Vehicle control device and program

Abstract

The writing of information to the vehicle's memory unit is processed appropriately, taking into account the jurisdiction. [Solution] A vehicle control device comprising: a storage unit that stores individual vehicle information and setting values ​​related to the vehicle; and a control unit that, based on the individual vehicle information, determines that the vehicle meets predetermined conditions related to laws and regulations, and discards the storage of new setting values ​​in the storage unit even if new setting values ​​are written as setting values ​​by a service tool; and, based on the individual vehicle information, determines that the vehicle does not meet the predetermined conditions, and stores new setting values ​​in the storage unit when new setting values ​​are written by a service tool.

Description

Technical Field

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[0001] The present disclosure relates to a vehicle control device and a program.

Background Art

[0002] For example, Patent Document 1 discloses a device that performs automatic braking control to reduce collision damage between a host vehicle and an obstacle based on the detection result of a clearance sonar sensor (hereinafter referred to as a sonar sensor) provided on the bumper of the host vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] In the market, there is a need to retrofit exterior parts such as a bull bar on the bumper. Generally, various controls such as automatic braking control and warning control using the detection result of the sonar sensor are performed based on information such as the installation position of the sonar sensor (hereinafter also referred to as sensor information) stored in an in-vehicle ECU (Electronic Control Unit) at the time of vehicle manufacture. Therefore, when retrofitting exterior parts to the bumper, in order to prevent malfunction of various controls, it is necessary to rewrite the sensor information stored in the ECU at a dealer, a repair shop, or the like.

[0005] However, depending on the destination where the vehicle is actually used, such rewriting may be restricted by regulations. In addition, if a system corresponding to the destination is developed and manufactured to individually respond to each jurisdiction, there are problems such as increased cost due to significant labor and effort in operation.

[0006] The technology of the present disclosure aims to appropriately process writing of information stored in an in-vehicle storage unit in consideration of jurisdictions.

[0007] The technology disclosed herein is A vehicle control device, A storage unit that stores individual vehicle information and setting values ​​related to the said vehicle, The vehicle is determined to meet certain conditions related to laws and regulations based on the individual vehicle information, and if a new setting value is written to the storage unit by the service tool, the storage of the new setting value is discarded. The vehicle is determined to not meet the certain conditions based on the individual vehicle information, and if a new setting value is written to the storage unit by the service tool, the control unit stores the new setting value in the storage unit. It is characterized by the following: [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing the hardware configuration of a vehicle to which the control device according to this embodiment is applied. [Figure 2] This is a schematic diagram illustrating an example of sonar sensor installation. [Figure 3] This is a schematic diagram showing the software configuration of the control device according to this embodiment. [Figure 4] This is a flowchart illustrating the flow of the writing process according to the first embodiment. [Figure 5] This is a flowchart illustrating the flow of the writing process according to the second embodiment. [Figure 6] This is a flowchart illustrating the flow of the writing process according to the third embodiment. [Modes for carrying out the invention]

[0009] The control device and program of the vehicle according to this embodiment will be described below with reference to the drawings.

[0010] [Overall structure] Figure 1 is a schematic diagram showing the hardware configuration of vehicle VH to which the control device according to this embodiment is applied.

[0011] Vehicle VH has an ECU10. The ECU10 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and an interface IF, etc. The CPU is a processor that executes various programs stored in ROM. ROM is a non-volatile memory that stores data necessary for the CPU to execute various programs. RAM is a volatile memory that provides a work area that is expanded when various programs are executed by the CPU. The interface IF is a communication device for communicating with external devices.

[0012] The ECU10 is a central device that performs various controls, including driver assistance. Driver assistance is a concept that includes autonomous driving. The ECU10 is connected to the drive unit 20, steering unit 21, braking unit 22, internal sensor device 30, external sensor device 40, vehicle-side connector 50, etc., in a communication manner.

