Patent ID: 11912299
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 3:
4. The vehicle system according to claim 1, further comprising:
a surrounding information obtaining device configured to obtain information indicating surroundings of the vehicle; and
an automated driving controller configured to obtain a steering request with respect to the steerable wheels based on the information indicating the surroundings of the vehicle obtained by the surrounding information obtaining device,
wherein the steering controller and the automated driving controller are communicably connected to each other, and the longitudinal-force controller and the automated driving controller are communicably connected to each other,
wherein, when the main power source is not in the abnormal state, the steering controller controls the one or more steering actuators based on the steering request obtained by the automated driving controller, and
wherein, when the main power source is in the abnormal state, the longitudinal-force controller controls the longitudinal-force application actuators based on the steering request obtained by the automated driving controller.