Patent Publication Number: US-2021174610-A1

Title: Vehicle control system

Description:
TECHNICAL FIELD 
     The present invention relates to a vehicle control system. 
     BACKGROUND ART 
     Conventionally, a vehicle control system is configured to record vehicle data when an event occurs with regard to a vehicle (for example, Japanese Patent No. 5106756). 
     In such a vehicle control system, a control device may record the vehicle data. In such a case, if a power supply device that supplies electric power to the control device fails, the control device may not be able to record the vehicle data, and thus the vehicle data may not be extracted. 
     SUMMARY OF THE INVENTION 
     In view of such a problem of the prior art, a primary object of the present invention is to provide a vehicle control system that can extract vehicle data even if one of the power supply devices fails. 
     To achieve such an object, one embodiment of the present invention provides a vehicle control system ( 1 ) including: a vehicle sensor ( 8 ) configured to detect a vehicle state; a first control device ( 14 ) connected to the vehicle sensor and provided with a first recording area ( 52 ); a first power supply device ( 19 ) configured to supply electric power to the first control device; a second control device ( 15 ) connected to the first control device and provided with a second recording area ( 62 ); and a second power supply device ( 20 ) configured to supply electric power to the second control device, wherein the first control device is configured to record vehicle data including the vehicle state in the first recording area at a prescribed timing and to transmit the vehicle data to the second control device on a prescribed cycle, and the second control device is configured to record the vehicle data received from the first control device in the second recording area at a prescribed timing. 
     According to this arrangement, even if the first power supply device fails, the second control device can record the vehicle data in the second recording area as long as the second power supply device does not fail. Accordingly, the vehicle data can be extracted from the second recording area by using an external device or the like. Further, even if the second power supply device fails, the first control device can record the vehicle data in the first recording area as long as the first power supply device does not fail. Accordingly, the vehicle data can be extracted from the first recording area by using the external device or the like. In this way, even if one of the first power supply device and the second power supply device fails, the vehicle data can be extracted. 
     In the above arrangement, preferably, the vehicle control system further includes an event detecting unit ( 10 ) configured to detect a prescribed event that has occurred with regard to a vehicle ( 2 ), wherein the first control device is configured to record the vehicle data in the first recording area upon receiving event information about the event from the event detecting unit, and the second control device is configured to record the vehicle data in the second recording area upon receiving the event information from the first control device. 
     According to this arrangement, the vehicle data at occurrence of the event can be recorded in the first recording area and the second recording area. Accordingly, it is possible to easily identify the cause of the event. 
     In the above arrangement, preferably, the first recording area is provided with plural nonvolatile memories ( 53 ), and in a case where the first control device successively receives the event information at a time interval less than a prescribed reference interval, the first control device separately records the vehicle data in the nonvolatile memories each time receiving the event information. 
     According to this arrangement, even if plural events occur successively, the vehicle data at occurrence of each event can be recorded in the first recording area. 
     In the above arrangement, preferably, the first control device is configured to execute automatic driving control of the vehicle, to record driving switch information in the first recording area each time driving control of the vehicle is switched between the automatic driving control and manual driving control, and to transmit the driving switch information to the second control device on a prescribed cycle, the driving switch information being information about a switch between the automatic driving control and the manual driving control, and the second control device is configured to determine whether the driving switch information is updated upon receiving the driving switch information from the first control device, and to record the driving switch information in the second recording area upon determining that the driving switch information is updated. 
     According to this arrangement, the driving switch information can be recorded in the first recording area and the second recording area. Accordingly, it is possible to easily identify a driving body (an occupant or a vehicle control system) at occurrence of the event. 
     In the above arrangement, preferably, the first control device is configured to transmit the vehicle data to the second control device on the prescribed cycle, and the second control device is configured to record the vehicle data in the second recording area upon ceasing to receive the vehicle data from the first control device on the prescribed cycle. 
     According to this arrangement, in a case where the first power supply device fails and thus the first control device can no longer transmit the vehicle data to the second control device, the second control device can quickly record the vehicle data in the second recording area. 
