VEHICLE CONTROL DEVICE, CONTROL METHOD AND VEHICLE CONTROL SYSTEM

Abstract

A vehicle control device stores multiple control applications that generate control information to implement a predetermined vehicle control, communicates with a remote control system capable of executing a generation process to produce the control information, determines whether the remote control system can execute a generation process for each type of vehicle control, stores a determination result, and, based on this result, determines whether the remote control system can execute the generation process corresponding to the vehicle control when an execution trigger of any vehicle control is detected or an execution cycle is reached. If the remote control system can execute the generation process, it sends an execution request to the remote control system.and executes the control application corresponding to the vehicle control system if the remote control system cannot perform the generation processing.

Description

Inclusion by reference

[0001] The present application claims priority over Japanese patent application No. 2023-156421, filed on September 21, 2023, the contents of which are hereby incorporated by reference. Technical field

[0002] The present invention relates to a vehicle control device that controls a vehicle based on control information sent by a remote control device. background

[0003] Electronic control units, which manage sensors, actuators, and the like to control a vehicle's driving state, are widely used in the automotive sector. With recent developments in technologies such as autonomous driving and motorization of power, the functions required by electronic control units are increasing, and there is a growing need for enhanced functionality using remote control devices outside the vehicle.

[0004] For example, PTL 1 discloses a technique in which a remote instruction request is sent from an autonomously driving vehicle to a remote instruction device and the driving of the autonomously driving vehicle is controlled based on the remote instruction request sent by the remote instruction device. Citation list for patent literature

[0005] PTL 1: JP 2021-33612 A Overview of the invention Technical problem

[0006] In PTL 1, the autonomous vehicle rejects the remote instruction if there is a delay in communication between the remote instruction device and the autonomous vehicle, thereby suppressing the autonomous vehicle's driving control based on an inappropriate remote instruction.

[0007] However, if the remote command is rejected, vehicle control based on the vehicle information, which includes external information, will not be carried out. Therefore, there is a situation where it is difficult to respond to a change in the external environment, such as the condition of the surrounding road.

[0008] One objective of the present invention is to provide a technique for reliably controlling the driving of a vehicle even when remote control is difficult. Solution to the problem

[0009] A representative example of the invention disclosed in the present application is as follows. That is, a vehicle control device comprises a processor and a memory connected to the processor, wherein the memory contains multiple control applications that generate control information for implementing a predetermined vehicle control action, wherein the vehicle control device is communicatively connected to a remote control system capable of performing the generation processing to generate the control information, and the processor obtains vehicle information, including a value relating to a state of a vehicle on which the vehicle control device is mounted, stores the vehicle information in the memory, and transmits the vehicle information to the remote control system.The remote control system determines whether it can perform the generation processing for each type of vehicle control and stores a determination result in memory. Based on this determination result, it determines whether the remote control system can perform the generation processing corresponding to the vehicle control when an execution trigger of any vehicle control is detected or an execution cycle of any vehicle control is reached. It sends an execution request for the generation processing to the remote control system if the remote control system can perform the generation processing corresponding to the vehicle control for which the execution trigger is detected or the execution cycle is reached. It then executes the control application corresponding to the vehicle control if the remote control system can perform the generation processing corresponding to the vehicle control.where the execution trigger is detected or the execution cycle is reached, it cannot be executed. Advantageous effects of the invention

[0010] According to the present invention, the vehicle can be reliably controlled even when remote control is difficult. Problems, configurations, and effects other than those described above are illustrated by the following description of embodiments. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a diagram illustrating an example of a configuration of a vehicle control system according to a first embodiment. [ Fig. 2] Fig. Figure 2 is a diagram illustrating an example of a data structure for vehicle control management information according to the first embodiment. [ Fig. 3] Fig. Figure 3 is a diagram illustrating an example of a data structure for remote control processing time information according to the first embodiment. [ Fig. 4] Fig. Figure 4 is a flowchart illustrating an example of processing performed by an ECU of the first embodiment. [ Fig. 5] Fig. Figure 5 is a flowchart illustrating an example of the processing performed by the ECU of the first embodiment. [ Fig. 6] FIG. is a flowchart illustrating an example of the processing performed by the ECU of the first embodiment. [ Fig. 7] Fig. Figure 7 is a flowchart illustrating an example of remote control processing performed by a remote control device according to the first embodiment. [ Fig. 8] Fig. Figure 8 is a flowchart illustrating an example of remote control detection processing performed by the ECU according to the first embodiment. Description of the embodiments

[0011] The following describes embodiments of the present invention with reference to the drawings. However, the present invention is not to be understood as being limited to the description of the following embodiments. Those skilled in the art will readily understand that the specific configuration can be changed without departing from the idea or core of the present invention.

