# US 2019/0246294 A1 · Apparatus and method for controlling vehicle based on redundant architecture > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0246294 A1 - Document ID: US20190246294A1 - Status: Published application - Kind: A1 - Application number: 16/264,678 - Filed: 2019-02-01 - Published: 2019-08-08 - Earliest claimed: 2018-02-05 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Hyun Jung KIM - Web page: https://patentgrep.com/patent/US20190246294A1 ## CPC - B60W 50/023: Avoiding failures by using redundant parts - H04W 24/04: Arrangements for maintaining operational condition - B60R 16/0232: {for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions} - H04W 4/48: for in-vehicle communication - H04W 40/02: Communication route or path selection, e.g. power-based or shortest path routing - B62D 5/0481: {monitoring the steering system, e.g. failures} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract Disclosed are an apparatus and a method for controlling a vehicle based on redundant architecture, and more particularly, a technology for monitoring breakdown of communication paths of a vehicle control device based on redundant architecture. The apparatus includes: a plurality of electronic controllers configured to control driving of the vehicle based on sensing information of the vehicle; and a plurality of communication paths configured to exchange data between the plurality of electronic controllers, wherein the plurality of electronic controllers are configured to generate a vehicle control instruction for controlling driving of the vehicle based on vehicle information and are configured to monitor an operational status of at least one of the plurality of electronic controllers through the plurality of communication paths. ## Claims ### Claim 1 An apparatus for controlling a vehicle having redundant architecture, the apparatus comprising: a plurality of electronic controllers configured to control driving of the vehicle based on sensing information of the vehicle; and a plurality of communication paths configured to exchange data between the plurality of electronic controllers, wherein the plurality of electronic controllers configured to generate a vehicle control instruction for controlling driving of the vehicle based on vehicle information and configured to monitor an operational status of at least one of the plurality of electronic controllers through the plurality of communication paths. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the plurality of communication paths is at least one of communication schemes such as CAN, SPI, I2C, SCI, GPIO, and UART. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the plurality of communication paths corresponds to communication paths using different communication schemes. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein reliabilities of the communication schemes are different, and the plurality of electronic controllers configured to receive the operational status through the plurality of communication paths determines whether the plurality of communication paths has broken down based on the reliabilities of the communication schemes of the plurality of communication paths if operational statuses received through the plurality of communication paths are different. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the plurality of electronic controllers comprises a first electronic controller and a second electronic controller, and the second electronic controller controls driving of the vehicle if the first electronic controller has broken down. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the first electronic controller generates operational status information of the first electronic controller and transmits the generated operational status information of the first electronic controller to the second electronic controller through each of the plurality of communication paths, and the second electronic controller generates operational status information of the second electronic controller and transmits the generated operational status information of the second electronic controller to the first electronic controller through each of the plurality of communication paths. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein at least one of the plurality of electronic controllers transmits equal data to another electronic controller through each of the plurality of communication paths. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein, if data is not received from one of the plurality of communication paths or if data received through the plurality of communication paths are not equal, the another electronic controller determines that at least one of the plurality of communication paths has broken down. ### Claim 9 (depends on 7) The apparatus of claim 7, wherein, if data received through the plurality of communication paths are equal, the another electronic controller determines that the plurality of communication paths has not broken down. ### Claim 10 (depends on 7) The apparatus of claim 7, wherein the another electronic controller determines a status of the electronic controller to which at least one of the plurality of electronic controllers belongs based on data received through the plurality of communication paths, and it is determined that the status is abnormal, the electronic controller to which the another electronic controller belongs controls driving of the vehicle after a predetermined time from a time point at which the data is received. ### Claim 11 A method of controlling a vehicle by a vehicle control device of redundant architecture comprising a plurality of electronic controllers for controlling driving of the vehicle based on sensing information of the vehicle and a plurality of communication paths for exchanging data between the plurality of electronic controllers, the method comprising: generating its own operational status information by at least one of the plurality of electronic controllers; receiving operational status information of another electronic controller based on the operational status information received through a plurality of communication paths by at least one of the plurality of electronic controllers; and determining whether at least one of the plurality of communication paths has broken down based on the operational status information received through the plurality of communication paths by the another electronic controller. ### Claim 12 (depends on 11) The method of claim 11, wherein the plurality of communication paths corresponds to communication paths using different communication schemes. ### Claim 13 (depends on 12) The method of claim 12, wherein the plurality of communication paths is at least one of communication schemes such as CAN, SPI, I2C, SCI, GPIO, and UART. ### Claim 14 (depends on 11) The method of claim 11, wherein the determining whether at least one of the plurality of communication paths has broken down comprises, if data is not received from one of the plurality of communication paths or if operational status information received through the plurality of communication paths is different through comparison thereof, determining that at least one of the plurality of communication paths has broken down. ### Claim 15 (depends on 11) The method of claim 11, wherein the determining whether at least one of the plurality of communication paths has broken down comprises, if operational status information received through the plurality of communication paths is equal through comparison thereof, determining that the plurality of communication paths has not broken down.