     In the above arrangement, preferably, the vehicle control system further includes: a first object sensor ( 43 ) and a second object sensor ( 44 ) configured to detect a position of an object outside a vehicle; and a third control device ( 16 ) connected to the first control device, wherein the first power supply device is configured to supply electric power to the third control device, the second control device is configured to receive a detection signal from the first object sensor, and the third control device is configured to receive a detection signal from the second object sensor. 
     According to this arrangement, even if the second power supply device fails and thus the second control device can no longer receive the detection signal from the first object sensor, the third control device can receive the detection signal from the second object sensor as long as the first power supply device does not fail. Similarly, even if the first power supply device fails and thus the third control device can no longer receive the detection signal from the second object sensor, the second control device can receive the detection signal from the first object sensor as long as the second power supply device does not fail. In this way, even if one of the first power supply device and the second power supply device fails, the detection signal from one of the first object sensor and the second object sensor can be received, and thus the position of the object outside the vehicle can be identified. 
     In the above arrangement, preferably, the vehicle control system further includes: a first harness ( 71 ) configured to connect the first control device and the first power supply device; and a second harness ( 72 ) configured to connect the second control device and the second power supply device, wherein the first control device is electrically grounded at a first ground point ( 73 ), and the second control device is electrically grounded at a second ground point ( 75 ), the first harness and the second harness are not bound together, and the first ground point and the second ground point are separated from each other. 
     According to this arrangement, it is possible to prevent the first harness and the second harness from simultaneously falling into a poor connection state, and to prevent the first ground point and the second ground point from simultaneously falling into malfunction. Accordingly, in a case where one of the first control device and the second control device cannot record the vehicle data, it is highly probable that the other of the first control device and the second control device can record the vehicle data. 
     In the above arrangement, preferably, the first control device and the second control device are separated from each other, and the first power supply device and the second power supply device are separated from each other. 
     According to this arrangement, it is possible to prevent the first control device and the second control device from becoming unusable simultaneously, and to prevent the first power supply device and the second power supply device from failing simultaneously. Accordingly, in a case where one of the first control device and the second control device cannot record the vehicle data, it is highly probable that the other of the first control device and the second control device can record the vehicle data. 
     In the above arrangement, preferably, the second control device is configured to perform mirroring of the first recording area and the second recording area when recording the vehicle data in the second recording area. 
     According to this arrangement, the vehicle data recorded in the second recording area can be the same as the vehicle data recorded in the first recording area. 
     Thus, according to the above arrangements, it is possible to provide a vehicle control system that can extract vehicle data even if one of the power supply devices fails. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWING(S) 
         FIG. 1  is a block diagram of a vehicle control system according to an embodiment; 
         FIG. 2  is a block diagram of a main part of the vehicle control system; and 
         FIG. 3  is a schematic plan view of a vehicle on which the vehicle control system is mounted. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT(S) 
     &lt;The Vehicle Control System  1 &gt; 
     In the following, a vehicle control system  1  according to an embodiment of the present invention will be described with reference to the drawings. The vehicle control system  1  is mounted on a vehicle  2  such as a four-wheeled automobile, and is configured to control the vehicle  2 . 
     With reference to  FIG. 1 , the vehicle control system  1  includes a powertrain  4 , a brake device  5 , a steering device  6 , a driving operation element  7 , a vehicle sensor  8 , a navigation device  9 , a shock absorbing device  10  (an example of an event detecting unit), an external environment recognizing device  12 , a Human Machine Interface  13  (HMI), first to fourth control devices  14  to  17 , first and second power supply devices  19  and  20 , and a recording device  21 . In the following, the above-mentioned components of the vehicle control system  1  will be described one by one. 
     The powertrain  4  is a device configured to apply a driving force to the vehicle  2 . For example, the powertrain  4  includes a power source  23  and a transmission  24 . The power source  23  includes at least one of an internal combustion engine such as a gasoline engine or a diesel engine and an electric motor. 
     The brake device  5  is a device configured to apply a brake force to the vehicle  2 . For example, the brake device  5  includes a brake caliper configured to press a pad against a brake rotor, and an electric cylinder configured to supply an oil pressure to the brake caliper. 
