US 11,981,350 B2
Vehicle
Sungwoo Choi, Seoul (KR); and Seung Hwan Shin, Seoul (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); KIA CORPORATION, Seoul (KR); and HYUNDAI AUTOEVER CORP., Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); KIA CORPORATION, Seoul (KR); and HYUNDAI AUTOEVER CORP., Seoul (KR)
Filed on Oct. 28, 2021, as Appl. No. 17/513,088.
Claims priority of application No. 10-2020-0185903 (KR), filed on Dec. 29, 2020.
Prior Publication US 2022/0204031 A1, Jun. 30, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 40/105 (2012.01); B60W 40/13 (2012.01); B60W 50/02 (2012.01); B60W 50/029 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 30/0956 (2013.01); B60W 40/105 (2013.01); B60W 40/13 (2013.01); B60W 50/0205 (2013.01); B60W 50/029 (2013.01); B60W 60/0015 (2020.02); B60W 2556/10 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a plurality of control modules including a braking control module configured to control deceleration of the vehicle, a steering control module configured to control a driving direction of the vehicle, and a driving control module configured to control a speed of the vehicle; and
a central processor configured to
in response to at least one control module of the plurality of control modules being in a communication failure state, determine a plurality of paths for each situation based on a speed of the vehicle,
determine a risk corresponding to each path of the plurality of paths for each situation based on the speed of the vehicle and a mass of the vehicle,
determine a safety path corresponding to a smallest risk among the risks corresponding to each path for each situation, and
transmit commands corresponding to the safety path to remaining control modules of the plurality of control modules,
wherein, in response to the at least one control module being in the communication failure state,
the at least one control module is configured to perform control of the vehicle based on the command received from the central processor prior the communication failure state of the at least one control module, and
the remaining control modules are configured to perform control of the vehicle based on the commands received from the central processor, and
wherein the central processor is configured to, when the at least one control module does not perform the control based on the command received from the central processor prior to the communication failure state of the at least one control module, determine the safety path using the remaining control modules.