[0012] In the configurations of the invention described below, identical or similar configurations or functions are designated by the same reference numerals, and redundant descriptions are omitted. First embodiment

[0013] Fig. Figure 1 is a diagram illustrating an example of a configuration of a vehicle control system according to a first embodiment.

[0014] The vehicle control system 1 includes a vehicle 10, a remote control device 20 installed outside the vehicle 10 and a communication path 30.

[0015] The vehicle 10 contains a sensor 13, an ECU 11, an actuator 14 and a telematics control unit (TCU) 12.

[0016] Sensor 13, for example, is a wheel speed sensor, an acceleration sensor, a gyroscope, an accelerator pedal sensor, a brake sensor, a steering angle sensor, a camera, a radar, a LiDAR, or similar, and measures data relating to the vehicle's driving condition and its external environment. The TCU 12 manages the communication between the ECU 11 and the outside world. Actuator 14 controls the vehicle based on control information to implement a predetermined vehicle control sequence.

[0017] The ECU 11 (vehicle control unit) contains a processor 111, which performs arithmetic processing, and a memory 112, which stores calculation results, measurement results, and the like. Memory 112 stores multiple control applications, vehicle control management information 200, and remote control processing time information 300. Note that a control application is a program, and there is one control application for each type of vehicle control. The ECU 11 instructs the processor 111 to load the control application program stored in memory 112 and execute the control application corresponding to the type of vehicle control, thereby generating the control information based on the vehicle information, including the measurement result acquired by sensor 13.The vehicle information includes, for example, vehicle speed, vehicle acceleration, steering angle, current position, an image from the vehicle camera, information about surrounding objects, and the like. The control information includes, for example, vehicle speed, vehicle acceleration, steering angle, and the like, which are setpoint values ​​(control signals for actuator 14) for the vehicle control system.

[0018] The remote control unit 20 contains a processor 21 that performs arithmetic processing, a memory 22 that stores calculation results and various data, and a network interface 23 that manages communication with the outside world. The remote control unit 20 can perform generation processing to generate control information. Note that if the remote control unit 20 has more computing resources than the ECU 11 or can use vehicle information from other vehicles 10, it can perform advanced arithmetic processing and generate control information capable of achieving more precise vehicle control.

[0019] Note that the functions of Remote Control Device 20 can be implemented using a virtual computer generated from cloud computing resources. Furthermore, Remote Control Device 20 can be implemented using a system containing multiple computers.

[0020] Fig. Figure 2 is a diagram illustrating an example of a data structure of the vehicle control management information 200 according to the first embodiment.

[0021] The vehicle control management information 200 stores an entry containing an ID 201, a control type 202, an execution cycle 203, a deadline 204, a remote control time 205, a worst-case execution time 206, and a remote control flag 207. There is one entry for each type of vehicle control.

[0022] ID 201 is a field for storing the ID of an entry. Control type 202 is a field for storing a value that specifies the type of vehicle control.

[0023] The execution cycle 203 is a field for storing the execution cycle of the vehicle control. The deadline 204 is a field for storing a time (deadline) for completing the vehicle control. The remote control time 205 is a field for storing a reception time (remote control time) for a processing result from the remote control unit 20, which performs a control information generation process. The worst-case execution time 206 is a field for storing the maximum value of the calculation time when the ECU 11 executes the control application.

[0024] The remote control flag 207 is a field for storing a flag indicating whether the execution of the generation processing can be requested by the remote control device 20. For example, "0" is stored if the execution of the generation processing cannot be requested by the remote control device 20, and "1" is stored if the execution of the generation processing can be requested by the remote control device 20.

[0025] For example, the vehicle control unit with ID 201 of "1" controls a vehicle's trajectory and is used in automated driving and advanced driver assistance systems. This vehicle control unit executes every 1000 milliseconds, with a time interval of 800 milliseconds. It is necessary to obtain the calculation result, i.e., the target value of the trajectory, within 800 milliseconds of the start of the generation processing. Furthermore, if the remote control unit 20 performs the generation processing, it is necessary to receive a calculation result (remote control information) within 400 milliseconds of sending the remote control request.