     The steering device  6  is a device configured to change a steering angle of wheels. For example, the steering device  6  includes a rack-and-pinion mechanism configured to steer (turn) the wheels, and an electric motor configured to drive the rack-and-pinion mechanism. 
     The driving operation element  7  is an operation element provided inside a vehicle cabin and configured to receive a driving operation of the vehicle  2  by an occupant. For example, the driving operation element  7  includes a steering wheel  26  configured to receive a steering operation of the vehicle  2 , an accelerator pedal  27  configured to receive an acceleration operation of the vehicle  2 , a brake pedal  28  configured to receive a brake operation of the vehicle  2 , a shift lever  29  configured to receive an operation for switching a shift range of the vehicle  2 . For example, the shift range of the vehicle  2  includes a forward range, a reverse range, a neutral range, a parking range, and the like. The forward range is a shift range to transmit a driving force of the power source  23  to the wheels and thus to move the vehicle  2  forward. The reverse range is a shift range to transmit the driving force of the power source  23  to the wheels and thus to reverse the vehicle  2 . The neutral range is a shift range in which the wheels are rotatable and the driving force of the power source  23  is not transmitted to the wheels. The parking range is a shift range in which the rotation of the wheels is restricted and the driving force of the power source  23  is not transmitted to the wheels. 
     The vehicle sensor  8  is a sensor configured to detect various vehicle states (namely, various states of the vehicle  2 ). For example, the vehicle sensor  8  includes a vehicle speed sensor  31  configured to detect the vehicle speed of the vehicle  2 , an acceleration sensor  32  configured to detect the acceleration of the vehicle  2 , and a grip sensor  33  configured to detect that the occupant grips the steering wheel  26 . 
     The navigation device  9  is a device configured to acquire the current position of the vehicle  2  and to provide route guidance to a destination or the like. The navigation device  9  includes a GPS receiving unit and a map storing unit. The GPS receiving unit is configured to identify the current position (latitude and longitude) of the vehicle  2  based on a signal received from an artificial satellite (positioning satellite). The map storing unit includes a flash memory, a hard disk, and the like, and is configured to store map information. 
     The shock absorbing device  10  is a device configured to absorb a shock caused by a collision (hereinafter referred to as “vehicle collision”) between the vehicle  2  and an object outside the vehicle  2  (for example, another vehicle, an obstacle, or a pedestrian). For example, the shock absorbing device  10  includes an airbag  36  and a hood  37  (a pop-up hood). For example, the airbag  36  is provided in the steering wheel  26  and/or a passenger seat. The airbag  36  is deployed at occurrence of the vehicle collision, thereby reducing an impact on the occupant. For example, the hood  37  is configured to cover the power source  23  from above. The hood  37  is partially lifted at the occurrence of the vehicle collision, thereby forming a space between the hood  37  and the power source  23  and reducing an impact on the pedestrian. 
     The external environment recognizing device  12  is a device configured to detect the object outside the vehicle  2 . For example, the external environment recognizing device  12  includes plural radars  43  (an example of a first object sensor), plural lidars  44  (an example of a second object sensor), and an image capturing device  45  (an example of a vehicle information acquiring unit). Each radar  43  emits radio waves such as millimeter waves around the vehicle  2  and captures the reflected radio waves, thereby detecting a position of the object outside the vehicle  2  (the distance between the vehicle  2  and the object outside the vehicle  2  and the direction of the object outside the vehicle  2 ). Each lidar  44  emits light such as infrared rays around the vehicle  2  and captures the reflected light, thereby detecting the position of the object outside the vehicle  2 . The image capturing device  45  is a device configured to capture a surrounding image of the vehicle  2  (an example of vehicle information; hereinafter simply referred to as “the surrounding image”). The surrounding image captured by the image capturing device  45  is a moving image. In another embodiment, the surrounding image captured by the image capturing device  45  may be a static image. The image capturing device  45  includes four cameras  46  configured to capture images of a front side, a rear side, a left side, and a right side of the vehicle  2 , respectively. Accordingly, it is possible to accurately recognize a surrounding situation of the vehicle  2  based on the surrounding image captured by the image capturing device  45 . 
