US 12,030,488 B2
Electronic control device
Tatsuya Horiguchi, Tokyo (JP); Teppei Hirotsu, Tokyo (JP); and Hideyuki Sakamoto, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/269,768
Filed by Hitachi Automotive Systems, Ltd., Hitachinaka (JP)
PCT Filed Aug. 8, 2019, PCT No. PCT/JP2019/031316
§ 371(c)(1), (2) Date Feb. 19, 2021,
PCT Pub. No. WO2020/059350, PCT Pub. Date Mar. 26, 2020.
Claims priority of application No. 2018-176176 (JP), filed on Sep. 20, 2018.
Prior Publication US 2021/0362706 A1, Nov. 25, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); B60W 50/023 (2012.01); B60W 50/04 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 50/023 (2013.01); B60W 50/04 (2013.01); B60W 50/14 (2013.01); B60W 60/00186 (2020.02); B60W 2050/143 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4046 (2020.02)] 11 Claims
OG exemplary drawing
 
1. An electronic control device comprising:
an integration unit configured to acquire information around a vehicle as sensor information from a plurality of sensors for each processing cycle, and integrate the acquired sensor information to create vehicle peripheral information for each processing cycle;
a path planning unit configured to calculate a planned path on which the vehicle will travel in the future using the vehicle peripheral information for each processing cycle;
a path evaluation unit configured to evaluate reliability of the path planning unit, wherein
the path evaluation unit uses, in the planned path calculated by the path planning unit in a first processing cycle, a position of the vehicle in a second processing cycle, which is a processing cycle after the first processing cycle, and the vehicle peripheral information created by the integration unit in the second processing cycle to evaluate the reliability of the path planning unit in the first processing cycle;
a behavior prediction unit configured to estimate a future position of an object existing around the vehicle based on the vehicle peripheral information in the first processing cycle and create a risk map showing a position of the object in the second processing cycle;
an integrated evaluation unit configured to evaluate consistency between the risk map and the vehicle peripheral information in the second processing cycle; and
a prediction evaluation unit configured to evaluate consistency between the risk map and the sensor information in the second processing cycle, wherein
the electronic control device is an automatic driving ECU for an automatic driving system, wherein a lower ECU group controls the vehicles brakes, engine, and steering based on the output from the automatic driving ECU.