Vehicle control device, vehicle, and vehicle system

Abstract

The present disclosure relates to a vehicle control device, a vehicle, and a vehicle system. The vehicle system of the present invention includes an auxiliary vehicle including an auxiliary sensor and an auxiliary actuator, and a vehicle that communicates with the auxiliary vehicle. The vehicle is provided with an on-board sensor that acquires information on the external environment of the vehicle, an on-board actuator for traveling of the vehicle, a vehicle control device that controls driving of the on-board actuator using input from the on-board sensor, and a communicator that communicates with the auxiliary vehicle. The vehicle control device implements one of first substitute control that controls driving of the on-board actuator based on input from the auxiliary sensor and second substitute control that travels using the auxiliary actuator when an abnormality in the on-board sensor is detected.

Description

Technical Field

[0001] This disclosure relates to vehicle control devices, vehicles, and vehicle systems. Background Technology

[0002] Various types of vehicles capable of autonomous driving have been proposed. For example, Japanese Patent Application Publication No. 2019-171971 proposes an autonomous driving vehicle designed to tow other vehicles. The towing vehicle described in Japanese Patent Application Publication No. 2019-171971 switches between autonomous driving modes when towing and when not towing other vehicles.

[0003] In the aforementioned Japanese Patent Application Publication No. 2019-171971, there was no research on the situation where autonomous driving or driver assistance cannot be implemented by the vehicle itself when an abnormality occurs in the autonomous vehicle.

[0004] Therefore, the inventors of this application have researched a vehicle control device, vehicle, and vehicle system that can continue to perform autonomous driving and driving assistance even if an anomaly occurs that prevents the vehicle from continuing to perform autonomous driving and driving assistance by means of the vehicle alone. Summary of the Invention

[0005] This disclosure provides a vehicle control device, a vehicle, and a vehicle system that enable the vehicle to continue autonomous driving or driver assistance even when an anomaly occurs that prevents the vehicle from continuing autonomous driving or driver assistance solely by means of the vehicle.

[0006] According to the first aspect of this disclosure, a vehicle control device is mounted on a vehicle configured to drive using an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator. The vehicle control device includes a processor configured to: upon detecting an anomaly in at least one mounted sensor, perform at least one of the following: a first alternative control that uses input from the auxiliary sensor to control the drive of at least one mounted actuator, and a second alternative control that controls the drive of the auxiliary actuator to drive the vehicle. The vehicle includes: the aforementioned mounted sensor configured to acquire information about the vehicle's external environment; a mounted actuator for driving the vehicle; a mounted control unit configured to control the drive of the mounted actuator using input from the mounted sensor; and a communicator configured to communicate with the auxiliary vehicle.

[0007] As described above, the vehicle control device according to the first embodiment performs at least one of the following controls: a first alternative control that uses input from an auxiliary sensor to control the drive of the actuator if an abnormality is detected in the mounted sensor, and a second alternative control that controls the drive of the auxiliary actuator to drive the vehicle if an abnormality is detected in the mounted actuator. Therefore, in cases where the vehicle cannot continue autonomous driving or driver assistance using only the vehicle itself due to an abnormality in the mounted sensor or the mounted actuator, the first or second alternative control utilizes the auxiliary sensor or auxiliary actuator of the auxiliary vehicle, thereby enabling the vehicle to continue autonomous driving or driver assistance.

[0008] Alternatively, based on the first embodiment described above, the auxiliary vehicle may include an auxiliary control unit configured to control the drive of the auxiliary actuator using input from an auxiliary sensor. It may also be configured such that the auxiliary vehicle uses either the mounting control unit or the auxiliary control unit to control at least one of the first alternative control and the second alternative control. With this configuration, control of at least one of the first alternative control and the second alternative control can be easily performed using the mounting control unit provided in the vehicle and the auxiliary control unit provided in the auxiliary vehicle.

[0009] Alternatively, based on the first embodiment described above, multiple sensors may be installed in the vehicle, including a first sensor configured to acquire first information from the external environment and a second sensor configured to acquire second information from the external environment. Multiple auxiliary sensors may also be installed in the auxiliary vehicle. These multiple auxiliary sensors may also include a first auxiliary sensor configured to acquire first information from the external environment and a second auxiliary sensor configured to acquire second information from the external environment. The processor may also use the first auxiliary sensor to control the drive of the actuator when an anomaly is detected in the first sensor. With this configuration, if the vehicle is unable to continue autonomous driving or driver assistance using only the vehicle itself due to an anomaly in the first sensor, the vehicle can continue autonomous driving or driver assistance by utilizing the auxiliary sensors of the auxiliary vehicle.

[0010] Alternatively, based on the first configuration described above, the first and second mounted sensors are configured to acquire information about the external environment located further forward than the vehicle. The detection range of the first mounted sensor can also be longer than that of the second mounted sensor. The first and second auxiliary sensors can also be configured to acquire information about the external environment located further forward than the assisted vehicle. The detection range of the first auxiliary sensor can also be longer than that of the second auxiliary sensor. With this configuration, if the first mounted sensor with the longer detection range in the vehicle malfunctions, the first auxiliary sensor with the longer detection range in the assisted vehicle can be utilized. Therefore, the vehicle can easily continue autonomous driving and driver assistance.

[0011] Alternatively, based on the first configuration described above, the vehicle may include a connection portion configured for connection to the aforementioned auxiliary vehicle. Multiple actuators may be provided in the vehicle. These multiple actuators may include: a first actuator configured to perform a first function for vehicle operation; and a second actuator configured to perform a second function for vehicle operation. Multiple auxiliary actuators may also be provided in the auxiliary vehicle. These multiple auxiliary actuators may include: a first auxiliary actuator configured to perform a first function for assisting vehicle operation; and a second auxiliary actuator configured to perform a second function for assisting vehicle operation. The processor may also use the first auxiliary actuator to drive the vehicle while connected to the auxiliary vehicle when an anomaly is detected in the first actuator. With this configuration, if the vehicle is unable to continue autonomous driving or driver assistance solely due to an anomaly in the first actuator, the vehicle can continue autonomous driving or driver assistance by utilizing the first auxiliary actuator of the auxiliary vehicle. Furthermore, by connecting the vehicle to the auxiliary vehicle, it is possible to facilitate autonomous driving and driving assistance for vehicles that use the first auxiliary actuator.

[0012] Alternatively, based on the first configuration described above, the vehicle may include wheels and a moving device configured to move the wheels upwards. The processor may also use the moving device to move the wheels upwards while connected to an auxiliary vehicle when an abnormality is detected in the wheels. With this configuration, the abnormal wheel can be separated from the ground. As a result, autonomous driving and driver assistance systems for vehicles using the first auxiliary actuator can be made easier.

[0013] The vehicle according to the second aspect of this disclosure is configured to communicate with an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator. It comprises: at least one mounted sensor configured to acquire information about the vehicle's external environment; at least one mounted actuator for driving the vehicle; a control unit configured to control the drive of the mounted actuator using input from the mounted sensor; and a communicator configured to communicate with the auxiliary vehicle. The control unit is configured to: if an abnormality is detected in the mounted sensor, implement at least one of a first alternative control based on input from the auxiliary sensor to control the drive of the mounted actuator, and a second alternative control using the auxiliary actuator to drive the vehicle.

