VEHICLE CONTROL SYSTEM Russian patent published in 2021 - IPC G08G1/16 

FIELD: vehicle control system.

SUBSTANCE: vehicle control system contains one or several target trajectory generation devices and a vehicle motion control device. The vehicle motion control device is configured to receive target trajectories output from one or several target trajectory generation devices, and to implement vehicle motion control for controlling vehicle motion based on the obtained target trajectories. The first target trajectory is the target trajectory for at least one of the following controls: steering, acceleration, and deceleration of the vehicle. The second target trajectory is the target trajectory for decelerating and stopping the vehicle. There may be a faulty device among one or several target trajectory generation devices. The vehicle motion control device is configured to control the motion of the vehicle based on the first target trajectory output from one or several target trajectory generation devices when the faulty device is not present, and to stop the vehicle by controlling the vehicle motion based on the second target trajectory output by one or several target trajectory generation devices before the fault occurred, or based on the second target trajectory output by a target trajectory generation device other than the faulty device, among the target trajectory generation devices, when the faulty device exists.

EFFECT: improved vehicle control safety is achieved.

17 cl, 26 dwg