[0026] Note that the present invention is not limited to periodically executed vehicle control. Vehicle control can be performed in response to the occurrence of an event. In this case, instead of the execution cycle, a field for storing the start condition can be provided.

[0027] Note that the vehicle control management information 200 does not necessarily have to be in a tabular format. The data can be in XML or CSV format, for example.

[0028] Fig. Figure 3 is a diagram illustrating an example of a data structure of remote control processing time information 300 according to the first embodiment.

[0029] The remote control processing time information 300 stores an entry containing an ID 301, a control type 302, a remote control processing time (99%) 303, a remote control processing time (99.9%) 304, a remote control processing time (99.99%) 305, and a remote control processing time (99.999%) 306.

[0030] There is an entry for each type of vehicle control system.

[0031] ID 301 is a field for storing the ID of the entry. Control type 302 is a field for storing a value that specifies the type of vehicle control.

[0032] The remote control processing time (99%) 303, the remote control processing time (99.9%) 304, the remote control processing time (99.99%) 305 and the remote control processing time (99.999%) 306 are fields for storing the time (remote control processing time) until the remote control device 20 completes the generation processing.

[0033] The remote control device 20 can update the remote control processing time information 300 by recording the processing time of the generation processing and performing statistical processing using the history.

[0034] The remote control processing time depends on the workload and communication status of the remote control device 20 and is variable. Therefore, the remote control processing time is managed for each statistical reliability. For example, it is specified that the generation processing, which corresponds to the control of the driving trajectory, is completed within 10 milliseconds with a reliability (probability) of 99% and within 500 milliseconds with a reliability (probability) of 99.999%.

[0035] Note that the remote control processing time information 300 does not have to be in a tabular format. The data can be in XML or CSV format, for example.

[0036] The Fig. 4, Fig. 5 and Fig. Figure 6 shows flowcharts to illustrate an example of the processing performed by the ECU 11 according to the first embodiment.

[0037] Fig. Figure 4 is a flowchart illustrating the acquisition and processing of vehicle information. After the engine starts, ECU 11 begins the processing described below.

[0038] In step S101, the ECU 11 obtains vehicle information such as vehicle speed, vehicle acceleration, steering angle, current position, an image from the on-board camera, and information about objects in the environment from sensor 13 at a predetermined time interval. It is conceivable that the vehicle information is obtained at the time the execution trigger of the vehicle control system is detected or periodically. The present invention is not limited to the time interval for obtaining the vehicle information.

[0039] In step S102, the ECU 11 stores the acquired vehicle information in memory 112.

[0040] In step S103, the ECU 11 sends the vehicle information to the remote control unit 20. Note that the ECU 11 can send the vehicle information if the amount of data exceeds a threshold or if a certain period of time has elapsed. Furthermore, the ECU 11 can obtain and send vehicle information required for generation processing at the time the remote control request is sent.

[0041] Upon receiving the vehicle information, the remote control device 20 stores the vehicle information in conjunction with the identification information of the vehicle 10 in the memory 22.

[0042] Fig. Figure 5 is a flowchart illustrating the remote control detection processing to determine remote control availability. After the engine starts, ECU 11 begins the processing described below for each vehicle control.

[0043] In step S111, ECU 11 performs the remote control determination processing for the target vehicle control. Details of the remote control determination processing are described later. The processing result is reflected in the remote control flag 207.

[0044] The remote control detection processing is executed periodically or when the vehicle control's execution trigger is detected. If the remote control detection processing is executed periodically, the execution cycle can be defined for each type of vehicle control. As a result, any discrepancy with the vehicle control's execution cycle can be reduced.

[0045] Fig. Figure 6 is a flowchart illustrating vehicle control processing. When an execution trigger of any vehicle control is detected, or a predetermined execution cycle is reached, the ECU 11 performs the processing described below.

[0046] In step S121, the ECU 11 determines whether the remote control can be used for vehicle control, where the execution trigger is detected or the predetermined execution cycle is reached.

[0047] Specifically, ECU 11 refers to vehicle control management information 200 and determines whether the remote control flag 207 of the entry corresponding to the vehicle control where the execution trigger is detected or the predetermined execution cycle is reached is "1". If the remote control flag 207 is "1", ECU 11 determines that remote control can be used for the vehicle control where the execution trigger is detected or the predetermined execution cycle is reached.