[0014] In the vehicle according to the second embodiment described above, as described above, at least one of the following controls is performed: a first alternative control that uses input from an auxiliary sensor to control the drive of the actuator if an abnormality is detected in the mounted sensor, and a second alternative control that controls the drive of the auxiliary actuator to drive the vehicle if an abnormality is detected in the mounted actuator. Therefore, a vehicle can be provided that, in cases where autonomous driving or driver assistance cannot continue solely by the vehicle itself due to an abnormality in the mounted sensor or the mounted actuator, can continue autonomous driving or driver assistance by utilizing the auxiliary sensors or auxiliary actuators of the auxiliary vehicle through the first or second alternative control.

[0015] The vehicle system according to the third aspect of this disclosure includes an auxiliary vehicle comprising at least one auxiliary sensor and at least one auxiliary actuator, and a vehicle configured to communicate with the auxiliary vehicle. The vehicle includes: at least one mounted sensor configured to acquire information about the vehicle's external environment; at least one mounted actuator for driving the vehicle; a vehicle control unit configured to control the drive of the mounted actuator using input from the mounted sensor; and a communicator configured to communicate with the auxiliary vehicle. The vehicle control unit is configured to, upon detecting an anomaly in the mounted sensor, implement at least one of a first alternative control based on input from the auxiliary sensor to control the drive of the mounted actuator, and a second alternative control using the auxiliary actuator to drive the vehicle.

[0016] In the vehicle system according to the third aspect described above, as described above, at least one of the following controls is performed: a first alternative control that uses input from an auxiliary sensor to control the drive of the actuator if an anomaly of the mounted sensor is detected, and a second alternative control that controls the drive of the auxiliary actuator to drive the vehicle if an anomaly of the mounted actuator is detected. Thus, a vehicle system can be provided in which, when the vehicle is unable to continue autonomous driving or driver assistance solely due to an anomaly of the mounted sensor or the mounted actuator, the first or second alternative control is used to utilize the auxiliary sensors or auxiliary actuators of the auxiliary vehicle, thereby enabling the vehicle to continue autonomous driving or driver assistance.

[0017] According to the various forms involved in this disclosure, even if an anomaly occurs that prevents the vehicle from continuing to perform autonomous driving or driver assistance solely by means of the vehicle itself, the vehicle can still continue to perform autonomous driving or driver assistance.

[0018] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements. Attached Figure Description

[0019] Figure 1 This is a diagram showing the structure of a vehicle system in one implementation.

[0020] Figure 2 This is a diagram showing the structure of a vehicle according to one embodiment.

[0021] Figure 3 This is a diagram showing the detection areas of each sensor in a vehicle according to one embodiment.

[0022] Figure 4 This is a diagram showing the detection areas of each sensor in an auxiliary vehicle according to one embodiment.

[0023] Figure 5 This is a diagram showing the structure of an auxiliary vehicle in one embodiment.

[0024] Figure 6 This diagram illustrates a state in which a vehicle is driven using a front laser in one embodiment of an auxiliary vehicle.

[0025] Figure 7 This diagram illustrates the state in which a vehicle is driven using a rear-view camera of an auxiliary vehicle according to one embodiment.

[0026] Figure 8 This diagram illustrates the state in which a vehicle is propelled using a hydraulic brake system of one embodiment.

[0027] Figure 9This is a diagram showing the state in which the front wheels of a vehicle in one embodiment are reversed. Detailed Implementation

[0028] use Figures 1-9 The vehicle system 1 and control device 11 involved in this embodiment will be described. Figures 1-9 In the structures shown, the same or substantially the same structures are labeled with the same reference numerals and repeated descriptions are omitted.

[0029] Figure 1 This is a schematic diagram illustrating the vehicle system 1 according to this embodiment. The vehicle system 1 includes a vehicle 2 and an auxiliary vehicle 3. The vehicle 2 is a vehicle capable of autonomous driving or driver-assisted driving.

[0030] Vehicle 2 is equipped with a driver assistance system 100, a communication device 10, a control device 11, and a reporting device 12. Vehicle 2 includes a pair of front wheels 30 and a pair of rear wheels 31. Vehicle 2 can communicate with the auxiliary vehicle 3 and the server 4 via the communication device 10. The reporting device 12 is a device for reporting various information about vehicle 2 to the driver and others. The reporting device 12 includes, for example, a display unit 13 for displaying various information. Furthermore, the communication device 10 and the control device 11 are examples of the "communicator" and "vehicle control device" of this disclosure, respectively. In addition, the front wheels 30 and the rear wheels 31 are examples of the "wheels" of this disclosure.

[0031] Auxiliary vehicle 3 is a vehicle that assists vehicle 2 in driving when vehicle 2 malfunctions. Furthermore, in this... Figure 1 In the example shown, there are multiple auxiliary vehicles 3.

[0032] The auxiliary vehicle 3 includes a driving assistance system 100A, a communication device 10A, a control device 11A, and a reporting device 12A. The auxiliary vehicle 3 includes a pair of front wheels 30A and a pair of rear wheels 31A. The reporting device 12A includes a display section 13A that displays various information. The auxiliary vehicle 3 can communicate with the vehicle 2 and the server 4 via the communication device 10A.

[0033] Server 4 manages the schedules of multiple auxiliary vehicles 3. Here, in vehicle 2, sometimes sensors or other components malfunction, preventing autonomous or driver-assisted driving. In this case, the driver sends a request signal RS1 from vehicle 2 to server 4. Upon receiving request signal RS1, server 4 uses the location information of vehicle 2 contained in RS1 to direct the auxiliary vehicle 3 to vehicle 2.

[0034] If the auxiliary vehicle 3 arrives at the location where the vehicle 2 is located, it will cooperate with the vehicle 2 to enable the vehicle 2 to drive autonomously or with driver assistance, thereby enabling the vehicle 2 to drive.

[0035] The auxiliary vehicle 3 is equipped with the same driving assistance system 100A as the vehicle 2, and has a similar structure to the vehicle 2. Therefore, the structure of the vehicle 2 will be mainly described.

[0036] Figure 2 This is a block diagram schematically representing the structure of vehicle 2. Vehicle 2 includes a driver assistance system 100, a control device 11, an actuator system 300, and an operating device 400. Furthermore, the actuator system 300 is an example of "equipped with actuators" in this disclosure.

[0037] The driving assistance system 100 is configured to perform various functions to assist driving the vehicle 2, including at least one of steering control, drive control, and braking control, by executing an installed application. The driving assistance system 100 includes multiple applications. Examples of applications installed in the driving assistance system 100 include applications that implement the functions of an autonomous driving system (AD), applications that implement the functions of an automatic parking system, and applications that implement the functions of an advanced driver assistance system (ADAS) (hereinafter referred to as ADAS applications).

