Patent ID: 11858523
Assignee: MAZDA MOTOR CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 18:
19. A non-transitory computer readable medium having instructions stored therein that once executed by a processor cause the processor to execute a vehicle travel control method, the method comprising:
controlling, with a device controller separate from computation circuitry, actuation of a traveling device mounted on a vehicle, based on a computation result provided by the computation circuitry, wherein
the computation circuitry performing
identifying a vehicle outdoor environment based on an output from image circuitry;
generating one or more candidate routes on which the vehicle is capable of traveling, in accordance with the vehicle outdoor environment previously identified,
determining a route on which the vehicle is to travel from the one or more candidate routes generated,
determining a future target motion of the vehicle to follow the route previously determined,
calculating a target physical quantity to be executed by the traveling device to achieve the target motion previously determined,
detecting an abnormality that occurs in the vehicle during traveling, and
calculating a controlled variable of the traveling device such that the target physical quantity calculated is achieved, and controlling a motion of the vehicle by applying a control signal that contains the controlled variable to the traveling device, and
calculating, under a condition the abnormality is detected, a controlled variable of the traveling device in order to eliminate or reduce the abnormality, and outputting a control signal to the traveling device so as to control an operation of the traveling device, without using the computation circuitry.