[0048] In a case where it is determined that the remote control cannot be used for vehicle control when the execution trigger is detected or the predetermined execution cycle is reached, ECU 11 reads the vehicle information required to generate the control information from memory 112 in step S122. This includes reading vehicle information acquired before or at the time of the execution trigger detection, or vehicle information acquired before or at the time of reaching the predetermined execution cycle. Note that vehicle information acquired within a certain time period after the execution trigger is detected can also be read.

[0049] In step S123, the ECU generates 11 control information by executing a control application using the read vehicle information. This control information includes control setpoints such as speed and steering angle. In addition to the most recent vehicle information, past vehicle and control information can also be used to generate this control information.

[0050] In step S127, ECU 11 stores the control information in memory 112. Specifically, the control information generated by ECU 11 is stored in memory 112. In step S128, ECU 11 controls the vehicle 10 based on this control information. For example, actuator 14 is controlled based on the setpoint. ECU 11 then terminates the vehicle control processing.

[0051] In a case where, in step S121, it is determined that remote control can be used for vehicle control, where the execution trigger is detected or the predetermined execution cycle is reached, the ECU 11 sends the remote control request via the TCU 12 to the remote control unit 20 in step S124. The remote control request contains information specifying the type of vehicle control. At this time, the ECU 11 can resend the vehicle information. Furthermore, the ECU 11 can send past control information.

[0052] After the remote control request is sent, the ECU 11 begins timer monitoring. In step S125, the ECU 11 determines whether a remote control timeout period has elapsed. Specifically, the ECU 11 determines whether the time elapsed since the start of timer monitoring is shorter than the remote control time limit.

[0053] In a case where the remote control timeout period has not expired, the ECU 11 determines in step S126 whether the remote control information has been received. This remote control information is control information generated by the remote control device 20. The ECU 11 may perform a consistency check or similar action on the remote control information. If the remote control information is inconsistent, the ECU 11 determines that the remote control information has not been received.

[0054] If the remote control information was not received, the ECU 11 returns to step S125 and continues timer monitoring.

[0055] When it receives the remote control information, the ECU 11 stores the control information in memory 112 in step S127. Here, the remote control information generated by the remote control device 20 is stored in memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information.

[0056] If the timeout period expires in step S125, ECU 11 reads the vehicle information from memory 112 in step S122. In step S123, ECU 11 generates control information by executing a control application using the read vehicle information. In step S127, ECU 11 stores the generated control information in memory 112. In step S128, ECU 11 controls the vehicle 10 based on the control information.

[0057] As described above, the processing load of ECU 11 can be reduced by having the remote control unit 20 perform the generation processing. If the control information cannot be received within the timeout period due to a communication anomaly or an anomaly of the remote control unit 20, ECU 11 executes the control application itself, generates the control information, and performs vehicle control based on this information. As a result, reliable vehicle control can be performed. Furthermore, if the remote control unit 20 has more processing resources than ECU 11 or can use vehicle information from another vehicle 10, advanced arithmetic processing can be performed. Consequently, control information capable of achieving highly accurate vehicle control is generated.

[0058] Since the vehicle information is stored in memory 112, the ECU 11 can obtain the vehicle information required to generate the control information when the processing of the control information generation is switched from the remote control unit 20 to the ECU 11. As a result, the sampling jitter required for real-time capability can be reduced and reliability can be improved.

[0059] Fig. Figure 7 is a flowchart illustrating an example of remote control processing performed by a remote control device according to the first embodiment.

[0060] The remote control device 20 begins monitoring the remote control request after startup or upon receiving the execution instruction.

[0061] In step S201, the remote control device 20 determines whether the remote control request has been received.

[0062] If the remote control request was not received, the remote control device 20 continues monitoring the remote control request.

[0063] When the remote control request is received, the remote control device 20 in step S202 reads the vehicle information received from the vehicle 10 from memory 22.

[0064] In step S203, the remote control unit 20 generates the control information (remote control information) using the read vehicle information.

[0065] In step S204, the remote control unit 20 sends the control information to the vehicle 10. Afterwards, the remote control unit 20 continues monitoring the remote control request.

[0066] Fig.Figure 8 is a flowchart that illustrates an example of the remote control detection processing performed by the ECU 11 according to the first embodiment.

