US 11,834,068 B2
Vehicle control system and vehicle control device for autonomous vehicle
Yoshinori Watanabe, Gotemba (JP); Kazuyuki Fujita, Gotemba (JP); Takayuki Goto, Yokohama (JP); Masahiro Harada, Hadano (JP); and Nobuhide Kamata, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 23, 2020, as Appl. No. 17/029,517.
Claims priority of application No. 2019-188903 (JP), filed on Oct. 15, 2019.
Prior Publication US 2021/0107514 A1, Apr. 15, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 30/12 (2013.01); B60W 30/18163 (2013.01); B60W 2552/10 (2020.02); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A vehicle control system for an autonomous vehicle, comprising:
a first electronic control unit (ECU), including a processor configured to execute a program stored in a memory, wherein the first ECU is configured to attach to and detach from the vehicle,
the first ECU being configured to:
generate a first driving plan including desired lateral lane driving positions or desired lateral lane driving position ranges which are located next to each other in a direction of travel of a vehicle;
a plurality of first sensors configured to obtain information on motion of the vehicle and information on surroundings of the vehicle;
one or more second sensors that are coupled to the first ECU and configured to be attached to and detached from the vehicle, and configured to obtain information on the surroundings of the vehicle and to send the information on the surroundings of the vehicle to the first ECU and, wherein the first ECU is configured to generate the first driving plan at least based on the information obtained by the one or more second sensors; and
a second electronic control unit (ECU) including a processor configured to execute a program stored in a memory, wherein the second ECU is mounted on the vehicle,
the second ECU being configured to:
communicate with the first ECU,
generate, based on the first driving plan obtained from the first ECU and the information obtained by the first sensors, a second driving plan different from the first driving plan, the second driving plan including target lateral lane driving positions or target lateral lane driving position ranges which are located next to each other in the direction of travel of the vehicle, and
control driving operation of the vehicle based on the second driving plan,
wherein the first ECU is configured to receive a setting for generation of the first driving plan by a service provider of the vehicle, and the second ECU is configured to prohibit a setting for generation of the second driving plan by the service provider,
wherein the first driving plan is set by the first ECU that is provided by the service provider, and
wherein the second driving plan is set by the second ECU that is provided by a manufacturer of the vehicle.