US 12,065,169 B2
Vehicle control device
Yuki Tanaka, Tokyo (JP); Tatsuya Horiguchi, Tokyo (JP); Teppei Hirotsu, Tokyo (JP); and Hideyuki Sakamoto, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Ibaraki (JP)
Appl. No. 17/295,362
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Nov. 27, 2019, PCT No. PCT/JP2019/046272
§ 371(c)(1), (2) Date May 19, 2021,
PCT Pub. No. WO2020/116262, PCT Pub. Date Jun. 11, 2020.
Claims priority of application No. 2018-229519 (JP), filed on Dec. 7, 2018.
Prior Publication US 2022/0017119 A1, Jan. 20, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 50/12 (2012.01); G07C 5/08 (2006.01)
CPC B60W 60/00186 (2020.02) [B60W 50/12 (2013.01); G07C 5/0816 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle control system that improves control stability of a vehicle, the vehicle control system comprising:
actuators formed as a group, each of the actuators included in the vehicle; and
actuator control devices formed as a group, each of the actuator control devices configured to control a corresponding one of the actuators;
one or more Electronic Control Units (ECUs) that are communicatively coupled to the actuator control devices, wherein the one or more ECUs are collectively configured to:
control the actuator control devices based on a behavior model for the vehicle,
detect a failure in a component of the vehicle control system while the vehicle is in operation, wherein the component is one or more of the actuators and/or each of the actuator control devices,
in response to the failure detected, update the behavior model for the vehicle based on the failure detected to form an updated model for the vehicle, wherein the updated model sets a value for the component to a fixed value; and
control the actuator control devices based on the updated behavior model for the vehicle.