[0038] As an ADAS application, it includes at least one of the following: an application that implements following driving functions such as ACC (Adaptive Cruise Control); an application that implements ASL (Auto Speed ​​Limiter); an application that implements Lane Keeping Assist (LKA); an application that implements LTA (Lane Tracing Assist); an application that implements Collision Damage Mitigation Braking (AEB); an application that implements PCS (Pre-Crash Safety); an application that implements LDW (Lane Departure Warning); and an application that implements LDA (Lane Departure Alert).

[0039] exist Figure 2In the illustrated driver assistance system 100, for example, an application including AEB 102, LKA 104, ACC 106, and automatic parking 108 is shown. The driver assistance system 100 includes various applications and a sensor group 110. Furthermore, the sensor group 110 is an example of "sensor-equipped" in this disclosure.

[0040] The various applications included in the driver assistance system 100 request a motion plan from the motion manager 200 based on information about the vehicle's surroundings obtained from the sensor group 110 (input), the driver's assistance requests, etc. The motion manager 200 uses the input from the sensor group 110 to control the drive of the actuator system 300. Here, the motion plan includes the vehicle 2's forward and backward acceleration and deceleration, and the target curvature of the vehicle 2's travel path, etc.

[0041] Sensor group 110 is a device for acquiring various information about the external environment of vehicle 2. Sensor group 110 includes a front camera 120, a rear camera 121, a front LiDAR 130, a rear LiDAR 131, a side LiDAR 132, a side LiDAR 133, a front laser 140, a rear laser 141, a side laser 142, a side laser 143, and a position detection device 150. Furthermore, the front camera 120 and the front LiDAR 130 are examples of the "first mounted sensor" and "second mounted sensor" of this disclosure, respectively.

[0042] The front camera 120 acquires an image of the front of vehicle 2. The rear camera 121 acquires an image of the rear of vehicle 2. The front camera 120 acquires images of, for example, white lines, signs, and the surrounding environment. The front camera 120 sends the captured image data ID20 to each application of the driver assistance system 100. The rear camera 121 also sends the captured image data ID21 to each application of the driver assistance system 100.

[0043] LiDAR is a device that uses pulsed laser light (such as infrared light) to measure distance and obtain information about distance and position based on the time it takes for the light to reflect back from an object. The front LiDAR 130 acquires information about the front of vehicle 2. The rear LiDAR 131 acquires information about the rear of vehicle 2. The side LiDARs 132 and 133 acquire information about the sides of vehicle 2, respectively. The front LiDAR 130 sends the acquired dot group data PD30 to each application of the driver assistance system 100. The rear LiDAR 131, side LiDAR 132, and side LiDAR 133 send dot group data PD31, PD32, and PD33 to each application, respectively.

[0044] A laser is a device that, for example, emits radio waves with frequencies from 30 GHz to 300 GHz and detects the reflected waves to detect the distance to an object. A front laser 140 measures the distance to other vehicles, etc., located in front of vehicle 2. A rear laser 141 measures the distance to vehicles, etc., located behind vehicle 2. Side lasers 142 and 143 respectively measure the distance to other vehicles, etc., located to the sides of vehicle 2.

[0045] The front laser 140, rear laser 141, side laser 142, and side laser 143 respectively send the acquired distance data DD40, DD41, DD42, and DD43 to the respective applications of the driving assistance system 100.

[0046] Figure 3 This is a top view schematically showing the detection range, etc., of each sensor in sensor group 110. Detection area R20 represents the detection area of ​​the front camera 120. Detection area R21 represents the detection area of ​​the rear camera 121.

[0047] The detection areas R30, R31, R32 and R33 represent the detection areas of LiDAR130 in front, LiDAR131 behind, LiDAR132 to the side and LiDAR133 to the side, respectively.

[0048] The detection areas R40, R41, R42 and R43 represent the detection areas of the front laser 140, the rear laser 141, the side laser 142 and the side laser 143, respectively.

[0049] Here, detection distance L20 represents the detection distance of the front camera 120 in the forward direction of vehicle 2. Additionally, detection distance L30 represents the detection distance of the front LiDAR 130 in the forward direction of vehicle 2. In this embodiment, detection distance L20 is longer than detection distance L30.

[0050] Figure 4 This is a top view schematically showing the detection range, etc., of each sensor in sensor group 110A. Detection area R20A represents the detection area of ​​the front camera 120A. Detection area R21A represents the detection area of ​​the rear camera 121A.

[0051] The detection areas R30A, R31A, R32A and R33A represent the detection areas of the front LiDAR130A, the rear LiDAR131A, the side LiDAR132A and the side LiDAR133A, respectively.

[0052] The detection areas R40A, R41A, R42A and R43A represent the detection areas of the front laser 140A, the rear laser 141A, the side laser 142A and the side laser 143A, respectively.

[0053] Here, detection distance L20A represents the detection distance of the front camera 120A in the forward direction of the auxiliary vehicle 3. Additionally, detection distance L30A represents the detection distance of the front LiDAR 130A in the forward direction of the auxiliary vehicle 3. In this embodiment, detection distance L20A is longer than detection distance L30A.

[0054] exist Figure 2 In this context, the position detection device 150 may consist of, for example, a GPS (Global Positioning System) that uses information received from multiple satellites orbiting the Earth to detect the position of the vehicle 2.

[0055] Applications such as AEB102 installed in the driver assistance system 100 acquire information input from at least one sensor in the sensor group 110. Each application, for example, can identify other vehicles, obstacles, or people around the vehicle 2 based on information about the exterior of the vehicle 2 acquired by the sensor group 110. Furthermore, each application acquires driver assistance requests via a user interface (not shown) such as a switch.

[0056] The operating device 400 includes, for example, a gear lever for changing gears, a brake pedal, and other operating components operated by a user as a driver.

[0057] The actuator system 300 includes various types of actuator systems. For example, the actuator system 300 includes a powertrain system 302, a braking system 304, a steering system 306, and a sensor group 308. Furthermore, the braking system 304 is an example of a "first mounted actuator" according to this disclosure. Additionally, the powertrain system 302, the steering system 306, and the sensor group 308 are examples of a "second mounted actuator" according to this disclosure.

[0058] The powertrain system 302 includes a powertrain actuator that enables the drive wheels of the vehicle 2 to generate driving force, and a powertrain ECU (Electronic Control Unit) that controls the operation of the powertrain actuator.

[0059] Power transmission actuators include, for example, internal combustion engines, transmissions, and drive sources. Drive sources include motor generators, energy storage devices, and PCUs (Power Control Units). PCUs include inverters and converters.

[0060] The powertrain ECU controls the drive of each powertrain actuator. Powertrain ECUs include, for example, the internal combustion engine ECU, the PCU ECU, and the battery storage device ECU.

[0061] Braking system 304 includes hydraulic brake 32 (see reference) Figure 8 ) and hydraulic brake 33 (refer to Figure 8 ), and brake ECU34 (refer to Figure 8 Hydraulic brake 32 is located on the front wheel 30. Hydraulic brake 33 is located on the rear wheel 31. Brake ECU 34 controls the actuation of hydraulic brake 32 and hydraulic brake 33.