[0013] The drive unit 20 generates driving force that is transmitted to the drive wheels of the vehicle VH. Examples of the drive unit 20 include an electric motor and an engine. The steering unit 21 applies steering force to the wheels of the vehicle VH. The braking unit 22 applies braking force to the wheels of the vehicle VH.

[0014] The internal sensor device 30 consists of sensors that detect the state of the vehicle's vehicle speed (VH). For example, the internal sensor device 30 includes a vehicle speed sensor, an accelerator sensor, a brake sensor, a steering angle sensor, and the like. The internal sensor device 30 transmits the state of the vehicle's VH detected by these sensors to the ECU 10 at a predetermined interval.

[0015] The external sensor device 40 is a sensor that recognizes object information regarding objects around the vehicle VH. As an example, the external sensor device 40 is equipped with a sonar sensor 41. Here, object information includes, for example, stationary objects such as walls, and moving objects such as surrounding vehicles and pedestrians. The sonar sensor 41 emits ultrasonic waves and receives reflected waves reflected by objects within its emission range to obtain the distance between the vehicle VH and the objects. The number of sonar sensors 41 is not particularly limited, but as an example, as shown in Figure 2, a total of eight sonar sensors 41 are provided: two on the front of the front bumper of the vehicle VH at predetermined intervals in the vehicle width direction, one on each of the left and right ends of the front bumper, two on the front of the rear bumper at predetermined intervals in the vehicle width direction, and one on each of the left and right ends of the rear bumper.

[0016] The external sensor device 40 repeatedly transmits target information acquired by the sonar sensor 41 to the ECU 10 at predetermined intervals. The external sensor device 40 is not limited to the sonar sensor 41, and may also include millimeter-wave radar, lidar, camera sensors, etc.

[0017] The vehicle-side connector 50 is connected to the interface IF of the ECU 10 via a communication cable (not shown). The vehicle-side connector 50 is configured to allow connection of the first tool-side connector 81 of the factory tool 80 and the second tool-side connector 91 of the service tool 90. Here, the factory tool 80 is a dedicated terminal located at the factory where the vehicle VH is manufactured, and is used to write setting values ​​such as sensor information of the sonar sensor 41 and various parameters of the vehicle VH to the memory unit (e.g., ROM) of the ECU 10. The service tool 90 is a dedicated terminal located at dealerships, repair shops, etc., where the vehicle VH is actually used, and is used to rewrite the setting values ​​of sensor information and various parameters stored in the memory unit of the ECU 10, and to update the program. The sensor information and various parameters are examples of setting values ​​related to the vehicle of this disclosure.

[0018] The factory tool 80 and the service tool 90 include a CPU, a ROM, a RAM, an interface IF, etc. The factory tool 80 and the service tool 90 further include HMIs (Human Machine Interfaces) 82, 92. The HMIs 82, 92 include an input device and a display device. The input device and the display device may be a touch panel display. Also, the input device may include a microphone that accepts voice input.

[0019] [First Embodiment] FIG. 3 is a schematic diagram showing the software configuration of the ECU 10 according to the first embodiment. As shown in FIG. 3, the ECU 10 includes function elements such as an object recognition unit 100, a vehicle-specific information storage unit 110, a sensor information storage unit 120, and a set value writing processing unit 130. Each of these function elements 100 to 130 is realized by the CPU of the ECU 10 reading out a program stored in the ROM and executing it in the RAM. Note that all or part of the function elements 100 to 130 can also be provided in another ECU separate from the ECU 10 or an information processing device of a facility (such as a management center) that can communicate with the vehicle VH.

