US 11,807,266 B2
Driving system for distribution of planning and control functionality between vehicle device and cloud computing device, vehicle computing device, and cloud computing device
Akshay Bhagat, Canton, MI (US)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Filed by MITSUBISHI ELECTRIC CORPORATION, Tokyo (JP)
Filed on Dec. 4, 2020, as Appl. No. 17/111,889.
Prior Publication US 2022/0176994 A1, Jun. 9, 2022
Int. Cl. B60W 60/00 (2020.01); H04L 67/10 (2022.01); G01C 21/34 (2006.01); H04L 67/12 (2022.01)
CPC B60W 60/0011 (2020.02) [G01C 21/3453 (2013.01); H04L 67/10 (2013.01); H04L 67/12 (2013.01); B60W 2756/10 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A driving system comprising:
a first processor on a vehicle; and
a second processor at a location physically separated from the vehicle,
wherein the first processor is configured to transmit navigation information to the second processor, wherein the navigation information comprises destination information, location information of the vehicle, and high-definition map information regarding a surrounding environment of the vehicle,
wherein the second processor is configured to:
generate, based on the navigation information, path information comprising primary path information and backup path information;
transmit the path information to the first processor, and
wherein the first processor is configured to control a trajectory of the vehicle based on the path information transmitted by the second processor,
wherein the backup path information comprises a location of an optimal safe spot in the surrounding environment of the vehicle,
wherein the second processor is further configured to execute a path planning module configured to determine the optimal safe spot from among a plurality of safe spots in the surrounding environment of the vehicle based on the navigation information received from the first processor,
wherein the path planning module is configured to determine the optimal safe spot based on a distance A of the safe spot from a location of the vehicle, a distance B of the safe spot from a nearest driving path to the safe spot, a median sample longitudinal acceleration C in the determined path to the safe spot, a median sample lateral acceleration D in the determined path to the safe spot, a median sample yaw rate E in the determined path to the safe spot, and a time T to reach the safe spot.