[0062] The steering system 306 includes, for example, a steering control device capable of changing the steering angle of the steering wheels (e.g., front wheels 30) of the vehicle 2, and an ECU (not shown) controlling the operation of the steering control device. The steering control device includes, for example, a steering wheel that changes the steering angle according to the amount of operation, and electric power steering (EPS) capable of adjusting the steering angle separately from the operation of the steering wheel via actuators. The ECU controlling the operation of the steering control device controls the operation of the EPS actuators. The sensor group 308 includes a tire pressure sensor 45 (see reference...). Figure 9 ), tire pressure sensor 46 (reference) Figure 9 The system includes front and rear G-sensors (not shown) for detecting the vehicle's acceleration in the front-to-back direction, lateral G-sensors (not shown) for detecting the vehicle's acceleration in the left-to-right direction, and wheel speed sensors (not shown) for detecting wheel speed.

[0063] like Figure 2 As shown, the control device 11 includes a motion manager 200 and a determination unit 201. The determination unit 201 acquires various information detected by each sensor of the sensor group 110 and detects anomalies generated by each sensor based on the acquired information. The motion manager 200 includes a receiving unit 202, a regulating unit 204, a calculating unit 206, and a distributing unit 208. The operation of each component when the vehicle 2 is in motion as described above will be explained. Furthermore, the motion manager 200 is an example of the "equipped control unit" of this disclosure.

[0064] The receiving unit 202 receives request signals PLN1 from the application of the driving assistance system 100. Request signals PLN1 include, for example, request signals PLN1-2 for ACC 106, request signals PLN1-6 for AEB 102, and request signals PLN1-11 for LKA 104. Request signals PLN1-2 contain request values ​​(action plans) indicating the target acceleration of vehicle 2. Request signals PLN1-6 contain request values ​​(action plans) indicating the target acceleration of vehicle 2, and parking hold requests (action plans). Request signals PLN1-11 contain information indicating request values ​​(action plans) indicating the target curvature of the driving path of vehicle 2.

[0065] The mediation unit 204 mediates various request values ​​(action plans) contained in the request signal PLN1. For example, the mediation unit 204 mediates the target acceleration of vehicle 2 contained in request signals PLN1-2 and PLN1-6. As a mediation process, one example is selecting a request value from multiple request values ​​(action plans) based on a predetermined selection criterion. Another example is setting a new request value based on multiple request values. Furthermore, the mediation unit 204 may also mediate the requests for multiple request values ​​by adding predetermined information received from the actuator system 300.

[0066] The calculation unit 206 calculates, for example, the motion request value requested by the vehicle 2 based on the adjusted request value. Furthermore, if the adjusted request value is a positive acceleration of the vehicle 2, the motion request value is the driving force and driving torque, etc.

[0067] The distribution unit 208 distributes (sends) the motion request value calculated by the calculation unit 206 to at least one actuator system of the actuator system 300. For example, if the mediated request value is a positive acceleration of the vehicle 2, the distribution unit 208 distributes the motion request value only to the powertrain system 302. Figure 2 In the example shown, the distribution unit 208 sends request signals ACL1, BRK1, and STR1 to the actuator system 300.

[0068] The request signal ACL1 may contain information such as the requested value of the drive torque or drive force, information about the requested gear (including information about the target gear and the identified gear as described below), etc.

[0069] The request signal BRK1 may contain information such as the requested value of the braking torque and information about the timing of braking (whether to implement it immediately, etc.).

[0070] The request signal STR1 may contain, for example, the target (requested) steering angle, information about whether the target steering angle is valid, and information related to the upper and lower limits of the auxiliary torque for steering wheel operation.

[0071] The powertrain 302, braking system 304, and steering system 306 are driven in a manner that satisfies the received motion request values. Furthermore, the actuator system 300 sends response signals ACL2, BRK2, STR2, and VSS2, indicating the state of each actuator, to the motion manager 200.

[0072] The response signal ACL2 is sent from the powertrain 302 to the motion manager 200. The response signal ACL2 is a signal indicating the state of the powertrain 302. The response signal ACL2 may contain, for example, information related to the operation of the accelerator pedal, information related to the actual drive torque or actual drive force of the powertrain 302, actual gear information (including information about the current gear as described below), information about the upper and lower limits of the drive torque, information about the upper and lower limits of the drive force, and information about the reliability of the powertrain 302.

[0073] The response signal BRK2 is a signal sent from the braking system 304, indicating the state of the braking system 304. The response signal BRK2 may contain information related to brake pedal operation, information related to the driver's requested braking torque, information related to the requested value of the adjusted braking torque, information related to the adjusted actual braking torque, and information related to the reliability of the braking system 304.

[0074] The response signal STR2 is a signal sent from the steering system 306, indicating the state of the steering system 306. The steering system 306 may contain information related to the reliability of the steering system 306, information about whether the driver is holding the steering wheel, information related to the torque of the steering wheel, and information related to the steering wheel rotation angle.

[0075] The response signal VSS2 is a signal sent from the sensor group 308. The response signal VSS2 includes, for example, the detection values ​​of the front and rear G sensors, the detection values ​​of the lateral G sensor, the detection values ​​of the wheel speed sensors of each wheel, the detection values ​​of the yaw rate sensor, and information related to the reliability of each sensor.

[0076] The motion manager 200 sends a response signal PLN2, which includes various information received from the actuator system 300, to the driver assistance system 100.

[0077] Each application of the driver assistance system 100 updates the request signal PLN1 based on the received response signal PLN2.

[0078] In this way, vehicle 2 drives based on driving assistance from various applications of the driving assistance system 100.

[0079] During vehicle 2 startup, the determination unit 201 acquires information from each sensor in the sensor group 110. The determination unit 201 acquires image data ID20 and image data ID21 from the front camera 120 and rear camera 121, respectively. The determination unit 201 acquires point group data PD30, PD31, PD32, and PD33 from the front LiDAR 130, rear LiDAR 131, side LiDAR 132, and side LiDAR 133, respectively. The determination unit 201 acquires distance data DD40, DD41, DD42, and DD43 from the front laser 140, rear laser 141, side laser 142, and side laser 143, respectively.

[0080] The determination unit 201 determines whether an anomaly has occurred in each sensor based on various data input from each sensor.

[0081] If no data is input from any of the sensors in the sensor group 110 within a specified period, the determination unit 201 determines that an anomaly has occurred in that sensor. Furthermore, the determination unit 201 determines whether an anomaly exists in the sensor that output the input data based on the input data. Alternatively, the determination unit 201 can also determine whether an anomaly exists in each sensor by comparing the input data from each sensor.

[0082] For example, the determination unit 201 may be configured to determine that an abnormality has occurred in the front camera 120 if the image data ID20 input from the front camera 120 is not input within a specified period.

[0083] For example, the determination unit 201 may be configured to determine that an abnormality has occurred in the front camera 120 if the defective area of ​​the image data ID20 is greater than or equal to a predetermined range. In this case, for example, situations such as foreign objects attached to the lens of the front camera 120 or damage to the optical elements of the front camera 120 may be considered.

[0084] For example, the determination unit 201 determines the presence or absence of anomalies in the front camera 120, the front LiDAR 130, and the front laser 140 based on the distance to the vehicle in front calculated based on image data ID20, the distance to the vehicle in front calculated based on point group data PD30, and the distance to the vehicle in front calculated based on distance data DD40.