     The HMI  13  is an input/output device configured to notify the occupant of various pieces of information and to receive an input operation by the occupant. For example, the HMI  13  includes a display device  48  and a display switch  49 . The display device  48  includes a display screen such as a liquid crystal display or an organic EL display, and is configured to display the surrounding image. The display switch  49  is configured to receive a display operation of the surrounding image (namely, an operation to display the surrounding image) performed by the occupant. 
     Each of the first to fourth control devices  14  to  17  consists of an electronic control unit (ECU) including a CPU, a ROM, a RAM, and the like, and operates as the CPU executes arithmetic processing according to a program. 
     The first control device  14  is connected to the powertrain  4 , the brake device  5 , the steering device  6 , the driving operation element  7 , the vehicle sensor  8 , the navigation device  9 , the shock absorbing device  10 , the HMI  13 , and the like via a communication network such as a Controller Area Network (CAN). 
     The first control device  14  is configured to execute automatic driving control of the vehicle  2 . When executing the automatic driving control, the first control device  14  controls at least one of the powertrain  4 , the brake device  5 , and the steering device  6  regardless of an operation on the driving operation element  7  by the occupant. For example, the automatic driving control executed by the first control device  14  includes Minimal Risk Maneuver (MRM), Side Collision Mitigation (SCM), Road Departure Mitigation (RDM), and Auto Lane Change (ALC). MRM is the control to move the vehicle  2  to a safe place and to cause an emergency stop of the vehicle  2  while degenerating the automatic driving control in a case where the occupant does not respond to the driving change request from the first control device  14 . SCM is the control to move the vehicle  2  in a direction to avoid or mitigate the vehicle collision in a case where the object outside the vehicle  2  is detected approaching the side of the vehicle  2 . RDM is the control to move the vehicle  2  in a direction to avoid or mitigate departure (deviation) of the vehicle  2  from a travel lane in a case where the departure of the vehicle  2  from the travel lane is detected or estimated. ALC is the control to automatically change lanes. 
     The first control device  14  is configured to execute manual driving control of the vehicle  2 . When executing the manual driving control, the first control device  14  controls the powertrain  4 , the brake device  5 , and the steering device  6  according to the operation on the driving operation element  7  by the occupant. For example, when executing the manual driving control, the first control device  14  controls the powertrain  4  according to a signal from an accelerator pedal sensor configured to detect a pressing amount of the accelerator pedal  27 , controls the brake device  5  according to a signal from a brake pedal sensor configured to detect a pressing amount of the brake pedal  28 , and controls the steering device  6  according to a signal from a turning angle sensor configured to detect a turning angle of the steering wheel  26 . In another embodiment, a control device configured to execute the manual driving control of the vehicle  2  may be separate from a control device configured to execute the automatic driving control of the vehicle  2 . 
     The second control device  15  is connected to the radars  43  via the communication network. The second control device  15  receives detection signals from the radars  43  and thus integrates the received detection signals, thereby recognizing the position of the object outside the vehicle  2 . The second control device  15  is connected to the first control device  14  via the communication network. 
     The third control device  16  is connected to the lidars  44  via the communication network. The third control device  16  receives detection signals from the lidars  44  and thus integrates the received detection signals, thereby recognizing the position of the object outside the vehicle  2 . The third control device  16  is connected to the first control device  14  via the communication network. 
     The fourth control device  17  is connected to the powertrain  4 , the brake device  5 , the steering device  6 , the driving operation element  7 , the vehicle sensor  8 , the navigation device  9 , the shock absorbing device  10 , the HMI  13 , the first control device  14 , and the like via the communication network. The fourth control device  17  is connected to the image capturing device  45  via a digital communication line. The fourth control device  17  is configured to receive the surrounding image from the image capturing device  45  and to integrate the received surrounding image. The fourth control device  17  is connected to the display device  48  via a digital communication line, and is configured to transmit the integrated surrounding image to the display device  48 . 