[0067] It is assumed that the reliability of the remote control processing time is predefined in the ECU 11. In step S11101, the ECU 11 determines whether the remote control device 20 is in a state in which it is capable of performing remote control. Specifically, the following processing is carried out. (S11101-1) The ECU 11 determines whether the communication state of communication path 30 is good. If the communication state of communication path 30 is not good, the ECU 11 determines that the remote control device 20 is not in a state in which it is able to perform remote control. (S11101-2) If the communication status of communication path 30 is good, the ECU 11 determines whether the utilization of remote control device 20 is low. For example, it determines whether the utilization rate of processor 21 is less than a threshold. If the utilization of remote control device 20 is high, the ECU 11 determines that remote control device 20 is not in a state where it can perform remote control. (S11101-3) When the utilization of the remote control device 20 is low, the ECU 11 determines that the remote control device 20 is in a state in which it is able to perform remote control.

[0068] In a case where the remote control device 20 is not in a state capable of performing remote control, the ECU 11 determines in step S11107 that remote control is unavailable. At this time, the ECU 11 refers to the vehicle control management information 200 and sets "0" to the remote control flag 207 of the entry corresponding to the vehicle control. The ECU 11 then terminates the remote control determination processing.

[0069] If the remote control device 20 is in a state where it is able to perform remote control, the ECU 11 obtains the remote control processing time from the remote control processing time information 300 in step S11102. Specifically, the ECU 11 looks for an entry corresponding to vehicle control and obtains a value from a field corresponding to the reliability of the entry.

[0070] In step S11103, the ECU 11 determines whether the remote control processing time is shorter than the remote control time limit.

[0071] In a case where the remote control processing time is equal to or greater than the remote control time limit, the ECU 11 determines in step S11107 that remote control is unavailable. The ECU 11 then terminates the remote control detection processing.

[0072] If the remote control processing time is shorter than the remote control time limit, the deadline is obtained from vehicle control management information 200 in step S11104. Specifically, ECU 11 obtains the deadline value 204 from the entry that corresponds to the vehicle control in vehicle control management information 200.

[0073] In step S11105, the ECU 11 determines whether the generation processing is completed within the deadline.

[0074] Specifically, after sending the remote control request to the remote control unit 20, the ECU 11 determines whether the predicted end time is shorter than the deadline in a case where the control application corresponding to the vehicle control is executed due to a timeout. The predicted end time is calculated, for example, using expression (1). Remote control time limit + worst execution time

[0075] Note that a time obtained by adding a tolerance time to the value of expression (1) can be used. The tolerance time can be set arbitrarily.

[0076] If the generation processing is not completed within the time limit, the ECU 11 determines in step S11107 that remote control is unavailable. The ECU 11 then terminates the remote control determination processing.

[0077] If the generation processing is completed within the timeframe, ECU 11 determines in step S11106 that remote control is available. At this time, ECU 11 references the vehicle control management information 200 and sets "1" to the remote control flag 207 of the entry corresponding to the vehicle control. ECU 11 then terminates the remote control determination processing.

[0078] Note that in a case where it is not necessary to monitor the receipt of the control information after the transmission of the remote control request, the processing of steps S11104 and S11105 can be omitted.

[0079] If the execution time of the generation processing by the remote control unit 20 is equal to or greater than the remote control timeout set by the detection processing in step S11103, the ECU 11 can perform a control operation to execute the control application. If the communication or operating state of the remote control unit 20 is normal, the execution time of the generation processing is shorter than the remote control timeout; conversely, if the communication or operating state of the remote control unit 20 is abnormal, the execution time of the generation processing is equal to or greater than the remote control timeout. Therefore, the execution item for generating the control information can be switched depending on the communication or operating state of the remote control unit 20.As a result, the ECU 11 can reliably control the driving of the vehicle even when remote control by the remote control device 20 is difficult.

[0080] According to the determination process in step S11105, remote control is only used if the ECU 11 can execute the control application after the remote control request is transmitted. Accordingly, reliable execution of the vehicle control can be ensured. Since this determination uses the worst-case execution time, which reflects the processing power of the ECU 11, it is possible to determine whether remote control, reflecting the processing power of the ECU 11, is possible.

[0081] Note that the present invention is not limited to the embodiments described above and includes various modifications. For example, the embodiments described above have been described in detail for ease of understanding of the present invention and are not necessarily limited to those that have all the described configurations. Furthermore, part of the configuration of a particular embodiment can be replaced by the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a particular embodiment.

