 (depends on 4) The in-vehicle control device according to claim 4, wherein the predetermined time is made variable in such a way that the predetermined time is made shorter as the pitch angle becomes larger wherein a direction in which a front of the vehicle sinks is a positive direction for the pitch angle of the host vehicle. ### Claim 6 (depends on 4) The in-vehicle control device according to claim 4, wherein the predetermined time is made variable in such a way that the predetermined time becomes shorter as the predetermined part of the obstacle is higher.