[0020] The object recognition unit 100 recognizes surrounding objects such as stationary objects and moving objects existing around the host vehicle VH based on the detection result of the sonar sensor 41 and the set value of the sensor information stored in the sensor information storage unit 120 described later. Specifically, when the set value (hereinafter referred to as "initial set value") written using the factory tool 80 is stored in the sensor information storage unit 120, the object recognition unit 100 recognizes the distance between the host vehicle VH and the surrounding objects existing around the host vehicle VH and the direction of the surrounding objects with respect to the host vehicle VH based on the detection result of the sonar sensor 41 and the initial set value. Further, when the set value (hereinafter referred to as "changed set value") written using the service tool 90 is stored in the sensor information storage unit 120, the object recognition unit 100 recognizes the distance between the host vehicle VH and the surrounding objects existing around the host vehicle VH and the direction of the surrounding objects with respect to the host vehicle VH based on the detection result of the sonar sensor 41 and the changed set value. The recognition results (distance, direction, etc.) of the surrounding objects recognized by the object recognition unit 100 are used for various controls such as alarm control for sounding an alarm sound from an in-vehicle speaker or the like when the surrounding object approaches the host vehicle VH abnormally, and automatic brake control for reducing the collision damage between the host vehicle VH and the surrounding object.

[0021] The individual vehicle information storage unit 110 is an example of the storage unit of the present disclosure, and stores information as individual vehicle information on whether the vehicle VH is a compatible vehicle to which a bull bar (see reference symbol B in FIG. 2) can be retrofitted, or a non-compatible vehicle for which the installation of a bull bar is not assumed. The individual vehicle information may be input using the factory tool 80, for example, at the time of manufacture or factory shipment of the vehicle VH. Note that, as in the second embodiment described later, when the backward vehicle immediate confirmation device (UNR158) is supported by the sonar sensor 41, even if the vehicle VH is a compatible vehicle to which a bull bar can be retrofitted, it is desirable not to regard it as a compatible vehicle (that is, to regard it as a non-compatible vehicle).

[0022] The sensor information storage unit 120 is an example of a storage unit of this disclosure and stores sensor information of a sonar sensor 41 installed on the bumper of a vehicle VH. Here, the sensor information includes setting values ​​such as the mounting position of the sonar sensor 41 on the bumper. The sensor information storage unit 110 stores initial setting values ​​written using a factory tool 80 or modified setting values ​​written using a service tool 90, based on the determination result of the write processing unit 130 described later. In this embodiment, the sensor information storage unit 120 stores the initial setting values ​​and modified setting values ​​in a manner that allows them to be distinguished.

[0023] The writing processing unit 130 is an example of the control unit of this disclosure and performs a writing process to store the setting values ​​of sensor information written using the factory tool 80 or the service tool 90 in the sensor information storage unit 120. Specifically, the writing processing unit 130 first stores the initial setting values ​​written using the factory tool 80 as sensor information in the sensor information storage unit 120 when the sonar sensor 41 is initialized during the manufacture of the vehicle VH.

[0024] If the writing processing unit 130 determines, based on the individual vehicle information stored in the individual vehicle information storage unit 110, that the vehicle VH is an incompatible vehicle that is not intended for the installation of a bull bar nudge bar (i.e., if it determines that the conditions specified in this disclosure are met), it will discard the storage of the sensor information setting values ​​even if the sensor information setting values ​​are written using the service tool 90 at a dealer or repair shop. In other words, the sensor information storage unit 120 will retain the initial settings that have been stored in advance. This prevents the sensor information setting values ​​from being unnecessarily rewritten, making it possible to comply with regulations that restrict software rewriting, such as the SU regulations (SUMS: Software Update Management System).

[0025] On the other hand, if the writing processing unit 130 determines, based on the individual vehicle information stored in the individual vehicle information storage unit 110, that the vehicle VH is a compatible vehicle that can have a bull bar nudge bar retrofitted (i.e., if it determines that it does not meet the conditions specified in this disclosure), and the sensor information setting value is written using the service tool 90 at a dealer or repair shop, the writing processing unit 130 stores the changed setting value in the sensor information storage unit 120. This makes it possible to store the sensor information setting value corresponding to bumpers and bull bar nudge bars retrofitted in the market, and effectively prevents malfunctions of various controls based on the detection results of the sonar sensor 41.

