# US 2021/0241001 A1 · Vehicle control system

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- Number: US 2021/0241001 A1
- Document ID: US20210241001A1
- Status: Published application
- Kind: A1
- Application number: 17/159,178
- Filed: 2021-01-27
- Published: 2021-08-05
- Earliest claimed: 2020-02-05
- Assignees: Mazda Motor Corporation; NXP B.V.
- Applicants: Mazda Motor Corporation; NXP B.V.
- Inventors: Masato ISHIBASHI; Kiyoyuki TSUCHIYAMA; Daisuke HAMANO; Tomotsugu FUTA; Daisuke HORIGOME; Atsushi TASAKI; Yosuke HASHIMOTO; Yusuke KIHARA; Eiichi HOJIN; Arnaud VAN DEN BOSSCHE; Ray MARSHAL; Leonardo SURICO
- Web page: https://patentgrep.com/patent/US20210241001A1

## CPC

- B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- B60W 30/14: {Adaptive} cruise control
- B60W 50/0205: {Diagnosing or detecting failures; Failure detection models}
- B60W 50/023: Avoiding failures by using redundant parts
- B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- G06V 40/16: Human faces, e.g. facial parts, sketches or expressions
- B60W 2050/0006: {Digital architecture hierarchy}
- B60W 2050/0215: {Sensor drifts or sensor failures}
- B60W 2050/0297: {Control Giving priority to different actuators or systems}
- B60W 2420/403: Image sensing, e.g. optical camera
- 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
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A plurality of first cameras are provided in a vehicle so as to surround the vehicle. A plurality of second cameras are provided in the vehicle so as to surround the vehicle. A control unit performs a first operation of outputting a control signal for cruise control of the vehicle based on both outputs from the plurality of the first cameras and outputs from the plurality of the second cameras, a second operation of outputting the control signal based on the outputs from the plurality of the first cameras, and a third operation of outputting the control signal based on the outputs from the plurality of the second cameras.

## Claims

### Claim 1

A vehicle control system for controlling a vehicle, the system comprising:
a plurality of first cameras disposed in the vehicle so as to surround the vehicle;
a plurality of second cameras disposed in the vehicle so as to surround the vehicle; and
a control unit that performs a first operation of outputting a control signal for cruise control of the vehicle based on both outputs from the plurality of the first cameras and outputs from the plurality of the second cameras, a second operation of outputting the control signal based on the outputs from the plurality of the first cameras, and a third operation of outputting the control signal based on the outputs from the plurality of the second cameras.

### Claim 2 (depends on 1)

The vehicle control system of claim 1, wherein
the control unit performs:
the first operation when a first signal system including the plurality of first cameras and a second signal system including the plurality of second cameras both do not have an abnormality,
the second operation when the second signal system between the first and second signal systems has an abnormality, and
the third operation when the first signal system between the first and second signal systems has an abnormality.

### Claim 3 (depends on 2)

The vehicle control system of claim 2, wherein
the plurality of first cameras include a first front camera that images an area in front of the vehicle, a first diagonally backward right camera that images an area diagonally backward right of the vehicle, and a first diagonally backward left camera that images an area diagonally backward left of the vehicle, and
the plurality of second cameras include a second front camera that images an area in front of the vehicle, a second diagonally backward right camera that images an area diagonally backward right of the vehicle, and a second diagonally backward left camera that images an area diagonally backward left of the vehicle.

### Claim 4 (depends on 3)

The vehicle control system of claim 3, wherein
the control unit includes: a first recognition processing IC unit that performs recognition processing for recognizing an external environment of the vehicle based on an output from the plurality of first cameras; and a second recognition processing IC unit that performs the recognition processing based on the output of the plurality of second cameras, and
during the first operation, the control unit outputs the control signal based on both of a result of the recognition processing by the first recognition processing IC unit and a result of the recognition processing by the second recognition processing IC unit,
during the second operation, the control unit outputs the control signal based on the result of the recognition processing by the first recognition processing IC unit, and
during the third operation, the control unit outputs the control signal based on the result of the recognition processing by the second recognition processing IC unit.

### Claim 5 (depends on 1)

The vehicle control system of claim 1, wherein
the plurality of first cameras include a first front camera that images an area in front of the vehicle, a first diagonally backward right camera that images an area diagonally backward right of the vehicle, and a first diagonally backward left camera that images an area diagonally backward left of the vehicle, and
the plurality of second cameras include a second front camera that images an area in front of the vehicle, a second diagonally backward right camera that images an area diagonally backward right of the vehicle, and a second diagonally backward left camera that images an area diagonally backward left of the vehicle.

### Claim 6 (depends on 1)

The vehicle control system of claim 1, wherein
the control unit includes: a first recognition processing IC unit that performs recognition processing for recognizing an external environment of the vehicle based on an output from the plurality of first cameras; and a second recognition processing IC unit that performs the recognition processing based on the output of the plurality of second cameras, and
during the first operation, the control unit outputs the control signal based on both of a result of the recognition processing by the first recognition processing IC unit and a result of the recognition processing by the second recognition processing IC unit,
during the second operation, the control unit outputs the control signal based on the result of the recognition processing by the first recognition processing IC unit, and
during the third operation, the control unit outputs the control signal based on the result of the recognition processing by the second recognition processing IC unit.

### Claim 7 (depends on 2)

The vehicle control system of claim 2, wherein
the control unit includes: a first recognition processing IC unit that performs recognition processing for recognizing an external environment of the vehicle based on an output from the plurality of first cameras; and a second recognition processing IC unit that performs the recognition processing based on the output of the plurality of second cameras, and
during the first operation, the control unit outputs the control signal based on both of a result of the recognition processing by the first recognition processing IC unit and a result of the recognition processing by the second recognition processing IC unit,
during the second operation, the control unit outputs the control signal based on the result of the recognition processing by the first recognition processing IC unit, and
during the third operation, the control unit outputs the control signal based on the result of the recognition processing by the second recognition processing IC unit.

### Claim 8 (depends on 5)

The vehicle control system of claims 5, wherein
the control unit includes: a first recognition processing IC unit that performs recognition processing for recognizing an external environment of the vehicle based on an output from the plurality of first cameras; and a second recognition processing IC unit that performs the recognition processing based on the output of the plurality of second cameras, and
during the first operation, the control unit outputs the control signal based on both of a result of the recognition processing by the first recognition processing IC unit and a result of the recognition processing by the second recognition processing IC unit,
during the second operation, the control unit outputs the control signal based on the result of the recognition processing by the first recognition processing IC unit, and
during the third operation, the control unit outputs the control signal based on the result of the recognition processing by the second recognition processing IC unit.