THIRUTTU TULLITTUR
`
`US009950740B2
`
`( 12 ) United States Patent
`Sato et al .
`
`( 10 ) Patent No . :
`( 45 ) Date of Patent :
`
`US 9 , 950 , 740 B2
`Apr . 24 , 2018
`
`( * ) Notice :
`
`( 54 ) AUTOMATIC DRIVING CONTROL DEVICE
`& E
`( 71 )
`Applicant : TOYOTA JIDOSHA KABUSHIKI
`KAISHA , Toyota - shi , Aichi ( JP )
`( 72 ) Inventors : Jun Sato , Susono ( JP ) ; Masaki
`Matsunaga , Odawara ( JP ) ; Yuichi
`Kumai , Gotenba ( JP )
`( 73 ) Assignee : TOYOTA JIDOSHA KABUSHIKI
`KAISHA , Toyota - shi , Aichi - ken ( JP )
`Subject to any disclaimer , the term of this
`patent is extended or adjusted under 35
`U . S . C . 154 ( b ) by 0 days .
`( 21 ) Appl . No . : 15 / 186 , 606
`( 22 ) Filed :
`Jun . 20 , 2016
`( 65 )
`Prior Publication Data
`US 2017 / 0003683 A1 Jan . 5 , 2017
`Foreign Application Priority Data
`( 30 )
`Jul . 1 , 2015 ( JP ) . . . . . . . . . .
`. . . . . . . . . . . . . . 2015 - 132772
`( 51 ) Int . Ci .
`( 2006 . 01 )
`B62D 15 / 02
`( 52 )
`U . S . CI .
`CPC . . . . . . . . . B62D 15 / 021 ( 2013 . 01 ) ; B62D 15 / 025
`( 2013 . 01 )
`( 58 ) Field of Classification Search
`CPC . . . . B62D 15 / 025 ; B62D 1 / 286 ; B62D 15 / 021 ;
`GO5D 1 / 0061 ; B60W 30 / 10 ; B60W 30 / 12
`See application file for complete search history .
`
`JP
`
`( 56 )
`
`References Cited
`U . S . PATENT DOCUMENTS
`6 , 473 , 678 B1 * 10 / 2002 Satoh . . . . . . . . . . . . . . . . . . . B62D 15 / 025
`180 / 168
`8 , 670 , 891 B13 / 2014 Szybalski et al .
`8 / 2005 Maass . . . . . . . . . . . . . . . . . . . . . B60Q 9 / 008
`2005 / 0182539 A1 *
`701 / 41
`2007 / 0233343 A1 * 10 / 2007 Saito . . . . . . . . . .
`. . . B62D 1 / 28
`701 / 41
`( Continued )
`FOREIGN PATENT DOCUMENTS
`07023370 A
`*
`1 / 1995
`9 - 309453 A
`12 / 1997
`( Continued )
`OTHER PUBLICATIONS
`JPO machine translation of JP 2000 - 198458 ( original JP document
`published Jul . 18 , 2000 ) *
`( Continued )
`Primary Examiner — Behrang Badii
`Assistant Examiner — David A Testardi
`( 74 ) Attorney , Agent , or Firm — Sughrue Mion , PLLC
`( 57 )
`ABSTRACT
`An automatic driving control device performs an automatic
`driving control for causing a vehicle to travel along a
`reference travel trajectory set in a lane in advance . The
`automatic driving control device reflects the steering by the
`driver during the automatic driving control in the travelling
`of the vehicle in a case where the steering by the driver is
`detected during the automatic driving control by the steering
`detection unit and when a position of the vehicle in the lane
`width direction is included in an allowance range , and alerts
`( Continued )
`
`83
`
`82
`
`80
`81
`
`82
`
`83
`
`70
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`.
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`www
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`IPR2025-00943
`Tesla EX1038 Page 1
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`

