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公开(公告)号：US11541897B2
公开(公告)日：2023-01-03
申请号：US16488896
申请日：2018-03-15
摘要： An object of the present invention is to enhance the reliability of an autonomous driving system. The autonomous driving system includes: a higher-level control device 1 that outputs a control target value of an actuator group based on an action plan of a vehicle; and a lower-level control device 2 that controls the actuator group of the vehicle based on a command from the higher-level control device 1. The lower-level control device 2 holds the control target value of the vehicle provided by the higher-level control device 1 over a specific period. When the higher-level control device 1 does not satisfy a desired function, the lower-level control device 2 is configured to be controlled based on the held control target value. The action plan is followed by determining and correcting a difference between an actual action value and the control target value of the vehicle.
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公开(公告)号：US11352019B2
公开(公告)日：2022-06-07
申请号：US16607631
申请日：2018-03-08
摘要： An electronic control device for a vehicle according to the present invention includes an action prediction unit that predicts the action of an object around the vehicle on the basis of external information acquired from external information detection units that detect external information of the vehicle, and a determination unit for a detection unit that determines whether an abnormality has occurred in the external information detection unit by comparing external information acquired from the external information detection unit at the time corresponding to a prediction result of the action prediction unit to the prediction result of the action prediction unit.
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公开(公告)号：US11173922B2
公开(公告)日：2021-11-16
申请号：US16619716
申请日：2018-03-29
摘要： Achieved is a vehicle control device capable of performing seamless automatic driving control even when an operation abnormality occurs in an operation processing unit in a vehicle control device, and improving safety.
When operation processing of an actuator control command is performed by two microcomputers of microcomputers 11b and 12b in synchronization, and a monitoring circuit 11m detects an abnormality of the microcomputer 11b, a communication circuit 11c that communicates the actuator control command of the microcomputer 11b to a brake control unit 13 or the like is latched in a disabled state, and the actuator control command from an icon 12b is transmitted to the brake control unit 13 or the like via the communication circuit 12c. The disabled state of the communication circuit 11c is maintained until an IGNSW or an automatic driving SW of the vehicle toggles, and until that time, the actuator control command from the microcomputer 12b is transmitted to the brake control unit 13 or the like. The control moves from the microcomputer 11b to the microcomputer 12b to the microcomputer 11b, so that it is possible to suppress the occurrence of the control gap at every control transition of multiple times, and it is possible to maintain the seamless automatic driving control.-
公开(公告)号：US12030488B2
公开(公告)日：2024-07-09
申请号：US17269768
申请日：2019-08-08
IPC分类号： B60W30/095 , B60W40/04 , B60W50/00 , B60W50/023 , B60W50/04 , B60W50/14 , B60W60/00
CPC分类号： B60W30/0956 , B60W40/04 , B60W50/0097 , B60W50/023 , B60W50/04 , B60W50/14 , B60W60/00186 , B60W2050/143 , B60W2554/4041 , B60W2554/4046
摘要： The reliability of path planning calculation can be evaluated with low load without using multiplexing of calculation or an additional sensor. The electronic control device includes an integration unit that acquires information around a vehicle as sensor information from a plurality of sensors for each processing cycle, and integrates the acquired sensor information to create vehicle peripheral information for each processing cycle, a path planning unit that calculates a planned path on which the vehicle will travel in the future using the vehicle peripheral information for each processing cycle, and a path evaluation unit that evaluates reliability of the path planning unit, in which the path evaluation unit that uses, in the planned path calculated by the path planning unit in a first processing cycle, a position of the vehicle in a second processing cycle, which is a processing cycle after the first processing cycle, and the vehicle peripheral information created by the integration unit in the second processing cycle to evaluate the reliability of the path planning unit in the first processing cycle.
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公开(公告)号：US11125572B2
公开(公告)日：2021-09-21
申请号：US16462468
申请日：2017-10-26
摘要： There is achieved an electronic control device capable of calculating an optimal travel plan even during dynamic reconfiguration of a calculation circuit configuration. When a driving state changes, a travel plan parameter generation/selection unit divides evaluation calculation units into two blocks and performs reconfiguration of the respective evaluation calculation units a plurality of times via a reconfiguration control unit. While the evaluation calculation units are reconfigured, the evaluation calculation units performs evaluation calculation, and while the evaluation calculation units are reconfigured, the evaluation calculation units perform evaluation calculation. Thus, even while some of the evaluation calculation units are being reconfigured, it is possible to continue evaluation of the travel plan in the rest of the evaluation calculation units.
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公开(公告)号：US11511763B2
公开(公告)日：2022-11-29
申请号：US16963314
申请日：2018-12-14
摘要： An electronic control device including a sensor fusion processing unit that integrates a plurality of pieces of sensor information having been input from a plurality of sensors. The electronic control device further including a behavior prediction processing unit that obtains a future value in which a future behavior of a target object is predicted based on joint information integrated by the sensor fusion processing unit. The electronic control device further including a comparison unit that compares a future value predicted by the behavior prediction processing unit with output information of each sensor of the sensor fusion processing unit at a predicted time.
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