[0085] If any sensor in the sensor group 110 malfunctions, the determination unit 201 sends an abnormality signal AS to the motion manager 200 and the reporting device 12. The abnormality signal AS contains information that determines which sensor in the sensor group 110 malfunctioned.

[0086] If the motion manager 200 receives an abnormal signal AS, it will stop communication with the driver assistance system 100 and the actuator system 300 respectively for a specified period. As a result, the vehicle 2 can perform normal driving operated by the driver, but cannot perform autonomous driving or driving assistance based on the driver assistance system 100.

[0087] If the reporting device 12 receives an abnormal signal AS, it will report that autonomous driving and driving assistance cannot be performed after a specified period. Furthermore, if the assisted vehicle 3 is using the driving assistance system 100 for autonomous driving or driving assistance, the reporting device 12 will report that driving control should be returned to the driver.

[0088] The reporting device 12 displays the auxiliary request button 20 on the display unit 13 after a predetermined period has elapsed since receiving the abnormal signal AS.

[0089] If the driver presses the assist request button 20, then Figure 1 Vehicle 2 sends a request signal RS1 to server 4. Request signal RS1 contains information identifying vehicle 2, vehicle 2's location, and any anomalies occurring in vehicle 2. The anomaly information includes details of the sensors or actuators that caused the anomalies in vehicle 2.

[0090] Figure 5 This is a block diagram representing auxiliary vehicle 3. Furthermore, the structures of auxiliary vehicle 3 are substantially the same as those of vehicle 2. Therefore, for structures equivalent to those of vehicle 2, similar reference numerals are used (e.g., "A" is added to the reference numerals for vehicle 2), and their descriptions are omitted.

[0091] The assisted vehicle 3 includes a driving assistance system 100A, a sensor group 110A, a motion manager 200A, a determination unit 201A, an actuator system 300A, and an operating device 400A. Furthermore, the motion manager 200A and the actuator system 300A are examples of the "assistance control unit" and "assistance actuator" of this disclosure, respectively. Additionally, the sensor group 110A is an example of the "assistance sensor" of this disclosure.

[0092] The driver assistance system 100A includes AEB102A, LKA104A, ACC106A, and automatic parking 108A.

[0093] Sensor group 110A is a device for acquiring various information about the external environment of the auxiliary vehicle 3. Sensor group 110A includes a front camera 120A, a rear camera 121A, a front LiDAR 130A, a rear LiDAR 131A, a side LiDAR 132A, a side LiDAR 133A, a front laser 140A, a rear laser 141A, a side laser 142A, a side laser 143A, and a position detection device 150A. Motion manager 200A includes a receiving unit 202A, a regulating unit 204A, a calculating unit 206A, and a distributing unit 208A. Actuator system 300A includes a power transmission system 302A, a braking system 304A, a steering system 306A, and sensor group 308A. Furthermore, the front camera 120A and the front LiDAR 130A are examples of the "first auxiliary sensor" and "second auxiliary sensor" of this disclosure, respectively. Furthermore, the braking system 304A is an example of the "first auxiliary actuator" of this disclosure. Additionally, the powertrain system 302A, the steering system 306A, and the sensor group 308A are examples of the "second auxiliary actuator" of this disclosure.

[0094] Furthermore, when the assisted vehicle 3 is driving based on the various applications of the driving assistance system 100A, the driving assistance system 100A sends a request signal PLN1A to the motion manager 200A.

[0095] Motion Manager 200A sends request signals ACL1A, BRK1A, and STR1A to Actuator System 300A. Actuator System 300A sends response signals ACL2A, BRK2A, STR2A, and VSS2A to Motion Manager 200A. Motion Manager 200A sends response signal PLN2A to Driver Assistance System 100A.

[0096] Control when sensor malfunctions

[0097] In the vehicle system 1 configured as described above, suppose an anomaly occurs in the laser 140 at the front of the vehicle 2. The determination unit 201 (see reference) Figure 2 If an anomaly is detected in the forward laser 140, an anomaly signal AS is sent to the reporting device 12. The reporting device 12 displays the assistance request button 20 (see reference 12) on the display unit 13 after a predetermined period elapsed since receiving the anomaly signal AS. Figure 2 If the driver presses the assist request button 20, a request signal RS1 will be sent. Figure 1 (Refer to) Send to server 4. If server 4 receives request signal RS1, it will send auxiliary vehicle 3 to vehicle 2 based on the location information of vehicle 2 contained in request signal RS1.

[0098] If the auxiliary vehicle 3 arrives at the location where the vehicle 2 is located, it will cooperate with the vehicle 2 to enable the vehicle 2 to enter a state where it can drive autonomously or drive with driver assistance.

[0099] Figure 6 This diagram illustrates a state where vehicle 2 and auxiliary vehicle 3 can cooperate to achieve autonomous driving or driver-assisted driving. Before cooperating with vehicle 2, auxiliary vehicle 3 establishes communication with vehicle 2. If vehicle 2 establishes communication with auxiliary vehicle 3, the communication stoppage between motion manager 200 and driver assistance system 100 is terminated.

[0100] like Figure 6 As shown, when vehicle 2 and auxiliary vehicle 3 cooperate to perform autonomous driving or driving assistance driving, auxiliary vehicle 3 travels in front of vehicle 2.

[0101] When a sensor in the driver assistance system 100 malfunctions while acquiring information about the area in front of vehicle 2, vehicle 2 sends a driving request DR1 to the assistance vehicle 3 to proceed in front of vehicle 2. Conversely, when a sensor malfunctions while acquiring information about the area behind vehicle 2, vehicle 2 sends a driving request DR2 to the assistance vehicle 3 (see reference DR1). Figure 7 ).

[0102] If the auxiliary vehicle 3 receives a driving request DR1 from the vehicle 2, it is controlled to drive in front of the vehicle 2. The driving request DR1 contains information indicating that a sensor or actuator in the vehicle 2 has malfunctioned. In this embodiment, the driving request DR1 contains information indicating that a malfunction has occurred at the laser 140 in front.

[0103] The auxiliary vehicle 3 transmits data from sensors that perform the same function as the sensors identified in the driving request DR1 to the vehicle 2. In this embodiment, the auxiliary vehicle 3 transmits the distance data DD40A of the front laser 140A to the vehicle 2. Therefore, the communication device 10 of the vehicle 2 obtains the distance data DD40A of the front laser 140A corresponding to the malfunctioning front laser 140 from each sensor in the sensor group 110A.

[0104] Furthermore, the communication device 10 of vehicle 2 sends the acquired distance data DD40A to each application of the driving assistance system 100. Each application of the driving assistance system 100 calculates a request value (request signal PLN10) to the motion manager 200 based on the acquired distance data DD40A and various data from the sensor group 110. Specifically, each application of the driving assistance system 100 calculates the aforementioned request value based on the distance data DD40A, image data IDs 20 and 21, point group data PD30 to PD33, and distance data DD40 to DD42.

