US 12,304,507 B2
Vehicle control device, vehicle, and vehicle system
Nobuyuki Tomatsu, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 27, 2023, as Appl. No. 18/126,609.
Claims priority of application No. 2022-063054 (JP), filed on Apr. 5, 2022.
Prior Publication US 2023/0311905 A1, Oct. 5, 2023
Int. Cl. B60W 50/02 (2012.01); B60W 50/029 (2012.01); B60W 60/00 (2020.01)
CPC B60W 50/0205 (2013.01) [B60W 50/029 (2013.01); B60W 60/00 (2020.02); B60W 2050/0215 (2013.01); B60W 2422/70 (2013.01); B60W 2556/45 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A vehicle control device mounted on a vehicle configured to travel using an auxiliary vehicle that includes at least one auxiliary sensor and at least one auxiliary actuator, the vehicle control device comprising:
a processor configured to, upon detecting an abnormality in at least one in-vehicle sensor, implement at least one of a first switching control that controls driving of at least one in-vehicle actuator using an input from the auxiliary sensor and a second switching control that causes the vehicle to travel by controlling driving of the auxiliary actuator,
wherein the vehicle includes:
the in-vehicle sensor configured to acquire information of an external environment of the vehicle;
the in-vehicle actuator used in traveling of the vehicle;
an in-vehicle control unit configured to control the driving of the in-vehicle actuator using an input from the in-vehicle sensor; and
a communicator configured to communicate with the auxiliary vehicle;
a connection unit configured to connect the auxiliary vehicle;
a plurality of in-vehicle actuators, the in-vehicle actuators including a first in-vehicle actuator configured to exhibit a first function for the traveling of the vehicle and a second in-vehicle actuator configured to exhibit a second function for the traveling of the vehicle;
a wheel used while the vehicle is driving; and
a movement device configured to move the wheel upward;
wherein the auxiliary vehicle includes a plurality of auxiliary actuators, the auxiliary actuators including a first auxiliary actuator configured to have a first function for traveling of the auxiliary vehicle and a second auxiliary actuator configured to have a second function for the traveling of the auxiliary vehicle; and
wherein the processor is configured to:
upon detecting the abnormality in the first in-vehicle actuator, cause the auxiliary vehicle to travel using the first auxiliary actuator while the auxiliary vehicle is connected; and
upon detecting an abnormality in the wheel, move the wheel upward using the movement device while the auxiliary vehicle is connected.