[0082] Furthermore, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment. Additionally, some or all of the configurations, functions, processing units, processing means, and the like described above can be implemented by hardware, for example, by designing them with an integrated circuit. Furthermore, each of the configurations, functions, and the like described above can be implemented by software, with a processor interpreting and executing a program to implement each function. Information such as a program, a table, and a file for implementing each function can be stored in a recording device such as a processor's integrated memory, external flash memory, or a solid-state drive (SSD). QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2023-156421

[0001] JP 2021-33612 A

[0005]

Claims

[1] Vehicle control unit comprising a processor and memory connected to the processor, where The memory stores multiple control applications that generate control information to implement a predetermined vehicle control system. the vehicle control unit is communicatively connected to a remote control system capable of performing a generation processing of the control information, and the processor obtains vehicle information, including a value relating to the state of a vehicle on which the vehicle control unit is mounted, and stores the vehicle information in the memory, which sends vehicle information to the remote control system, determines whether the remote control system can perform the generation processing for each type of vehicle control, and stores a determination result in the memory, based on the investigation result, determines whether the remote control system can execute the generation processing corresponding to the vehicle control when an execution trigger of any vehicle control is detected or an execution cycle of any vehicle control is reached, sends an execution request for generation processing to the remote control system when the remote control system can execute the generation processing corresponding to the vehicle control where the execution trigger is detected or the execution cycle is reached, and the control application corresponding to the vehicle control is executed if the remote control system cannot execute the generation processing corresponding to the vehicle control where the execution trigger is detected or the execution cycle is reached. [2] Vehicle control device according to claim 1, wherein if the processor cannot receive the control information from the remote control system within a certain time period after sending the execution request to the remote control system, the processor executes the control application corresponding to the vehicle control in which the execution trigger is detected or the execution cycle is reached. [3] Vehicle control device according to claim 2, wherein the processor obtains the vehicle information used by the control application from memory. [4] Vehicle control device according to claim 1, wherein The memory stores information for managing a time limit for generation processing for each type of vehicle control, and the processor determines whether the remote control system is in a state where it is capable of performing the generation processing, determines that the remote control system cannot perform the generation processing if the remote control system is not in a state in which it is capable of performing the generation processing, a processing time for the generation processing is specified when the remote control system is in a state where it is able to perform the generation processing, determines whether the processing time is longer than the time limit, determines that the remote control system cannot perform the generation processing if the processing time is longer than the time limit, and determines that the remote control system can perform the generation processing if the processing time is equal to or less than the time limit. [5] Vehicle control device according to claim 1, wherein The memory stores information for managing a deadline, specifying a time to complete vehicle control, and a time limit for generation processing, in conjunction with each other, for each type of vehicle control, and the processor determines whether the remote control system is in a state where it is capable of performing the generation processing, determines that the remote control system cannot perform the generation processing if the remote control system is not in a state in which it is capable of performing the generation processing, a processing time for the generation processing is specified when the remote control system is in a state where it is able to perform the generation processing, determines whether the processing time is longer than the time limit, determines that the remote control system cannot perform the generation processing if the processing time is longer than the time limit, determines whether a predicted end time required to generate the control information is longer than the deadline time in a case where the control application corresponding to the vehicle control is executed after the execution request is sent, if the processing time is equal to or less than the time limit. determines that the remote control system cannot execute the generation processing if the predicted end time is longer than the deadline, and determines that the remote control system can execute the generation processing if the predicted end time is equal to or shorter than the deadline. [6] Vehicle control device according to claim 1, wherein the processor determines whether the remote control system can perform the generation processing for each type of vehicle control with different execution cycles. [7] Control method executed by a vehicle control unit which includes a processor and memory connected to the processor, wherein the memory stores multiple control applications that generate control information for implementing a predetermined vehicle control, wherein the vehicle control device is communicatively connected to a remote control system capable of performing the generation processing to generate the control information, the control method exhibits: a first step of obtaining vehicle information, including a value relating to a state of a vehicle to which the vehicle control unit is mounted, and storing the vehicle information in memory by the processor; a second step of the processor sending the vehicle information to the remote control system; a third step of determining whether the remote control system can perform the generation processing for each type of vehicle control, and storing a determination result in memory by the processor; a fourth step of determining whether the remote control system can execute the generation processing corresponding to the vehicle control, based on the determination result by the processor when an execution trigger of any