Vehicle controller, method, and computer program for vehicle control
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsRyusuke Kuroda, Kenichiro Aoki, Tadashi Okubo
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Abstract
A vehicle controller includes a processor configured to sense trouble with a first sensor among sensors that are capable of detecting objects around a host vehicle and whose sensing areas at least partially overlap, detect another vehicle traveling in an area around the host vehicle, based on sensor signals from the respective sensors, and decelerate the host vehicle at first deceleration in the case where trouble with the first sensor is sensed and where the other vehicle is detected on the basis of a sensor signal from a second sensor having lower priority than the first sensor in sensing the other vehicle cutting in front of the host vehicle.
Claims11
A vehicle controller comprising:
- a processor configured to:
- set a trouble flag associated with a first sensor among sensors that are capable of detecting objects around a host vehicle and whose sensing areas at least partially overlap in response to one or more cases being true:
- in a first case:
- detect another vehicle traveling in an area around the host vehicle, based on sensor signals from the respective sensors, and
- decelerate the host vehicle at a first deceleration where the other vehicle is detected on a basis of a sensor signal from a second sensor having lower priority than the first sensor in sensing the other vehicle cutting in front of the host vehicle among the sensors,
- in a second case:
- detect predetermined objects including the other vehicle, based on the sensor signals obtained from the first sensor, and
- where a frequency of detection of the predetermined objects in a most recent predetermined period is less than an expected value of the frequency of detection of the predetermined objects from the sensor signals that are time-series signals obtained from the first sensor in the predetermined period by more than a predetermined amount.
A method for vehicle control, comprising:
- setting a trouble flag associated with a first sensor among sensors that are capable of detecting objects around a host vehicle and whose sensing areas at least partially overlap in response to one or more cases being true:
- in a first case:
- detecting another vehicle traveling in an area around the host vehicle, based on sensor signals from the respective sensors;
- and
- decelerating the host vehicle at a first deceleration where the other vehicle is detected on a basis of a sensor signal from a second sensor having lower priority than the first sensor in sensing the other vehicle cutting in front of the host vehicle among the sensors;
- in a second case:
- detecting predetermined objects including the other vehicle, based on the sensor signals obtained from the first sensor;
- and
- where a frequency of detection of the predetermined objects in a most recent predetermined period is less than an expected value of the frequency of detection of the predetermined objects from the sensor signals that are time-series signals obtained from the first sensor in the predetermined period by more than a predetermined amount.
A non-transitory recording medium that stores a computer program for vehicle control, the computer program causing a processor mounted on a host vehicle to execute a process comprising:
- setting a trouble flag associated with a first sensor among sensors that are capable of detecting objects around a host vehicle and whose sensing areas at least partially overlap in response to one or more cases being true:
- in a first case:
- detecting another vehicle traveling in an area around the host vehicle, based on sensor signals from the respective sensors;
- and
- decelerating the host vehicle at a first deceleration where the other vehicle is detected on a basis of a sensor signal from a second sensor having lower priority than the first sensor in sensing the other vehicle cutting in front of the host vehicle among the sensors;
- in a second case:
- detecting predetermined objects including the other vehicle, based on the sensor signals obtained from the first sensor;
- and
- where a frequency of detection of the predetermined objects in a most recent predetermined period is less than an expected value of the frequency of detection of the predetermined objects from the sensor signals that are time-series signals obtained from the first sensor in the predetermined period by more than a predetermined amount.
Dependencies are inferred from the claim text.