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`US 9 , 950 , 740 B2
`Page 2
`
`the driver to the travelling of the vehicle in a case where the
`steering by the driver is detected and in a case where it is
`determined that the position of the vehicle in the lane width
`direction is included in the second range .
`
`2 Claims , 14 Drawing Sheets
`
`( 56 )
`
`References Cited
`U . S . PATENT DOCUMENTS
`2009 / 0171533 A1 *
`7 / 2009 Kataoka . . . . . . . . . . . . . . . B60W 30 / 12
`701 / 41
`2010 / 0324797 A1 *
`12 / 2010 Fritz . . . . . . . . . . . . . . . . . B62D 15 / 026
`701 / 96
`2011 / 0015850 A1 *
`1 / 2011 Tange . . . . . . . . . . . . .
`B60W 30 / 12
`701 / 116
`2011 / 0316685 A1 * 12 / 2011 Kim . . . . . . . . . . . . . . . . . .
`B60W 30 / 12
`340 / 435
`
`2016 / 0052547 A1 *
`2 / 2016 Kashiwai . . . . . . . . . . . . . . B60W 30 / 10
`701 / 41
`7 / 2016 Urano et al .
`2016 / 0207538 AI
`2016 / 0209841 A1
`7 / 2016 Yamaoka et al .
`FOREIGN PATENT DOCUMENTS
`2000198458 A
`*
`7 / 2000
`2001048035 A
`*
`2 / 2001
`2001171449 A
`*
`6 / 2001
`2003 - 26027 A
`1 / 2003
`2004231096 A
`*
`8 / 2004
`2009208602 A
`9 / 2009
`*
`2010023756 A
`*
`2 / 2010
`2012185562 A
`*
`9 / 2012
`2016 - 132352 A
`7 / 2016
`2016 - 133985 A
`7 / 2016
`WO 2014 / 178445 A1 * 11 / 2014
`
`See e esse
`
`WO
`
`OTHER PUBLICATIONS
`JPO machine translation of JP 07 - 023370 ( original JP document
`published Jan . 24 , 1995 ) . *
`* cited by examiner
`
`IPR2025-00943
`Tesla EX1038 Page 2
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`

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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 1 of 14
`
`US 9 , 950 , 740 B2
`
`
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`atent
`
`Apr . 24 , 2018
`
`Sheet 2 of 14
`
`US 9 , 950 , 740 B2
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`Tesla EX1038 Page 4
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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 3 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 3
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`IPR2025-00943
`Tesla EX1038 Page 5
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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 4 of 14
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`US 9 , 950 , 740 B2
`
`Fig . 4A
`
`START
`
`$ 10
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`negre genomen in
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`RECOGNIZE POSITION
`OF VEHICLE
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`CONTROL PROCESSING
`
`END
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`
`GENERATE TRAVEL
`PLAN BASED ON
`THE MAP INFORMATION
`
`IPR2025-00943
`Tesla EX1038 Page 6
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`

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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 5 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 5
`Fig . 5
`
`NO
`
`SHARE S20
`
`START
`
`TS AMOUNT OF
`STEERING BY DRIVER
`EQUAL TO OR GREATER THAN
`STEERING AMOUNT
`THRESHOLD
`VALUE ?
`YES
`
`S22
`
`IS VEHICLE
`POSITION WITHIN
`ALLOWANCE
`RANGE ?
`S24
`YES
`STEERING BY DRIVER IS
`REFLECTED IN TRAVELLING
`OF VEHICLE
`
`NO
`
`IS VEHICLE
`POSITION WITHIN
`SECOND RANGE ?
`
`S26
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`S32
`SWITCH DRIVING MODE
`TO MANUAL DRIVING
`
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`

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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 6 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 6
`
`wwwwwwwwwwww
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`START TARGET
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`STEERING BECOME
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`SET TARGET LATERAL
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`REFERENCE TRAVEL TRAJECTORY
`
`END
`
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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 7 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 7
`
`S50
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`

