US 12,280,790 B2
Control device for mobile body
Shigeru Kamio, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jan. 11, 2023, as Appl. No. 18/152,840.
Application 18/152,840 is a continuation of application No. PCT/JP2021/022476, filed on Jun. 14, 2021.
Claims priority of application No. 2020-119784 (JP), filed on Jul. 13, 2020.
Prior Publication US 2023/0159040 A1, May 25, 2023
Int. Cl. B60W 50/02 (2012.01); B60W 10/08 (2006.01); B60W 10/18 (2012.01); B60W 30/14 (2006.01)
CPC B60W 50/0205 (2013.01) [B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 30/14 (2013.01); B60W 2710/083 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A control device installable in a mobile body movable based on a-power outputted from each of a plurality of motor sections, the control device comprising:
a plurality of motor controllers configured to respectively control the plurality of motor sections;
a plurality of monitoring sections configured to respectively monitor presence or absence of an abnormality in the plurality of motor controllers; and
an integration controller configured to cause the plurality of motor controllers to cooperate with a controller different from the plurality of motor controllers to perform control of movement of the mobile body, wherein
in response to one of the plurality of monitoring sections detecting the abnormality in the plurality of motor controllers, an abnormal one of the motor controllers is caused to stop controlling the motor section for which the abnormal motor controller would otherwise perform control while a normal one of the motor controllers in which no abnormality is detected is caused to continue to control the motor section for which the normal motor controller performs control, and
the integration controller is configured to prohibit, in response to detection of the abnormality in the abnormal motor controller, all of the plurality of motor controllers, including the abnormal motor controller, from performing the control of movement with cooperation of the different controller.