Autonomous vehicle
An autonomous vehicle that can perform limp home control for causing a vehicle to autonomously take refuge includes an ECU configured to perform the limp home control, limp-home usable sensors configured to detect an external environment of the autonomous vehicle, the limp-home usable sensors being used for the limp home control and being connected to the ECU, limp-home unusable sensors configured to detect the external environment of the autonomous vehicle, the limp-home unusable sensors being sensors not used for the limp home control, and a limp home battery connected to the ECU and the limp-home usable sensors but not connected to the limp-home unusable sensors.
1. An autonomous vehicle that can perform limp home control for causing a vehicle to autonomously take refuge, the autonomous vehicle comprising:
an ECU configured to perform the limp home control;
limp-home usable sensors configured to detect an external environment of the autonomous vehicle, the limp-home usable sensors being sensors used for the limp home control and being connected to the ECU;
limp-home unusable sensors configured to detect the external environment of the autonomous vehicle, the limp-home unusable sensors being sensors not used for the limp home control; and
a limp home battery connected to the ECU and the limp-home usable sensors but not connected to the limp-home unusable sensors, wherein:
the limp-home usable sensors include a front radar configured to detect the external environment in front of the autonomous vehicle; and
the limp-home unusable sensors include a rear radar configured to detect the external environment behind the autonomous vehicle.
2. The autonomous vehicle according to claim 1 , wherein:
the limp-home usable sensors further include a front camera configured to detect the external environment in front of the autonomous vehicle; and
the limp-home unusable sensors further include a rear camera configured to detect the external environment behind the autonomous vehicle.
3. The autonomous vehicle according to claim 1 , wherein
the limp-home unusable sensors further include sonar sensors.
4. The autonomous vehicle according to claim 1 , wherein
the limp home battery is connected to a vehicle external notification unit configured to notify an outside of the autonomous vehicle of a state of the autonomous vehicle.
5. The autonomous vehicle according to claim 1 , further comprising:
a main battery connected to and configured to power the limp-home usable sensors, the limp-home unusable sensors, and the ECU, wherein
in response to a failure of the main battery,
the limp home battery is configured to power the ECU and the limp-home usable sensors, and not power the limp-home unusable sensors, and
the ECU, powered by the limp home battery, is configured to perform the limp home control.