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`atent
`
`Apr . 24 , 2018
`
`Sheet 8 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 8
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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 9 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 9
`
`START
`
`MWAKAWAY
`
`CLEARANCE
`maman IN LATERAL DIRECTION
`EQUAL TO OR LESS THAN
`PREDETERMINED
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`YES
`
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`SET TARGET LATERAL
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`
`W
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`*
`
`* * * * * * * *
`
`END
`
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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 10 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 10
`i
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`

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`atent
`
`Apr . 24 , 2018
`
`Sheet 11 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 11
`
`YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY
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`START TARGET
`LATERAL POSITION
`SETTING
`PROCESSING
`S70
`DOES
`AMOUNT OF
`STEERING BECOME
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`U . S . Patent
`
`Apr . 24 , 2018
`
`Sheet 12 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 12
`
`START TARGET
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`STEERING BECOME
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`YES
`
`982
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`
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`NO
`
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`OR BRANCH ROAD
`PRESENT WITHIN
`PREDETERMINED
`DISTANCE ?
`YES
`TS DIRECTION
`OF STEERINGBENDING
`DIRECTION OF CURVE OR
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`$ 88
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`CEND
`
`END
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`Apr . 24 , 2018
`
`Sheet 13 of 14
`
`US 9 , 950 , 740 B2
`
`U . S . Patent
`Fig . 13
`i
`
`START TARGET
`LATERAL POSITION
`SETTING
`PROCESSING
`S100
`DOES
`AMOUNT OF
`STEERING BECOME .
`SMALLER THAN STEERING
`AMOUNT THRESHOLD VALUE FROM
`VALUE EQUAL TO GREATER THAN
`STEERING AMOUNT
`THRESHOLD
`VALUE ?
`YES
`VEHICLES 102
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`S104
`component
`IS A WALL PRESENT
`ALONG LANE WITHIN
`PREDETERMINED
`DISTANCE ?
`
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`
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`
`YES
`
`S106
`IS DIRECTION OF
`STEERING DIRECTION
`OPPOSITE TO WALL ?
`
`NO
`
`- S108
`SET TARGET LATERAL
`POSITION TO VEHICLE
`POSITION
`
`* * * * * *
`
`*
`
`* * * *
`
`* * * * * * * *
`
`*
`
`*
`
`*
`
`*
`
`*
`
`* *
`
`* *
`
`* *
`
`CEND END
`
`S110
`SET TARGET LATERAL
`POSITION TO LATERAL
`POSITION CORRESPONDING TO
`REFERENCE TRAVEL TRAJECTORY
`
`IPR2025-00943
`Tesla EX1038 Page 15
`
`

`

`atent
`
`Apr . 24 , 2018
`
`Sheet 14 of 14
`
`US 9 , 950 , 740 B2
`
`Fig . 14
`
`START TARGET
`LATERAL POSITION
`SETTING
`PROCESSING
`
`S120
`
`man NO
`
`wwwwwwwwww
`
`NO
`
`S128
`SET TARGET LATERAL
`POSITION TO LATERAL
`POSITION CORRESPONDING TO
`REFERENCE TRAVEL TRAJECTORY
`
`Witty
`
`DOES
`AMOUNT OF
`STEERING BECOME
`SMALLER THAN STEERING
`AMOUNT THRESHOLD VALUE FROM
`VALUE EQUAL TO GREATER THAN
`STEERING AMOUNT
`THRESHOLD
`VALUE ?
`YES
`TSAS122
`VEHICLE
`POSITION WITHIN
`NO
`FIRST OR SECOND
`RANGE ?
`YES
`S124
`IS
`DIRECTION OF med
`STEERING COINCIDENT
`WITH DIRECTION OF DRIVING
`TENDENCY OF ANOTHER VEHICLE
`TRAVELLING FRONT
`AND REAR OF
`VEHICLE ?
`S126
`YES
`SET TARGET LATERAL
`POSITION TO VEHICLE
`POSITION
`
`WWWWWW
`
`END END
`
`IPR2025-00943
`Tesla EX1038 Page 16
`
`

