US 12,258,028 B2
Vehicle control apparatus, vehicle control method, and non-transitory storage medium
Hiroshi Ueno, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 31, 2022, as Appl. No. 17/977,351.
Claims priority of application No. 2021-206220 (JP), filed on Dec. 20, 2021.
Prior Publication US 2023/0192107 A1, Jun. 22, 2023
Int. Cl. B60W 50/04 (2006.01); B60W 60/00 (2020.01)
CPC B60W 50/045 (2013.01) [B60W 60/00 (2020.02); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2556/10 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A vehicle control apparatus comprising a sensor and one or more processors, the one or more processors being configured to:
acquire a first required value of a first parameter regarding an operation of a vehicle from an in-vehicle system configured to set the first required value,
set a second required value of a second state quantity parameter for an operation of a component of the vehicle by using the first required value of the first parameter;
acquire a measured value of the first parameter from the sensor;
set a feedback value for feedback control on the second required value by using a difference between the first required value and the measured value of the first parameter;
obtain at least one of a plurality of the differences or a plurality of the feedback values when autonomous driving is performed at the vehicle;
determine whether the component of the vehicle is degraded by using a change of the at least one of the differences or the feedback values; and
send information to inform a user of the component of the vehicle that is degraded when the component of the vehicle is determined to be degraded.