[0026] The sonar sensor 41 may be replaced by a dealer or repair shop due to malfunction or because it has reached the end of its lifespan. When the sonar sensor 41 is replaced, it will be initialized by the dealer or repair shop. When the sonar sensor 41 is initialized by the dealer or repair shop, if the modified setting value written to the sensor information storage unit 120 using the service tool 90 is stored in the sensor information storage unit 120, the writing processing unit 130 will retain the modified setting value in the setting information storage unit 120. Also, when the sonar sensor 41 is initialized by the dealer or repair shop, if the initial setting value written to the sensor information storage unit 120 using the factory tool 80 is stored in the sensor information storage unit 120, the writing processing unit 130 will retain the initial setting value in the setting information storage unit 120.

[0027] Next, based on Figure 4, the flow of the sensor information writing process executed by the CPU 11 of the ECU 10 according to the first embodiment will be explained. This routine starts, for example, when the sonar sensor 41 is initialized.

[0028] In step S100, the ECU 10 determines, based on individual vehicle information, whether vehicle VH is a compatible vehicle that can have a bull bar nudge bar retrofitted. If vehicle VH is a compatible vehicle that can have a bull bar nudge bar retrofitted (Yes), the ECU 10 proceeds to step S110. On the other hand, if vehicle VH is not a compatible vehicle that can have a bull bar nudge bar retrofitted (No), that is, if vehicle VH is an incompatible vehicle that is not intended to have a bull bar nudge bar installed, the ECU 10 proceeds to step S150.

[0029] In step S150, the ECU 10 stores the initial settings written using the factory stool 80 as sensor information for the sonar sensor 41, and then terminates this routine. In other words, it effectively prevents the sensor information settings from being unnecessarily overwritten from the initial settings.

[0030] When the process proceeds from step S100 to step S110, the ECU 10 determines whether or not the sensor information settings have been written using the service tool 90 at a dealer or repair shop. If the writing using the service tool 90 has not been performed (No), the ECU 10 proceeds to step S130, retains the initial settings written as sensor information for the sonar sensor 41 using the factory tool 80, and terminates this routine. On the other hand, if the writing using the service tool 90 has been performed (Yes), the ECU 10 proceeds to step S120, stores the settings written using the service tool 90 as the modified settings, and terminates this routine. In other words, it becomes possible to accommodate aftermarket bull bar nudge bars and effectively prevent malfunctions of various controls.

[0031] [Second Embodiment] In the vehicle control device and program according to the second embodiment, the individual vehicle information storage unit 110 stores information as individual vehicle information, indicating whether or not the vehicle VH is the vehicle corresponding to the vehicle immediately behind the vehicle exit confirmation device (UNR158) via the sonar sensor 41. The configuration other than the individual vehicle information storage unit 110 and the writing processing unit 130 is the same as in the first embodiment, so their description is omitted.

[0032] In the second embodiment, the writing processing unit 130, based on the individual vehicle information stored in the individual vehicle information storage unit 110, determines that the vehicle VH is a corresponding vehicle for the vehicle departure confirmation device (UNR158) via the sonar sensor 41 (i.e., it determines that the predetermined conditions of this disclosure are met), and discards the storage of the sensor information setting value even if it is written using the service tool 90 at a dealer or repair shop. In other words, the sensor information storage unit 120 retains the initial setting value that has been stored in advance. This prevents the sensor information setting value from being unnecessarily rewritten, making it possible to appropriately comply with the SU regulations, UNR158 regulations, etc.

[0033] On the other hand, the writing processing unit 130, based on the individual vehicle information stored in the individual vehicle information storage unit 110, determines that the vehicle VH is an incompatible vehicle that is not compatible with the vehicle immediately behind the exit vehicle confirmation device (UNR158) via the sonar sensor 41 (i.e., it determines that the predetermined conditions of this disclosure are not met), and when the sensor information setting value is written using the service tool 90 at a dealer or repair shop, the writing processing unit 130 stores the changed setting value in the sensor information storage unit 120. This makes it possible to store the sensor information setting value corresponding to bumpers and bull bar nudge bars that have been added as aftermarket parts, and effectively prevents malfunctions of various controls based on the detection results of the sonar sensor 41.