`

`US 9 , 950 , 740 B2
`
`BACKGROUND
`
`AUTOMATIC DRIVING CONTROL DEVICE
`
`According to this automatic driving control device , even
`during the automatic driving control , in
`a case where the
`position of the vehicle in the lane width direction is included
`TECHNICAL FIELD
`in the allowance range , the steering by the driver is reflected
`in the travelling of the vehicle . Therefore , the travelling of
`driving 5
`The present invention relates to an automatic driving 5 )
`the vehicle along the intention of the driver can be realized ,
`control device that performs an automatic driving control of
`and when the vehicle is largely away from the reference
`a vehicle .
`travel trajectory and reaches the second range , it is possible
`to alert the driver to the travelling of the vehicle .
`The automatic driving control device in the aspect of the
`10 present invention may further include a steering determina
`tion unit configured to determine whether or not an amount
`In the related art , as a device that performs an automatic
`of steering by the driver detected by the steering detection
`driving control of a vehicle , for example , as disclosed in
`unit decreases to an amount smaller than the steering amount
`U . S . Pat . No . 8 , 670 , 891 , a device is known , the automatic
`threshold value from an amount equal to or greater than the
`driving control is stopped when at least one operation of a
`brake , a steering wheel , and an accelerator is detected during 15 steering amount threshold value . The position determination
`unit may be configured to determine whether or not a
`the automatic driving control of the vehicle and an amount
`position of the vehicle in the lane width direction is included
`of the operation exceeds a threshold value .
`in the first range , and the automatic driving control is
`executed such that the position of the vehicle in the lane
`SUMMARY
`20 width direction is maintained when it is determined by the
`steering determination unit that the amount of steering by
`the driver decreases to the amount smaller than the steering
`Incidentally , during the automatic driving control of the
`amount threshold value from the amount equal to or greater
`vehicle , the vehicle is controlled so as to travel along a
`than the steering amount threshold value and it is determined
`reference trajectory included in a travel plan generated in
`advance . However , there is a case where a driver wants to 75 by the position determination unit that the position of the
`change a travelling position of the vehicle in a lane width
`vehicle in the lane width direction is included in the first
`range . In this automatic driving control device , the auto
`direction in a lane . For example , when a large vehicle is
`matic driving control is executed such that the position of the
`travelling in a neighboring lane , the driver may want to
`vehicle in the lane width direction is maintained when the
`cause the vehicle to travel a little away from the large
`amount of steering by the driver becomes smaller than the
`vehicle . In this case , it is considered that the vehicle can be 30
`steering amount threshold value after the amount of steering
`allowed to travel away from the reference trajectory within
`by the driver becomes equal to or greater than the steering
`a certain allowance range from the reference trajectory in
`amount threshold value and the position of the vehicle in the
`accordance with the steering by the driver . On the other
`lane width direction is changed during the automatic driving
`hand , if the steering by the driver is reflected in the travelling
`control and the position of the vehicle in the lane width
`of the vehicle without any limitation , there is a risk that the 35 direction is included in the first range . Therefore , it is
`vehicle is too much away from the reference trajectory .
`possible to cause the vehicle to travel on the position of the
`Therefore , in this technical field , it is desired to develop
`driver ' s intention .
`an automatic driving control device that can alert the driver
`The automatic driving control device in the aspect of the
`to the travelling of the vehicle while realizing the travelling
`present invention may further include a vehicle speed detec
`of the vehicle along the intention of the driver even during 40 tion unit configured to detect a vehicle speed of the vehicle .
`the automatic driving control .
`The range setting unit may be configured to set the allow
`That is , according to an aspect of the present invention , an
`ance range , the first range , and the second range based on the
`vehicle speed of the vehicle , and may set the allowance
`automatic driving control device is configured to perform an
`automatic driving control for causing a vehicle to travel
`range , the first range , and the second range to be wider in the
`along a reference travel trajectory set in a lane in advance . 45 lane as the vehicle speed becomes lower . In the automatic
`driving control device , the allowance range , the first range ,
`The device is configure to include : a steering detection unit
`and the second range are set to be wider in the lane as the
`configured to detect a steering by a driver of the vehicle
`vehicle speed becomes lower . Therefore , it is possible to
`during the automatic driving control , a range setting unit
`widen the range of reflecting the steering by the driver in the
`configured to set an allowance range that includes the
`travelling of the vehicle compared to the case where the
`reference travel trajectory in the lane as a range in a lane 50 allowance range , the first range , and the second range are
`width direction of the lane , and to set a first range that
`fixed ranges while considering the vehicle speed of the
`includes the reference travel trajectory in the allowance
`vehicle .
`According to the present invention , in a case where the
`range and a second range at both the right and left sides of
`the first range ; an automatic driving control unit configured
`position of the vehicle in the lane width direction is included
`to execute the automatic driving control and to apply the 55 in the allowance range even during the automatic driving
`steering by the driver during the automatic driving control in
`control , the steering by the driver can be reflected in the
`the travelling of the vehicle when the steering by the driver
`travelling of the vehicle . Therefore , travelling of the vehicle
`is detected by the steering detection unit and a position of the
`along the intention of the driver can be realized , and in a case
`vehicle in the lane width direction is included in the allow
`where the vehicle is significantly away from the reference
`ance range ; a position determination unit configured to 60 travel trajectory and reaches the second range , it is possible
`determine whether or not the position of the vehicle in the
`to alert the driver to the travelling of the vehicle .
`lane width direction is included in the second range when the
`steering by the driver is detected by the steering detection
`BRIEF DESCRIPTION OF THE DRAWINGS
`unit ; and an alerting unit configured to alert the driver to the
`travelling of the vehicle when it is determined by the 65
`FIG . 1 is a block diagram illustrating a configuration
`position determination unit that the position of the vehicle in
`overview of an automatic driving control device in an
`the lane width direction is included in the second range .
`embodiment of the present invention .
`
`IPR2025-00943
`Tesla EX1038 Page 17
`
`

