Vehicle control device and vehicle control method

A vehicle control device comprising:

• a processor;
• a computer-readable storage medium;
• a fusion unit;
• a map linking unit;
• a first sensor;
• and
• a second sensor,
• wherein the vehicle control device is configured to:
• acquire recognition results for each sensor;
• determine whether any sensor is abnormal;
• set a risk level to a low level and maintain a normal control, upon determining:
• (i) there is NO abnormal sensor,
• (ii) the fusion unit is normal, and
• (iii) the map linking unit is normal;
• set the risk level to an intermediate level and request a safety action, upon determining:
• (i) there is NO abnormal sensor,
• (ii) the fusion unit is normal, and
• (iii) the map linking unit is NOT normal;
• set the risk level to the intermediate level and request the safety action, upon determining:
• (i) there is at least one abnormal sensor, and
• (ii) the at least one abnormal sensor is NOT heavily used;
• set the risk level to a high level and request an emergency action, upon determining:
• (i) there is at least one abnormal sensor, and
• (ii) the at least one abnormal sensor is heavily used;
• set the risk level to the high level and request the emergency action, upon determining:
• (i) there is NO abnormal sensor, and
• (ii) the fusion unit is NOT normal.