vehicle control is detected or an execution cycle of any vehicle control is reached; a fifth step of the processor sending an execution request for generation processing to the remote control system when the remote control system is able to execute the generation processing corresponding to the vehicle control at which the execution trigger is detected or the execution cycle is reached; and a sixth step of executing the control application corresponding to the vehicle control by the processor if the remote control system cannot execute the generation processing corresponding to the vehicle control at which the execution trigger is detected or the execution cycle is reached. [8] Control method according to claim 7, wherein the fifth step includes a seventh step of executing the control application corresponding to the vehicle control where the execution trigger is detected or the execution cycle is reached, by the processor if the processor cannot receive the control information from the remote control system within a certain time period after sending the execution request to the remote control system. [9] Control method according to claim 7, wherein The memory stores information for managing a deadline, specifying a time to complete vehicle control and a time limit for generation processing in conjunction with each other for each type of vehicle control, and The fourth step includes: a step of determining whether the remote control system is in a state where it is capable of performing the generation processing, by the processor, a step of determining that the remote control system cannot perform the generation processing when the remote control system is not in a state capable of performing the generation processing, by the processor, a step of specifying a processing time for the generation processing, when the remote control system is in the state where it is able to perform the generation processing, by the processor, a step in determining whether the processing time is longer than the time limit, by the processor, a step of determining that the remote control system cannot perform the generation processing if the processing time is longer than the time limit, by the processor, a step of determining whether a predicted end time required to generate the control information, in a case where the control application corresponding to the vehicle control is executed after the execution request is sent, is longer than the deadline, if the processing time is equal to or less than the time limit, by the processor, a step of determining that the remote control system cannot execute the generation processing if the predicted end time is longer than the deadline, by the processor, and a step of determining that the remote control system can execute the generation processing if the predicted end time is equal to or less than the deadline time, by the processor. [10] Vehicle control system comprising a vehicle control device and a remote control system, where the vehicle control unit has a processor and memory connected to the processor, The memory stores multiple control applications that generate control information to implement a predetermined vehicle control system. the remote control system is capable of performing a generation process to generate the control information, the vehicle control unit Vehicle information, including a value relating to the state of a vehicle on which the vehicle control unit is mounted, is obtained and the vehicle information is stored in the memory. which sends vehicle information to the remote control system, determines whether the remote control system can perform the generation processing for each type of vehicle control, and stores a determination result in the memory, based on the investigation result, determines whether the remote control system can execute the generation processing corresponding to the vehicle control when an execution trigger of any vehicle control is detected or an execution cycle of any vehicle control is reached, sends an execution request for generation processing to the remote control system when the remote control system can execute the generation processing corresponding to the vehicle control where the execution trigger is detected or the execution cycle is reached, and the control application corresponding to the vehicle control system executes when the remote control system cannot execute the generation processing corresponding to the vehicle control system at which the execution trigger is detected or the execution cycle is reached, and the remote control system The control information is generated by executing the generation processing, which corresponds to the vehicle control where the execution trigger is detected or the execution cycle is reached when the execution request is received, and sends the control information to the vehicle control unit. [11] Vehicle control system according to claim 10, wherein the vehicle control device executes the control application corresponding to the vehicle control in which the execution trigger is detected or the execution cycle is reached, if the vehicle control device cannot receive the control information from the remote control system within a certain time period after sending the execution request to the remote control system. [12] Vehicle control system according to claim 10, wherein The memory stores information for managing a deadline, specifying a time to complete vehicle control, and a time limit for generation processing, in conjunction with each other, for each type of vehicle control, and the vehicle control unit determines whether the remote control system is in a state where it is capable of performing the generation processing, determines that the remote control system cannot perform the generation processing if the remote control system is not in a state in which it is capable of performing the generation processing, a processing time for the generation processing is specified when the remote control system is in a state where it is able to perform the generation processing, determines whether the processing time is longer than the time limit, determines that the remote control system cannot perform the generation processing if the processing time is longer than the time limit, determines whether a predicted end time required to generate the control information, in a case where the control application corresponding to the vehicle control is executed after the execution request is sent, is longer than the deadline, if the processing time is equal to or less than the time limit, determines that the remote control system cannot execute the generation processing if the predicted end time is longer than the deadline, and determines that the remote control system can execute the generation processing if the predicted end time is equal to or less than the deadline.

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