| CPC B60W 50/0205 (2013.01) [B60W 50/029 (2013.01); B60W 50/035 (2013.01); B60W 60/0015 (2020.02); B60W 2050/021 (2013.01); B60W 2050/0215 (2013.01); B60W 2050/0292 (2013.01); B60W 2050/0297 (2013.01)] | 15 Claims |
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1. An electronic control unit, comprising:
at least three microcomputers capable of receiving sensing data from a plurality of sensors, the at least three microcomputers comprising a first microcomputer, a second microcomputer, and a third microcomputer;
at least three failure detectors configured to detect a failure of at least one or more sensors of the plurality of sensors and a failure of one or more microcomputers of the at least three microcomputers, the at least three failure detectors comprising a first failure detector associated with the first microcomputer, a second failure detector associated with the second microcomputer, and a third failure detector associated with the third microcomputer;
a mode selector configured to select a normal operation mode or a fallback operation mode in accordance with a detection result by the at least three failure detectors, the mode selector configured to select the fallback operation mode when Ii) the first failure detector detects the failure of the at least one or more sensors of the plurality of sensors, (ii) the second failure detector detects the failure of the first microcomputer, and (iii) the third failure detector detects the failure of the first microcomputer; and
a sensor selector configured to select a sensor of the plurality of sensors based on the failure detected by the at least three failure detectors or a surrounding situation of an own vehicle calculated from the sensing data,
wherein any of the second microcomputer or the third microcomputer generates, in the fallback operation mode, a drive signal for operating an actuator using the sensing data received from the sensor selected by the sensor selector, and transmits the drive signal to the actuator.
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