`

`US 9 , 950 , 740 B2
`
`a central processing unit ( CPU ) , a read only memory
`FIG . 2 is a diagram for describing a range setting in the
`( ROM ) , and a random access memory ( RAM ) . Details of the
`automatic driving control device in FIG . 1 .
`ECU 10 will be described below .
`FIG . 3 is a diagram for describing a range setting in the
`automatic driving control device in FIG . 1 .
`An external sensor 2 , a global positioning system ( GPS )
`FIG . 4A is flowchart illustrating travel plan generation 5 receiver 3 , an internal sensor 4 , a steering detection sensor
`processing in the automatic driving control device in FIG . 1 .
`5 , a map database 6 , a navigation system 7 , an actuator 8 , a
`FIG . 4B is flowchart illustrating automatic driving control
`display unit 21 , a sound output unit 22 and a vibration unit
`processing in the automatic driving control device in FIG . 1 .
`23 are respectively connected to the ECU 10 .
`FIG . 5 is a flowchart illustrating alerting processing in the
`The external sensor 2 is a detection device that detects an
`10 external situation which is surroundings information of the
`automatic driving control device in FIG . 1 .
`FIG . 6 is flowchart illustrating target lateral position
`vehicle . The external sensor 2 includes at least one of a
`setting processing in the automatic driving control device in
`camera , radar , and a laser imaging detection and ranging
`( LIDAR ) .
`FIG . 1 .
`FIG . 7 is a flowchart illustrating range setting processing
`The camera is an imaging device that images the external
`in a first modification example of the automatic driving 15 situation of the vehicle . The camera is , for example , pro
`vided on the inside of windshield of the vehicle . The camera
`control device in FIG . 1 .
`FIG . 8 is diagram for describing a vehicle travelling in a
`may be a monocular camera or may be a stereo camera . The
`second modification example of the automatic driving con
`stereo camera has two imaging units that are arranged so as
`to reproduce a binocular parallax . The image information
`trol device in FIG . 1 .
`FIG . 9 is a flowchart illustrating target lateral position 20 from the stereo camera includes information of the depth
`setting processing in the second modification example of the
`direction . In a case of using the stereo camera , the camera
`can be used as an object detection unit that detects an object
`automatic driving control device in FIG . 1 .
`FIG . 10 is a diagram for describing a control gain in a
`including a preceding vehicle or an obstacle . In addition , the
`camera can be used as a sensor that detects lane lines of a
`third modification example of the automatic driving control
`25 lane in which the vehicle travels .
`device in FIG . 1 .
`FIG . 11 is a flowchart illustrating target lateral position
`The radar is detects an obstacle outside of the vehicle
`setting processing in a fourth modification example of the
`using a radio wave ( for example , a millimeter wave ) . The
`automatic driving control device in FIG . 1 .
`radar detects the obstacle by transmitting the radio wave to
`FIG . 12 is a flowchart illustrating target lateral position
`the surroundings of the vehicle and receiving the radio wave
`setting processing in a fifth modification example of the 30 reflected from the obstacle . The radar outputs the detected
`obstacle information to the ECU 10 .
`automatic driving control device in FIG . 1 .
`FIG . 13 is a flowchart illustrating target lateral position
`The LIDAR detects an obstacle outside of the vehicle
`setting processing in a sixth modification example of the
`using light . The LIDAR transmits the light to the surround
`ings of the vehicle , measures the distance to the reflection
`automatic driving control device in FIG . 1 .