     The fourth control device  17  is configured to execute automatic parking control of the vehicle  2 . When executing the automatic parking control, the fourth control device  17  controls the powertrain  4 , the brake device  5 , and the steering device  6  regardless of the operation on the driving operation element  7  by the occupant, thereby automatically moving the vehicle  2  to a prescribed target parking position and to stop the vehicle  2  there. 
     Each of the first and second power supply devices  19  and  20  includes a power supply circuit and a battery. The first power supply device  19  is connected to the first control device  14 , the third control device  16 , and the fourth control device  17 , and is configured to supply electric power to the first control device  14 , the third control device  16 , and the fourth control device  17 . The second power supply device  20  is connected to the second control device  15 , and is configured to supply electric power to the second control device  15 . 
     The recording device  21  consists of an electronic control unit (ECU) including a CPU, a ROM, a RAM, and the like, and operates as the CPU executes arithmetic processing according to a program. The recording device  21  is connected to the fourth control device  17  via an analog communication line, and is configured to receive the surrounding image from the fourth control device  17 . The recording device  21  is connected to the first control device  14  via the communication network and the fourth control device  17 , and is configured to receive a recording request signal from the first control device  14 . The recording device  21  is configured to record the surrounding image received from the fourth control device  17  in files for each time range in which the surrounding image is captured and to store the surrounding image in an inside area of the recording device  21  according to the recording request signal from the first control device  14 . For example, while receiving the recording request signal from the first control device  14 , the recording device  21  continuously (constantly) records the surrounding image received from the fourth control device  17  in the files and stores the surrounding image in the inside area of the recording device  21 . 
     &lt;The Control at the Failure of the First and Second Power Supply Devices  19  and  20 &gt; 
     With reference to  FIG. 1 , in a case where the first power supply device  19  fails, the first power supply device  19  can no longer supply electric power to the third control device  16 . Accordingly, the third control device  16  may not be able to receive the detection signals from the lidars  44 . However, even in such a case, electric power can be supplied from the second power supply device  20  to the second control device  15  as long as the second power supply device  20  does not fail. Accordingly, the second control device  15  can receive the detection signals from the radars  43  and identify the position of the object outside the vehicle  2  by integrating the received detection signals. 
     In a case where the second power supply device  20  fails, the second power supply device  20  can no longer supply electric power to the second control device  15 . Accordingly, the second control device  15  may not be able to receive the detection signals from the radars  43 . However, even in such a case, electric power can be supplied from the first power supply device  19  to the third control device  16  as long as the first power supply device  19  does not fail. Accordingly, the third control device  16  can receive the detection signals from the lidars  44  and identify the position of the object outside the vehicle  2  by integrating the received detection signals. 
     In this way, in the present embodiment, even if one of the first power supply device  19  and the second power supply device  20  fails, the detection signals from the radars  43  or the lidars  44  can be received, and thus the position of the object outside the vehicle  2  can be identified. Accordingly, in a case where one of the first power supply device  19  and the second power supply device  20  fails while the first control device  14  is executing the automatic driving control of the vehicle  2 , the automatic driving control can be degenerated smoothly. 
     &lt;The Configurations of the First and Second Control Devices  14  and  15 &gt; 
     With reference to  FIG. 2 , the first control device  14  is provided with a first holding area  51  and a first recording area  52 . The first holding area  51  consists of a volatile memory. The first recording area  52  is provided with plural first nonvolatile memories  53 . 
     The second control device  15  is provided with a second holding area  61  and a second recording area  62 . The second holding area  61  consists of a volatile memory. The second recording area  62  is provided with plural second nonvolatile memories  63 . 
     &lt;The Recording of the Vehicle Data by the First and Second Control Devices  14  and  15 &gt; 
     With reference to  FIG. 2 , in a state where an ignition of the vehicle  2  is ON, the vehicle data on a prescribed sampling cycle X for a prescribed reference period Y (for example, on a 100 msec cycle for 24 seconds) is held in the first holding area  51  by using a ring buffer. For example, the above-mentioned vehicle data includes the data of the vehicle states detected by the vehicle sensor  8  and internal variables of the vehicle control system  1 . Each time acquiring the latest vehicle data on the sampling cycle X, the first control device  14  transmits the acquired latest vehicle data to the second control device  15 . Also, each time acquiring the latest vehicle data on the sampling cycle X, the first control device  14  overwrites a part (namely, the oldest sampling data for one time) of the vehicle data in the first holding area  51  with the acquired latest vehicle data. Accordingly, the first holding area  51  always holds the latest vehicle data for the reference period Y. 