[0105] Furthermore, the driver assistance system 100 inputs a request signal PLN10 to the motion manager 200. The motion manager 200 calculates request signals ACL10, BRK10, and STR10 based on the input request signal PLN10, and inputs each request signal to the actuator system 300. The actuator system 300 then sends response signals ACL20, BRK20, STR20, and VSS20 to the motion manager 200. The motion manager 200 sends a response signal PLN20 to the driver assistance system 100 based on the received response signals.

[0106] In this way, vehicle 2 can use the data (DD40A) obtained from the auxiliary vehicle 3 to perform autonomous driving or driving assistance.

[0107] Furthermore, each application of the driver assistance system 100 can also calculate the requested value to the motion manager 200 after correcting the acquired distance data DD40A. For example, each application can also calculate the requested value based on the distance between the assisted vehicle 3 and the vehicle 2 using corrected data that corrects the distance data DD40A.

[0108] Thus, in the vehicle system 1 according to this embodiment, the vehicle 2 can implement autonomous driving or driving assistance by using the input from the front camera 120A of the auxiliary vehicle 3 when the front camera 120, which is part of the sensor group 110, malfunctions.

[0109] In addition, in this embodiment, vehicle 2 controls the driving of auxiliary vehicle 3. For example, in order to control the driving of auxiliary vehicle 3, vehicle 2 receives image data ID20A and ID21A, point group data PD30A to PD33A, and distance data DD40A to DD43A from auxiliary vehicle 3.

[0110] The driving assistance system 100 of vehicle 2 calculates the request value to the driving assistance system 100A of vehicle 3 based on image data ID20A and ID21A, point group data PD30A to PD33A, and distance data DD40A to DD43A.

[0111] Vehicle 2 sends request signals ACL1B, BRK1B, and STR1B to auxiliary vehicle 3. If the communication device 10A of auxiliary vehicle 3 receives the request signals ACL1B, BRK1B, and STR1B, it sends them to the actuator system 300A of auxiliary vehicle 3.

[0112] The actuator system 300A is driven based on the received request signals ACL1B, BRK1B, and STR1B. Furthermore, the actuator system 300A sends response signals ACL2B, BRK2B, STR2B, and VSS2B to the motion manager 200 via the communication device 10A.

[0113] If the motion manager 200 receives the received response signals ACL2B, BRK2B, STR2B and VSS2B, it sends a response signal PLN20B to the driving assistance system 100.

[0114] Thus, in the vehicle system 1 according to this embodiment, when the auxiliary vehicle 3 assists the vehicle 2 in its movement, the vehicle 2 can control the driving of the auxiliary vehicle 3. As a result, the vehicle 2 can effectively control the platooning and other actions of the vehicle 2 and the auxiliary vehicle 3.

[0115] Figure 7 This diagram illustrates a situation where, when a sensor that acquires information about the area behind vehicle 2 malfunctions, auxiliary vehicle 3 assists vehicle 2 while driving.

[0116] In Figure 7 The example shown illustrates a situation where an anomaly occurred in the rear camera 121 of vehicle 2.

[0117] If vehicle 2 establishes communication with auxiliary vehicle 3, it sends a driving request DR2 to auxiliary vehicle 3. If auxiliary vehicle 3 receives driving request DR2, it controls itself to travel behind vehicle 2. Driving request DR2 contains information identifying the faulty sensor. Figure 7 In the example shown, the driving request DR2 contains information indicating that the rear camera 121 has malfunctioned.

[0118] If the auxiliary vehicle 3 receives the driving request DR2, it sends the image data ID21A of the rear camera 121A to the vehicle 2.

[0119] The communication device 10 sends the received image data ID21A to each application of the driver assistance system 100. In addition, the sensor group 110 sends image data ID20, point group data PD30 to PD33, and distance data DD40 to DD43 to the driver assistance system 100.

[0120] Each application of the driver assistance system 100 calculates a request value (request signal PLN11) to the motion manager 200 based on image data ID20, ID21A, point group data PD30-PD33, and distance data DD40-DD43. Furthermore, the driver assistance system 100 sends the request signal PLN11 to the motion manager 200. The motion manager 200 calculates request signals ACL11, BRK11, and STR11 based on the request signal PLN11 and sends them to the actuator system 300.

[0121] The actuator system 300 sends response signals ACL21, BRK21, STR21, and VSS21 to the motion manager 200. Based on the received response signals, the motion manager 200 sends response signal PLN21 to the driver assistance system 100. In this way, the vehicle 2 can use data from the sensors of the assist vehicle 3 (rear camera 121A) to perform autonomous driving or driver assistance driving.

[0122] In addition, Figure 6 and Figure 7 The examples shown illustrate malfunctions in both the front laser 140 and the rear camera 121, but this disclosure is not limited to these cases. The same control can be applied to other sensor malfunctions.

[0123] Control when actuator malfunctions

[0124] like Figure 8 As shown, vehicle 2 includes a connecting part 35 and a connecting part 36 for connecting with auxiliary vehicle 3. Connecting part 35 is located on the front side of vehicle 2. Connecting part 36 is located on the rear side of vehicle 2.

[0125] exist Figure 8 In the example shown, when the hydraulic brake 33 of vehicle 2 malfunctions, the auxiliary vehicle 3 assists in the movement of vehicle 2. Furthermore, the auxiliary vehicle 3 is connected to the connecting part 36 via a connecting member 37 connected to the connecting part 36, and is located behind vehicle 2.

[0126] Before using the auxiliary vehicle 3, vehicle 2 establishes communication with the auxiliary vehicle 3. Furthermore, vehicle 2 sends a driving request DR3 to the auxiliary vehicle 3. This driving request DR3 includes a request signal requesting connection to the auxiliary vehicle 3 via the connection component 37, information confirming an actuator malfunction, and information confirming the data requested from the auxiliary vehicle 3.

[0127] exist Figure 8In the example shown, the driving request DR3 contains information indicating that a malfunction has occurred in the hydraulic brake 33. Additionally, the driving request DR3 includes information requesting image data ID21A, point group data PD31A, and distance data DD41A from the auxiliary vehicle 3.

[0128] Furthermore, if the auxiliary vehicle 3 detects that it is connected to the connection unit 36, it will send image data ID21A, point group data PD31A, and distance data DD41A to the vehicle 2.

[0129] The communication device 10 transmits the image data ID21A, point group data PD31A, and distance data DD41A received from the assisted vehicle 3 to the various applications of the driving assistance system 100. In addition, it also transmits data from each sensor in the sensor group 110 to the various applications of the driving assistance system 100.

[0130] The driver assistance system 100 of vehicle 2 calculates a request value (request signal PLN12) to the motion manager 200 based on image data ID21A, point group data PD31A, distance data DD41A, and various data from sensor group 110. Specifically, the driver assistance system 100 calculates the aforementioned request value based on image data ID21A, point group data PD31A, distance data DD41A, image data ID20, point group data PD (30, 32, 33), and distance data DD (40, 42, 43). Furthermore, the driver assistance system 100 inputs the request signal PLN12 to the motion manager 200.

[0131] The motion manager 200 calculates request signals ACL12, BRK12, and STR12 based on request signal PLN12 and inputs each request signal to the actuator system 300. Furthermore, the actuator system 300 sends response signals ACL22, BRK22, STR22, and VSS22 to the motion manager 200. Based on the received response signals, the motion manager 200 sends response signal PLN22 to the driver assistance system 100.

