A control device is installable in a mobile body movable based on a power outputted from each of a plurality of motor sections. The control device includes: a plurality of motor controllers configured to separately control the plurality of respective motor sections; and a plurality of monitoring sections configured to separately monitor presence or absence of an abnormality in the plurality of respective motor controllers. In response to either one of the plurality of monitoring sections detecting the abnormality in the motor controller, abnormal one of the motor controllers is caused to stop controlling the motor section while the normal one of the motor controllers where no abnormality is detected is caused to continue to control the motor section.

Devices, systems, and methods for a vehicular safety system in autonomous vehicles are described. An example method for safely controlling a vehicle includes selecting, based on a first control command from a first vehicle control unit, an operating mode of the vehicle, and transmitting, based on the selecting, the operating mode to an autonomous driving system, wherein the first control command is generated based on input from a first plurality of sensors, and wherein the operating mode corresponds to one of (a) a default operating mode, (b) a minimal risk condition mode of a first type that configures the vehicle to pull over to a nearest pre-designated safety location, (c) a minimal risk condition mode of a second type that configures the vehicle to immediately stop in a current lane, or (d) a minimal risk condition mode of a third type that configures the vehicle to come to a gentle stop.

Devices, systems, and methods for a vehicular safety system in autonomous vehicles are described. An example of controlling operation of an autonomous vehicle includes monitoring, by a processor of a vehicle controller system, an operation of an autonomous vehicle controller onboard the autonomous vehicle, determining, during the monitoring, that a fault condition has occurred in the operation of the autonomous vehicle controller, and taking control of navigation of the autonomous vehicle based on the determining that the fault condition has occurred, wherein the taking control of navigation includes navigating the autonomous vehicle using a dedicated set of sensors for the navigation, and wherein the dedicated set of sensors is different from a main set of sensors used by the autonomous vehicle controller.

Devices, systems, and methods for a vehicular safety system in autonomous vehicles are described. An example of controlling operation of an autonomous vehicle includes monitoring, by a processor of a vehicle controller system, an operation of an autonomous vehicle controller onboard the autonomous vehicle, determining, during the monitoring, that a fault condition has occurred in the operation of the autonomous vehicle controller, and taking control of navigation of the autonomous vehicle based on the determining that the fault condition has occurred, wherein the taking control of navigation includes navigating the autonomous vehicle using a dedicated set of sensors for the navigation, and wherein the dedicated set of sensors is different from a main set of sensors used by the autonomous vehicle controller.

A vehicle travel control system installed on a vehicle includes: a recognition sensor configured to recognize a situation around the vehicle; a sensor cleaning device configured to clean the recognition sensor; and a control device configured to execute vehicle travel control based on result of recognition by the recognition sensor, and to actuate the sensor cleaning device to execute sensor cleaning processing that cleans the recognition sensor. The control device permits execution of the sensor cleaning processing in a situation where decrease in recognition performance has a small influence on the vehicle travel control. For example, when a surrounding vehicle recognized by a first recognition sensor is also recognized by a second recognition sensor, the control device permits execution of the sensor cleaning processing that cleans the first recognition sensor.

A vehicle travel control system installed on a vehicle includes: a recognition sensor configured to recognize a situation around the vehicle; a sensor cleaning device configured to clean the recognition sensor; and a control device configured to execute vehicle travel control based on result of recognition by the recognition sensor, and to actuate the sensor cleaning device to execute sensor cleaning processing that cleans the recognition sensor. The control device permits execution of the sensor cleaning processing in a situation where decrease in recognition performance has a small influence on the vehicle travel control. For example, when a surrounding vehicle recognized by a first recognition sensor is also recognized by a second recognition sensor, the control device permits execution of the sensor cleaning processing that cleans the first recognition sensor.

The present disclosure provides a system of a redundancy structure for an autonomous driving system. The system may comprise an acquisition sub-system, a power supply sub-system and a processing sub-system connecting the acquisition sub-system. The acquisition sub-system may include at least one primary acquisition device and at least one backup acquisition device. The power supply sub-system may include a primary power supply device configured to power the at least one primary acquisition device and a first portion of the at least one backup acquisition device, and a backup power supply device configured to power the at least one primary acquisition device and a second portion of the at least one backup acquisition device. The processing sub-system may include a primary processing device, and a backup processing device that serves as a backup device of at least a part of the primary processing device.

The present disclosure provides a system of a redundancy structure for an autonomous driving system. The system may comprise an acquisition sub-system, a power supply sub-system and a processing sub-system connecting the acquisition sub-system. The acquisition sub-system may include at least one primary acquisition device and at least one backup acquisition device. The power supply sub-system may include a primary power supply device configured to power the at least one primary acquisition device and a first portion of the at least one backup acquisition device, and a backup power supply device configured to power the at least one primary acquisition device and a second portion of the at least one backup acquisition device. The processing sub-system may include a primary processing device, and a backup processing device that serves as a backup device of at least a part of the primary processing device.

Provided herein is technology relating to automated driving and particularly, but not exclusively, to a Vehicle Intelligent Unit (VIU) configured to provide vehicle operations and control for Connected Automated Vehicles (CAV) and, more particularly, to a VIU configured to connect with a Collaborative Automated Driving System (CADS) and manage and/or control information exchange between CAV and CADS and manage and/or control CAV lateral and longitudinal movements, including vehicle following, lane changing, and route guidance.

A method for controlling a first vehicle, travelling on a road, that has a second vehicle travelling ahead of it, includes the steps of: scanning the second vehicle from the first vehicle by use of multiple sensors; providing individual determinations, each on the basis of scans by only one of the sensors, concerning whether the first and the second vehicle are travelling in the same lane of the road, wherein each sensor has an associated determination certainty; and providing a collision warning if a product of the determination certainties is below a predetermined threshold value.