`FIG . 14 is a flowchart illustrating target lateral position 35 point by receiving the light reflected from the obstacle , and
`setting processing in a seventh modification example of the
`then , detects the obstacle . The LIDAR outputs the detected
`object information to the ECU 10 . The camera , the LIDAR ,
`automatic driving control device in FIG . 1 .
`the radar , and a communication device are not necessarily
`DETAILED DESCRIPTION
`prepared in an overlapping manner .
`The GPS receiver 3 receives signals from three or more
`Hereinafter , an embodiment of the present invention will
`GPS satellites and measures a position of the vehicle ( for
`example , the latitude and the longitude of the vehicle ) . The
`be described with reference to the drawings . In the descrip
`tion below , the same reference signs will be given to the
`GPS receiver 3 outputs the measured position information of
`same or similar elements and the descriptions thereof will
`the vehicle to the ECU 10 . Instead of the GPS receiver 3 ,
`45 another means for specifying the latitude and the longitude
`not be repeated .
`FIG . 1 is a block diagram illustrating a configuration
`of the vehicle may be used . In addition , it is preferable for
`the GPS receiver 3 to have a function of measuring the
`overview of an automatic driving control device 1 in an
`embodiment of the present invention . In FIG . 1 , the auto
`orientation of the vehicle for matching the detection result of
`matic driving control device 1 in the present embodiment is
`a sensor with the map information described below .
`a device that is mounted on a vehicle and performs an 50
`The internal sensor 4 is a detection device that detects the
`automatic driving control of the vehicle . When steering is
`travelling state of a vehicle . The internal sensor 4 includes
`performed by a driver during the automatic driving control
`at least one of a vehicle speed sensor , an acceleration sensor ,
`of the vehicle , the automatic driving control device 1 reflects
`and a yaw rate sensor as a sensor for detecting the travelling
`the steering by the driver in the travelling of the vehicle
`of the vehicle . The vehicle speed sensor is a detector that
`under a predetermined condition . In addition , the automatic 55 detects the vehicle speed . As the vehicle speed sensor , for
`driving control device 1 has a function of performing
`example , a wheel speed sensor is used , which is provided on
`switching of the driving mode to the manual driving from
`vehicle wheels of the vehicle or a member such as a drive
`the automatic driving under a predetermined condition . The
`shaft rotating integrally with the vehicle wheels and detects
`automatic driving means a driving state in which the auto -
`a rotational speed of the vehicle wheels . The vehicle speed
`matic driving control device 1 causes the vehicle to autono - 60 sensor outputs the detected vehicle speed information ( for
`mously travel . The manual driving means a driving state in
`example , wheel speed information ) to the ECU 10 . The
`which the driver performs the driving of the vehicle by a
`acceleration sensor is
`a detection device that detects an
`manual driving operation .
`acceleration of the vehicle . The acceleration sensor includes ,
`The automatic driving control device 1 includes an elec -
`for example , a longitudinal acceleration sensor that detects
`tronic control unit ( ECU ) 10 . The ECU 10 is an electronic 65 acceleration in the longitudinal direction of the vehicle and
`control unit that performs the control of the travelling of the
`a lateral acceleration sensor that detects a lateral acceleration
`vehicle , and is mainly configured of a computer that includes
`of the vehicle . The acceleration sensor outputs , for example ,
`
`40
`
`IPR2025-00943
`Tesla EX1038 Page 18
`
`