[0132] In addition, Figure 8 In the example shown, vehicle 2 also controls the drive of auxiliary vehicle 3. Thus, even if the hydraulic brake 33 of vehicle 2 is not activated, vehicle 2 can be decelerated or stopped by activating at least one of the hydraulic brakes 32A and 33A of auxiliary vehicle 3.

[0133] Specifically, the communication device 10 of vehicle 2 acquires various data from sensor group 110A and sends the acquired data to various applications of driver assistance system 100. Driver assistance system 100 (motion manager 200) calculates request signals ACL11B, BRK11B and STR11B based on the various data from sensor group 110A and sends them to actuator system 300A.

[0134] Here, when it is necessary to decelerate or stop vehicle 2, the driver assistance system 100 (motion manager 200) actuates the hydraulic brake 33A of the auxiliary vehicle 3. Specifically, the driver assistance system 100 (motion manager 200) uses a request signal BRK11B to increase the braking force of at least one of the hydraulic brakes 32A and 33A. Additionally, when it is necessary to reduce the driving force of the powertrain 302A of the auxiliary vehicle 3, the request signal ACL11B can also be used to reduce the driving force of the powertrain 302A.

[0135] Furthermore, the actuator system 300A sends response signals ACL12B, BRK12B, STR12B, and VSS12B to the motion manager 200 via the communication device 10A. If the motion manager 200 receives the received response signals ACL12B, BRK12B, STR12B, and VSS12B, it sends a response signal PLN22B to the driver assistance system 100.

[0136] According to such a vehicle system, even if the hydraulic brake 33 of vehicle 2 malfunctions, vehicle 2 can still perform autonomous driving or driving assistance by using data from auxiliary vehicle 3 and the hydraulic brake of auxiliary vehicle 3.

[0137] Furthermore, in the above example, an example of positioning the auxiliary vehicle 3 behind the vehicle 2 to enable both the vehicle 2 and the auxiliary vehicle 3 to move was described. However, it is also possible for the auxiliary vehicle 3 to move in front of the vehicle 2. Additionally, the same control can be performed in the event of a malfunction in the hydraulic brake 32. Furthermore, in the event of a malfunction in a specified actuator of the vehicle 2 other than the hydraulic brake (braking system), the same auxiliary control can be performed using an actuator of the auxiliary vehicle 3 that has the same function as the specified actuator.

[0138] In addition, such as Figure 9 As shown, the sensor group 308 of the actuator system 300 (refer to...) Figure 2 This includes tire pressure sensors 45 and 46. Tire pressure sensor 45 measures the air pressure of the front wheel 30. Tire pressure sensor 46 measures the air pressure of the rear wheel 31.

[0139] In addition, vehicle 2 also includes lifting device 40 and lifting device 41. Lifting device 40 is a device for raising and lowering the front wheels 30. Lifting device 41 is a device for raising and lowering the rear wheels 31. Furthermore, lifting devices 40 and 41 are examples of the "moving device" of this disclosure.

[0140] The lifting device 40 enables the pair of front wheels 30 to be raised and lowered independently. Additionally, the lifting device 41 enables the pair of rear wheels 31 to be raised and lowered independently. Furthermore, the lifting device 40 can also be used to raise and lower the pair of front wheels 30 in conjunction with each other. Similarly, the lifting device 41 can also be used to raise and lower the pair of rear wheels 31 in conjunction with each other.

[0141] Tire pressure sensors 45 and 46 respectively send the measured air pressure to the control device 11. If the control device 11 determines that the air pressure of each tire is below a specified value, it displays a warning indicating that the tire pressure is below the specified value and a notification that autonomous driving and driver assistance driving will stop after a specified time on the display unit 13. In addition, the warning displayed on the display unit 13 may also include a notification recommending that the vehicle be parked.

[0142] In Figure 9 In the example shown, the air pressure of the front wheel 30 is assumed to be lower than a specified value. After establishing communication with the auxiliary vehicle 3, vehicle 2 sends a driving request DR4 to the auxiliary vehicle 3. The driving request DR4 contains information indicating that the air pressure of the front wheel 30 is low, and a signal requesting that the auxiliary vehicle 3 be connected to the coupling part 35. If the auxiliary vehicle 3 receives the driving request DR4, it connects vehicle 2 to the coupling part 35 via the connecting member 37.

[0143] Furthermore, if it is determined that the air pressure of the rear wheel 31 is below a specified value, the vehicle 2 will send a driving request DR4 to the auxiliary vehicle 3, which includes information indicating that the air pressure of the rear wheel 31 is low and a signal requesting that the auxiliary vehicle 3 be connected to the connecting part 36.

[0144] If vehicle 2 detects that the auxiliary vehicle 3 is connected to the connecting part 35, it will control device 11 (see reference) Figure 2 The lifting device 40 is driven to raise the front wheels 30. At least a portion of the front wheels 30 is then housed inside the vehicle 2. Furthermore, the front wheels 30 are now in a state of floating off the ground.

[0145] Furthermore, even when the front wheel 30 is raised while the auxiliary vehicle 3 is connected to the vehicle 2, the vehicle 2, supported by the auxiliary vehicle 3, becomes capable of driving.

[0146] According to the vehicle system 1 described above, even when the air pressure of the front wheel 30 of the vehicle 2 is low, the vehicle 2 is still able to drive in a state connected to the auxiliary vehicle 3.

[0147] Furthermore, in this case, the motion manager 200 of vehicle 2 can also control the actuator system 300A of auxiliary vehicle 3 to control the driving force, braking force, and steering angle of auxiliary vehicle 3.

[0148] In addition, Figure 9 In the example shown, the driving request DR4 includes information indicating that the air pressure of the front wheel 30 is low, and requests for image data ID20A, point group data PD30A, and distance data DD40A from the auxiliary vehicle 3.

[0149] Furthermore, if the auxiliary vehicle 3 detects a connection with the connection unit 35, it will send image data ID20A, point group data PD30A, and distance data DD40A to the vehicle 2.

[0150] The communication device 10 transmits the image data ID20A, point group data PD30A, and distance data DD40A received from the assisted vehicle 3 to the various applications of the driving assistance system 100. In addition, it also transmits data from each sensor in the sensor group 110 to the various applications of the driving assistance system 100.

[0151] The driver assistance system 100 of vehicle 2 calculates a request value (request signal PLN13) to the motion manager 200 based on image data ID20A, point group data PD30A, distance data DD40A, and various data from sensor group 110. Specifically, the driver assistance system 100 calculates the aforementioned request value based on image data ID20A, point group data PD30A, distance data DD40A, image data ID21, point group data PD (31-33), and distance data DD (41-43). Furthermore, the driver assistance system 100 inputs the request signal PLN13 to the motion manager 200.

[0152] Furthermore, the motion manager 200 sends request signals ACL13, BRK13, and STR13 to the actuator system 300. The actuator system 300 also sends response signals ACL23, BRK23, STR23, and VSS23 to the motion manager 200. Based on the received response signals, the motion manager 200 sends response signal PLN23 to the driver assistance system 100.

