US 11,858,523 B2
Vehicle travel control device
Shinsuke Sakashita, Hiroshima (JP); Daisuke Horigome, Hiroshima (JP); Masato Ishibashi, Hiroshima (JP); and Eiichi Hojin, Hiroshima (JP)
Assigned to MAZDA MOTOR CORPORATION, Hiroshima (JP)
Filed by Mazda Motor Corporation, Hiroshima (JP)
Filed on Sep. 24, 2021, as Appl. No. 17/483,841.
Application 17/483,841 is a continuation of application No. PCT/JP2020/009784, filed on Mar. 6, 2020.
Claims priority of application No. 2019-068276 (JP), filed on Mar. 29, 2019.
Prior Publication US 2022/0009509 A1, Jan. 13, 2022
Int. Cl. B60W 50/02 (2012.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); G06N 3/08 (2023.01)
CPC B60W 50/0225 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/0205 (2013.01); G06N 3/08 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A vehicle travel control device comprising:
computation circuitry; and
a device controller separate from the computation circuitry and configured to control actuation of a traveling device mounted on a vehicle, based on a computation result of the computation circuitry, wherein
the computation circuitry is configured to
identify a vehicle outdoor environment based on an output from image circuitry, the image circuitry being configured to acquire image information of the vehicle outdoor environment,
generate one or more candidate routes on which the vehicle is capable of traveling, in accordance with the vehicle outdoor environment previously identified,
determine a route on which the vehicle is to travel from the one or more candidate routes generated,
determine a future target motion of the vehicle to follow the route previously determined,
calculate a target physical quantity to be executed by the traveling device to achieve the target motion previously determined,
detect an abnormality that occurs in the vehicle during traveling, and
calculate a controlled variable of the traveling device such that the target physical quantity calculated is achieved, and the device controller outputs a control signal to the traveling device so as to control the traveling device to control a motion of the vehicle, and
the device controller is further configured to, under a condition the abnormality is detected, calculate a controlled variable of the traveling device in order to eliminate or reduce the abnormality, and output a control signal to the traveling device so as to control an operation of the traveling device, without using the computation circuitry.