     In a state where the ignition of the vehicle  2  is ON, the vehicle data on the sampling cycle X for the reference period Y is held in the second holding area  61  by using a ring buffer. Each time receiving the latest vehicle data from the first control device  14  on the sampling cycle X, the second control device  15  overwrites a part (namely, the oldest sampling data for one time) of the vehicle data in the second holding area  61  with the received latest vehicle data. Accordingly, the second holding area  61  always holds the latest vehicle data for the reference period Y. 
     When a prescribed event occurs with regard to the vehicle  2 , the first control device  14  receives information about this event (hereinafter referred to as “event information”). For example, when the airbag  36  is deployed, the shock absorbing device  10  detects the deployment of the airbag  36  and transmits the event information to the first control device  14 . Accordingly, the first control device  14  receives the event information from the shock absorbing device  10 . 
     The first control device  14  transmits the event information to the second control device  15  upon receiving the event information from the shock absorbing device  10 . Further, the first control device  14  transfers the latest vehicle data for the reference period Y held in the first holding area  51  to the first recording area  52  upon receiving the event information from the shock absorbing device  10 , and thus records the latest vehicle data in one of the first nonvolatile memories  53 . Accordingly, the vehicle data at occurrence of the event can be recorded in the first recording area  52 , and thus the cause of the event can be easily identified. 
     In a case where plural events occur successively and thus the first control device  14  successively receives the event information at a time interval less than a prescribed reference interval Z, the first control device  14  separately records the vehicle data in the first nonvolatile memories  53  each time receiving the event information. Thus, even if plural events occur successively, the vehicle data at occurrence of each event can be recorded in the first recording area  52 . 
     The second control device  15  transfers the latest vehicle data for the reference period Y held in the second holding area  61  to the second recording area  62  upon receiving the event information from the first control device  14 , and thus records the latest vehicle data in one of the second nonvolatile memories  63 . Accordingly, the vehicle data at occurrence of the event can be recorded in the second recording area  62 , and thus the cause of the event can be easily identified. 
     When recording the latest vehicle data in one of the second nonvolatile memories  63  in this way, the second control device  15  performs mirroring of the first recording area  52  and the second recording area  62 . Thus, the vehicle data recorded in the second recording area  62  can be the same as the vehicle data recorded in the first recording area  52 . In another embodiment, when recording the latest vehicle data in one of the second nonvolatile memories  63  as described above, the second control device  15  may record only a part of the vehicle data recorded in the first recording area  52  in the second recording area  62 . 
     In a case where plural events occur successively and thus the second control device  15  successively receives the event information at a time interval less than the reference interval Z, the second control device  15  separately records the vehicle data in the second nonvolatile memories  63  each time receiving the event information. Thus, even if plural events occur successively, the vehicle data at occurrence of each event can be recorded in the second recording area  62 . 
     Upon ceasing to receive the vehicle data from the first control device  14  on the sampling cycle X, the second control device  15  transfers the latest vehicle data for the reference period Y held in the second holding area  61  to the second recording area  62 , and thus records the latest vehicle data in one of the second nonvolatile memories  63 . Accordingly, in a case where the first power supply device  19  fails and thus the first control device  14  can no longer transmit the vehicle data to the second control device  15 , the second control device  15  can quickly record the vehicle data in the second recording area  62 . 
