Electronic control device, vehicle control method, and vehicle control program product

A vehicle control method comprising:

• acquiring at least one of subject vehicle information related to a vehicle, surrounding environment information related to a surrounding environment of the vehicle, and road information related to a road on which the vehicle travels;
• detecting an abnormality that has occurred in an in-vehicle system of the vehicle during autonomous driving based on a first travel plan stored in a travel plan storage for the vehicle to arrive at a destination;
• identifying whether a cause of the abnormality is one of a) a minor collision, b) a disaster excluding the minor collision, or c) a spontaneous failure of the in-vehicle system based on at least one of a content of the abnormality, the subject vehicle information, the surrounding environment information, and the road information when detecting the abnormality;
• determining a situation around the vehicle based on at least one of the subject vehicle information, the surrounding environment information, and the road information when detecting the abnormality;
• determining a target stop position for stopping the vehicle in a stoppable location based on the cause of the abnormality and the situation around the vehicle;
• and
• changing the first travel plan to a second travel plan for stopping the vehicle to the target stop position, wherein
• when the cause of the abnormality is the disaster excluding the minor collision, a vicinity of the vehicle or a place spaced from a periphery of the vehicle is determined as the target stop position based on a type of the disaster.

A vehicle control program product stored in a computer-readable non-transitory tangible storage medium, comprising instructions executed by a computer to:

• acquire at least one of subject vehicle information related to a vehicle, surrounding environment information related to a surrounding environment of the vehicle, and road information related to a road on which the vehicle travels;
• detect an abnormality that has occurred in an in-vehicle system of the vehicle during autonomous driving based on a first travel plan stored in a travel plan storage for the vehicle to arrive at a destination;
• identify whether a cause of the abnormality is one of a) a minor collision, b) a disaster excluding the minor collision, or c) a spontaneous failure of the in-vehicle system based on at least one of a content of the abnormality, the subject vehicle information, the surrounding environment information, and the road information when detecting the abnormality;
• determine a situation around the vehicle based on at least one of the subject vehicle information, the surrounding environment information, and the road information when detecting the abnormality;
• determine a target stop position for stopping the vehicle in a stoppable location based on the cause of the abnormality and the situation around the vehicle;
• and
• change the first travel plan to a second travel plan for stopping the vehicle to the target stop position, wherein
• when the cause of the abnormality is the disaster excluding the minor collision, a vicinity of the vehicle or a place spaced from a periphery of the vehicle is determined as the target stop position based on a type of the disaster.