[0153] Furthermore, in the example described above, the auxiliary vehicle 3 was positioned in front of the vehicle 2 whose front wheel 30F had malfunctioned. However, it is also possible for the auxiliary vehicle 3 to travel behind the vehicle 2 whose rear wheel 31 has malfunctioned. In this case, the rear wheel 31 is raised by the lifting device 41.

[0154] Furthermore, in the above embodiment, an example was shown where the control device 11 of vehicle 2 uses sensors and actuators of the auxiliary vehicle 3 to assist the driving of vehicle 2; however, this disclosure is not limited thereto. The control device performing the above-mentioned assistance may be provided in the auxiliary vehicle 3, or it may be provided outside both vehicle 2 and the auxiliary vehicle 3.

[0155] Furthermore, in the above embodiments, examples were shown of the motion manager 200 of vehicle 2 using inputs from various sensors of auxiliary vehicle 3 to control actuator system 300 when the sensors of vehicle 2 malfunction, and examples of controlling actuator system 300A when the actuators of vehicle 2 malfunction; however, this disclosure is not limited thereto. The motion manager 200A of auxiliary vehicle 3 can also perform the aforementioned controls.

[0156] Furthermore, in the above embodiments, examples were shown of using inputs from various sensors of the auxiliary vehicle 3 to control the actuator system 300 when the sensors of vehicle 2 malfunction, and examples of controlling the actuator system 300A when the actuators of vehicle 2 malfunction; however, this disclosure is not limited to these. Either of the above two examples may also be performed.

[0157] Furthermore, in the above embodiment, an example was shown where vehicle 2 is not connected to the auxiliary vehicle 3 when the sensors of vehicle 2 malfunction and the sensors of the auxiliary vehicle 3 are used to drive vehicle 2; however, this disclosure is not limited to this. Vehicle 2 may also be connected to the auxiliary vehicle 3. Additionally, when the actuator system 300A is used to drive vehicle 2 when the actuator of vehicle 2 malfunctions, vehicle 2 may also not be connected to the auxiliary vehicle 3.

Claims

1. A vehicle configured to communicate with an auxiliary vehicle including at least one auxiliary sensor and at least one auxiliary actuator, characterized in that, The vehicle has the following features: At least one sensor is provided to acquire information about the external environment of the vehicle; At least one actuator is mounted for the movement of the vehicle; The control unit is configured to control the drive of the mounted actuator using input from the mounted sensor; as well as The communicator is configured to communicate with the auxiliary vehicle. in, The device is equipped with multiple sensors. The plurality of mounted sensors include a first mounted sensor configured to acquire first information from the external environment in front of the vehicle, and a second mounted sensor configured to acquire second information from the external environment behind the vehicle. Multiple auxiliary sensors are provided. The plurality of auxiliary sensors include a first auxiliary sensor configured to acquire the first information from the external environment in front of the auxiliary vehicle, and a second auxiliary sensor configured to acquire the second information from the external environment behind the auxiliary vehicle. The control unit is configured as follows: Upon detecting an anomaly in the mounted sensor, at least the first alternative control is implemented, consisting of a first alternative control that controls the drive of the mounted actuator based on input from the auxiliary sensor, and a second alternative control that uses the auxiliary actuator to move the vehicle. When an anomaly is detected in the first mounted sensor, the first auxiliary sensor is used to control the drive of the mounted actuator. When an anomaly is detected in the second mounted sensor, the second auxiliary sensor is used to control the drive of the mounted actuator. In the event of a malfunction in the first mounted sensor, a request is sent to the auxiliary vehicle to proceed in front of the vehicle. When the second mounted sensor malfunctions, a request is sent to the auxiliary vehicle to travel behind the vehicle.

2. The vehicle according to claim 1, characterized in that, The auxiliary vehicle includes an auxiliary control unit configured to control the drive of the auxiliary actuator using inputs from the auxiliary sensors. The auxiliary vehicle is configured such that at least the first substitution control is performed using either the control unit or the auxiliary control unit, which is either the first substitution control or the second substitution control.

3. The vehicle according to claim 1 or 2, characterized in that, The first and second mounted sensors are configured to acquire information about the external environment located in front of the vehicle, with the first mounted sensor having a longer detection range than the second mounted sensor. The first auxiliary sensor and the second auxiliary sensor are configured to obtain information about the external environment located in front of the auxiliary vehicle, and the detection range of the first auxiliary sensor is longer than that of the second auxiliary sensor.

4. The vehicle according to claim 1 or 2, characterized in that, The vehicle further includes a connecting part configured for connection to the auxiliary vehicle. The actuator is provided in multiple ways. The plurality of mounted actuators include: a first mounted actuator configured to perform a first function for driving the vehicle; and a second mounted actuator configured to perform a second function for driving the vehicle. Multiple auxiliary actuators are provided. The plurality of said auxiliary actuators include: a first auxiliary actuator configured to perform the first function for assisting in the driving of the vehicle; and a second auxiliary actuator configured to perform the second function for assisting in the driving of the vehicle. The control unit is configured to use the first auxiliary actuator to drive the vehicle while the auxiliary vehicle is connected, when an abnormality is detected in the first actuator.

5. The vehicle according to claim 4, characterized in that, The vehicle has wheels and a moving device configured to move the wheels upward. When an abnormality is detected in the wheel, the control unit uses the moving device to move the wheel upward while it is connected to the auxiliary vehicle.

6. A vehicle system, characterized in that, The vehicle system includes: An auxiliary vehicle, including at least one auxiliary sensor and at least one auxiliary actuator; and The vehicle is configured to communicate with the auxiliary vehicle. The vehicle is equipped with: At least one sensor is provided to acquire information about the external environment of the vehicle; At least one actuator is mounted for the movement of the vehicle; A vehicle control device configured to control the drive of the mounted actuator using inputs from the mounted sensors; and The communicator is configured to communicate with the auxiliary vehicle. The device is equipped with multiple sensors. The plurality of mounted sensors include a first mounted sensor configured to acquire first information from the external environment in front of the vehicle, and a second mounted sensor configured to acquire second information from the external environment behind the vehicle. Multiple auxiliary sensors are provided. The plurality of auxiliary sensors include a first auxiliary sensor configured to acquire the first information from the external environment in front of the auxiliary vehicle, and a second auxiliary sensor configured to acquire the second information from the external environment behind the auxiliary vehicle. The vehicle control device is configured to, upon detecting an anomaly in the mounted sensor, implement at least the first alternative control, which includes a first alternative control based on input from the auxiliary sensor to control the drive of the mounted actuator, and a second alternative control using the auxiliary actuator to drive the vehicle. When an anomaly is detected in the first mounted sensor, the first auxiliary sensor is used to control the drive of the mounted actuator. When an anomaly is detected in the second mounted sensor, the second auxiliary sensor is used to control the drive of the mounted actuator. If the first onboard sensor malfunctions, the vehicle sends a request to the auxiliary vehicle to proceed in front of it. When the second mounted sensor malfunctions, a request is sent to the auxiliary vehicle to travel behind the vehicle.

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