     As described above, in the present embodiment, the first control device  14  connected to the first power supply device  19  records the vehicle data in the first recording area  52 , and the second control device  15  connected to the second power supply device  20  records the vehicle data in the second recording area  62 . Thus, even if the first power supply device  19  fails, the second control device  15  can record the vehicle data in the second recording area  62  as long as the second power supply device  20  does not fail. Accordingly, the vehicle data can be extracted from the second recording area  62  by using an external device or the like. Further, even if the second power supply device  20  fails, the first control device  14  can record the vehicle data in the first recording area  52  as long as the first power supply device  19  does not fail. Accordingly, the vehicle data can be extracted from the first recording area  52  by using the external device or the like. In this way, even if one of the first power supply device  19  and the second power supply device  20  fails, the vehicle data can be extracted. 
     &lt;The Recording of the Driving Switch Information by the First and Second Control Devices  14  and  15 &gt; 
     Each time driving control of the vehicle  2  is switched between the automatic driving control and the manual driving control, the first control device  14  records driving switch information in the first recording area  52 . The driving switch information is information about a switch between the automatic driving control and the manual driving control. For example, the driving switch information includes information about a switching time when the driving control of the vehicle  2  is switched between the automatic driving control and the manual driving control and information about the position of the vehicle  2  at the switching time. The first control device  14  transmits the driving switch information to the second control device  15  on the sampling cycle X. 
     Each time receiving the driving switch information from the first control device  14  on the sampling cycle X, the second control device  15  determines whether the driving switch information is updated (whether the driving switch information received this time is different from the driving switch information received the last time). In a case where the second control device  15  determines that the driving switch information is updated, the second control device  15  records the driving switch information in the second recording area  62 . On the other hand, in a case where the second control device  15  determines that the driving switch information is not updated, the second control device  15  does not record the driving switch information in the second recording area  62 . 
     In this way, in the present embodiment, the driving switch information is recorded in the first recording area  52  and the second recording area  62 . Accordingly, it is possible to easily identify a driving body (the occupant or the vehicle control system  1 ) at occurrence of the event. 
     &lt;The Arrangement of the Vehicle Control System  1  in the Vehicle  2 &gt; 
     Next, with reference to  FIG. 3 , the arrangement of the vehicle control system  1  in the vehicle  2  will be described. The arrows Fr, Rr, L, and R in  FIG. 3  indicate a front side, a rear side, a left side, and a right side of the vehicle  2 , respectively. 
     The first control device  14  and the second control device  15  are arranged in a rear portion of the vehicle  2 . The first control device  14  and the second control device  15  are separated from each other. The first power supply device  19  is arranged in a front portion of the vehicle  2 , and the second power supply device  20  is arranged in the rear portion of the vehicle  2 . The first power supply device  19  and the second power supply device  20  are separated from each other. 
     According to such arrangements, it is possible to prevent the first control device  14  and the second control device  15  from becoming unusable simultaneously, and to prevent the first power supply device  19  and the second power supply device  20  from failing simultaneously. Accordingly, in a case where one of the first control device  14  and the second control device  15  cannot record the vehicle data, it is highly probable that the other of the first control device  14  and the second control device  15  can record the vehicle data. 
     The first control device  14  and the first power supply device  19  are connected to each other via a first harness  71 , and the second control device  15  and the second power supply device  20  are connected to each other via a second harness  72 . The first harness  71  and the second harness  72  are separated from each other, and not bound together. A first ground point  73  at which the first control device  14  is electrically grounded is provided in the rear portion of the vehicle  2 . The first control device  14  and the first ground point  73  are connected to each other via a first ground wire  74 . A second ground point  75  at which the second control device  15  is electrically grounded is provided at a fore-and-aft center portion of the vehicle  2 . The second control device  15  and the second ground point  75  are connected to each other via a second ground wire  76 . The first ground point  73  and the second ground point  75  are separated from each other. 
     According to such arrangements, it is possible to prevent the first harness  71  and the second harness  72  from simultaneously falling into a poor connection state, and to prevent the first ground point  73  and the second ground point  75  from simultaneously falling into malfunction. Accordingly, in a case where one of the first control device  14  and the second control device  15  cannot record the vehicle data, it is highly probable that the other of the first control device  14  and the second control device  15  can record the vehicle data. 
     Concrete embodiments of the present invention have been described in the foregoing, but the present invention should not be limited by the foregoing embodiments and various modifications and alterations are possible within the scope of the present invention.