US 12,012,112 B2
Vehicle control system
Toshiharu Sugawara, Tokyo (JP); Ryoh Inaba, Tokyo (JP); and Hidehiro Toyoda, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Ibaraki (JP)
Appl. No. 17/283,144
Filed by HITACHI ASTEMO, LTD., Hitachinaka (JP)
PCT Filed Sep. 20, 2019, PCT No. PCT/JP2019/036913
§ 371(c)(1), (2) Date Apr. 6, 2021,
PCT Pub. No. WO2020/075477, PCT Pub. Date Apr. 16, 2020.
Claims priority of application No. 2018-190793 (JP), filed on Oct. 9, 2018.
Prior Publication US 2021/0387632 A1, Dec. 16, 2021
Int. Cl. B60W 50/038 (2012.01); B60W 30/10 (2006.01); B60W 50/14 (2020.01)
CPC B60W 50/038 (2013.01) [B60W 30/10 (2013.01); B60W 50/14 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A vehicle control system including:
a first control device including at least a first memory, a first input/output device, and a first processor that implements at least two automatic driving-related functions;
a second control device including at least a second memory, a second input/output device, and a second processor that implements fewer automatic driving-related functions than the first control device; and
a vehicle control unit communicatively coupled to the first control device and the second control device, the vehicle control unit automatically controls a driving state of a host vehicle based on a function planned by the first or second control device
the first control device plans a target track based on the at least two automatic driving-related functions, and sends the target track to the vehicle control unit,
the second control device generates a backup track based on the fewer automatic driving-related functions, and sends the target track to the vehicle control unit,
the first control device determines whether or not a course of the host vehicle intersects with a course of an other vehicle during the at least two automatic driving-related functions, and
on a condition that the course of the host vehicle intersects with the course of the other vehicle and the backup track including at least one of stopping or deaccelerating is not available, a driver of the host vehicle receives a notification in advance of switching that automated driving by the vehicle control unit will end, and the vehicle control unit switches the host vehicle from the automated driving to automatic driving with driver responsibility for a predetermined time or a predetermined distance, and once the predetermined time elapses or the predetermined distance is traveled, the driver is notified that the automated driving will resume and the vehicle control unit switches the host vehicle from the automatic driving with driver responsibility to the automated driving, and
on a condition that the course of the host vehicle does not intersect with the course of the other vehicle, the driver is notified that the backup track is available and the vehicle control unit maintains the automated driving, and
wherein the driving state includes at least one of a steering direction, a braking amount, or a throttle amount of the host vehicle.