Patent ID: 9725088
Date: 2017-08-08
CPC Classifications: B60W,B60Y,G05B,G06F,G06K,G08G,H04L

Claim:
1. A control system that is mounted on a moving object comprising: an observing device that observes surroundings of the moving object and transmits observation result data indicating an observation result; a first control instruction device that determines control contents based on the observation result data, and transmits first control data indicating the determined control contents; a movement control device that controls movement of the moving object; and a relay device that determines whether a second control instruction device is provided to the control system, wherein the second control instruction device determines control contents based on the observation result data and transmits second control data indicating the determined control contents, wherein the relay device relays the first control data transmitted from the first control instruction device to the movement control device when it is determined that the second control instruction device is not provided to the control system, wherein when it is determined that the second control instruction device is provided to the control system, the relay device relays the second control data transmitted from the second control instruction device instead of the first control data to the movement control device, and wherein when it is determined that the second control instruction device is provided to the control system, the relay device transmits the observation result data received from the observing device to both the first control instruction device and the second control instruction device, receives the first control data from the first control instruction device and the second control data from the second control instruction device, respectively, discards the received first control data and transmits the received second control data to the second control instruction device.