`

`US 9 , 950 , 740 B2
`
`5
`position of the vehicle in the lane width direction . As the
`the detected acceleration information to the ECU 10 . The
`display unit 21 , for example , a display , a monitor , and an
`yaw rate sensor is a detection device that detects a yaw rate
`indicator are used .
`( rotational angular velocity ) around the vertical axis of the
`The sound output unit 22 functions as a device for alerting
`center of gravity of the vehicle . As the yaw rate sensor , for
`example , a gyro sensor can be used . The yaw rate sensor 5 the driver to the travelling of the vehicle through the hearing .
`outputs the detected yaw rate information to the ECU 10 .
`For example , when the steering by the driver is detected
`during the automatic driving control and the steering is
`The steering detection sensor 5 is a sensor that detects an
`reflected in the travelling of the vehicle , the sound output
`amount of the steering performed by the driver . The amount
`unit 22 outputs a sound for alerting the driver in accordance
`of steering is a steering angle or a steering torque of the
`steering wheel operated by the driver . For example , a 10 with the position of the vehicle in the lane width direction .
`As the sound output unit 22 , for example , a speaker and a
`steering angle sensor or a steering torque sensor is used as
`buzzer are used .
`the steering detection sensor 5 . The steering detection sensor
`The vibration unit 23 functions as a device for alerting the
`5 outputs the detected signal to the ECU 10 .
`driver to the travelling of the vehicle through a touching
`The map database 6 is a database in which map informa
`inoma 15 sense . For example , when the steering by the driver is
`detected during the automatic driving control and the steer
`tion is included . The map database 6 is formed , for example ,
`in a hard disk drive ( HDD ) mounted on the vehicle . In the
`ing is reflected in the travelling of the vehicle , the vibration
`map information , for example , position information of
`unit 23 emits a vibration for alerting the driver in accordance
`roads , information on road types ( for example , the number
`with the position of the vehicle in the lane width direction .
`of lanes and the types of lanes ) , and position information of 20 As the vibration unit 23 , for example , a vibrator provided on
`intersections and branch points are included . The map
`a steering wheel or a seat is used .
`database 6 may be stored in a computer in the facility such
`The ECU 10 includes an external situation recognition
`as an information processing center which is capable of
`unit 11 , a vehicle position recognition unit 12 , a travelling
`communicating with the vehicle .
`state recognition unit 13 , a travel plan generation unit 14 , an
`The navigation system 7 is a device that performs guid - 25 automatic driving control unit 15 , a steering detection unit
`ance to a destination set by the driver of the vehicle for the
`16 , a steering determination unit 17 , a range setting unit 18 ,
`driver of the vehicle . The navigation system 7 calculates a
`a position determination unit 19 , and an alerting unit 20 .
`travelling route of the vehicle based on the position infor -
`The external situation recognition unit 11 recognizes t