[0034] Next, with reference to Figure 5, the flow of the sensor information writing process executed by the CPU 11 of the ECU 10 according to the second embodiment will be explained. This routine starts, for example, when the sonar sensor 41 is initialized.

[0035] In step S200, the ECU 10 determines, based on individual vehicle information, whether vehicle VH is a compliant vehicle that complies with regulations (UNR158) using the sonar sensor 41. If vehicle VH is not a compliant vehicle that complies with regulations (UNR158) using the sonar sensor 41 (No), that is, if vehicle VH is a non-compliant vehicle that does not comply with regulations (UNR158) using the sonar sensor 41, the ECU 10 proceeds to the process in step S210. On the other hand, if vehicle VH is a compliant vehicle that complies with regulations (UNR158) using the sonar sensor 41 (Yes), the ECU 10 proceeds to the process in step S250.

[0036] In step S250, the ECU 10 stores the initial settings written using the factory stool 80 as sensor information for the sonar sensor 41, and then terminates this routine. In other words, it effectively prevents the sensor information settings from being unnecessarily overwritten from the initial settings.

[0037] When the process proceeds from step S200 to step S210, the ECU 10 determines whether or not the sensor information settings have been written using the service tool 90 at a dealer or repair shop. If the writing using the service tool 90 has not been performed (No), the ECU 10 proceeds to step S230, retains the initial settings written as sensor information for the sonar sensor 41 using the factory tool 80, and terminates this routine. On the other hand, if the writing using the service tool 90 has been performed (Yes), the ECU 10 proceeds to step S220, stores the settings written using the service tool 90 as the modified settings, and terminates this routine. In other words, it becomes possible to accommodate aftermarket bull bar nudge bars and effectively prevent malfunctions of various controls.

[0038] [Third Embodiment] In the vehicle control device and program according to the third embodiment, the individual vehicle information storage unit 110 stores information as individual vehicle information, indicating whether or not the destination of the vehicle VH falls within a jurisdiction subject to regulations that restrict software updates. The configuration other than the individual vehicle information storage unit 110 and the writing processing unit 130 is the same as in the first and second embodiments, so their description is omitted.

[0039] In the third embodiment, if the writing processing unit 130 determines, based on the individual vehicle information stored in the individual vehicle information storage unit 110, that the destination of the vehicle VH falls under a jurisdiction subject to regulations that restrict software updates (e.g., SU regulations) (i.e., if it determines that the conditions specified in this disclosure are met), it discards the storage of the sensor information setting values ​​even if the sensor information setting values ​​are written using the service tool 90 at a dealer or repair shop. In other words, the sensor information storage unit 120 retains the initial settings that have been stored in advance. This prevents the sensor information setting values ​​from being unnecessarily rewritten, making it possible to appropriately comply with regulations such as SU regulations.

[0040] On the other hand, if the writing processing unit 130 determines, based on the individual vehicle information stored in the individual vehicle information storage unit 110, that the destination of the vehicle VH does not fall under a jurisdiction subject to regulations that restrict software updates (i.e., if it determines that the conditions specified in this disclosure are not met), then when the sensor information setting value is written using the service tool 90 at a dealer or repair shop, the writing processing unit 130 stores the changed setting value in the sensor information storage unit 120. This makes it possible to store the sensor information setting value corresponding to bumpers and bull bar nudge bars that have been added as aftermarket parts, and effectively prevents malfunctions of various controls based on the detection results of the sonar sensor 41.

[0041] Next, with reference to Figure 6, the flow of the sensor information writing process executed by the CPU 11 of the ECU 10 according to the third embodiment will be explained. This routine starts, for example, when the sonar sensor 41 is initialized.

[0042] In step S300, the ECU10 determines, based on individual vehicle information, whether the destination of the vehicle VH falls within a jurisdiction subject to regulations (SU regulations) that restrict software updates. If the destination of the vehicle VH does not fall within a jurisdiction subject to the regulations (SU regulations) (No), the ECU10 proceeds to step S310. On the other hand, if the destination of the vehicle VH falls within a jurisdiction subject to the regulations (SU regulations) (Yes), the ECU10 proceeds to step S350.

[0043] In step S350, the ECU 10 stores the initial settings written using the factory stool 80 as sensor information for the sonar sensor 41, and then terminates this routine. In other words, it effectively prevents the sensor information settings from being unnecessarily overwritten from the initial settings.

[0044] When the process proceeds from step S300 to step S310, the ECU 10 determines whether or not the sensor information settings have been written using the service tool 90 at a dealer or repair shop. If the writing using the service tool 90 has not been performed (No), the ECU 10 proceeds to step S330, retains the initial settings written as sensor information for the sonar sensor 41 using the factory tool 80, and terminates this routine. On the other hand, if the writing using the service tool 90 has been performed (Yes), the ECU 10 proceeds to step S320, stores the settings written using the service tool 90 as the modified settings, and terminates this routine. In other words, it becomes possible to accommodate aftermarket bull bar nudge bars and effectively prevent malfunctions of various controls.

[0045] Although the vehicle control device and program according to this embodiment have been described above, this disclosure is not limited to the above embodiment, and various modifications are possible without departing from the purpose of this disclosure.

[0046] For example, in the above embodiment, a sonar sensor 41 was described as an example of a target detection sensor, but this disclosure can be broadly applied to the writing process of sensor information of other target detection sensors such as radar sensors and camera sensors. Furthermore, in the above embodiment, a bull bar nudge bar was given as an example, but this disclosure can be broadly applied to other exterior parts that are retrofitted to the front bumper or rear bumper and may interfere with the detection range of the sensor.

Claims

1. A vehicle control device, A storage unit that stores individual vehicle information and setting values ​​related to the said vehicle, The vehicle is determined to meet certain conditions related to laws and regulations based on the individual vehicle information, and if a new setting value is written to the storage unit by the service tool, the storage of the new setting value is discarded. The vehicle is determined to not meet the certain conditions based on the individual vehicle information, and if a new setting value is written to the storage unit by the service tool, the control unit stores the new setting value in the storage unit. A vehicle control device characterized by the following features.

2. A vehicle control device according to claim 1, The storage unit stores, as individual vehicle information, one of the following: first information, whether the vehicle is a compatible vehicle to which a bull bar nudge bar can be attached; second information, whether the sensors equipped on the vehicle are sensors installed for compliance with regulations; or third information, whether the destination of the vehicle is a jurisdiction subject to regulations concerning software updates. The control unit determines that the predetermined conditions are met if, as first information, the vehicle is not the corresponding vehicle, or as second information, the sensor is a sensor installed for compliance with the regulations, or as third information, the destination is a jurisdiction subject to the regulations. A vehicle control device characterized by the following features.

3. A vehicle control device according to claim 1, The memory unit pre-stores, as setting values ​​for the vehicle, values ​​written by a factory tool during the manufacturing of the vehicle as initial setting values. The control unit, when it determines that the predetermined conditions are met, and even if it determines that the predetermined conditions are not met, when no writing is performed by the service tool, causes the storage unit to store the initial setting value. A vehicle control device characterized by the following features.

4. A vehicle control device according to claim 1, The vehicle is equipped with a target detection sensor located on its bumper, which is capable of detecting targets present in the vicinity of the vehicle. The storage unit stores information regarding the installation position of the target detection sensor on the bumper as a setting value related to the vehicle. A vehicle control device characterized by the following features.

5. The vehicle's control system computer, A process for storing the individual vehicle information of the said vehicle and the setting values ​​related to the said vehicle, If, based on the individual vehicle information, it is determined that the vehicle meets the predetermined conditions related to the law, the system will discard the memory of the new setting value even if the service tool writes a new setting value as the setting value. If, based on the individual vehicle information, it is determined that the vehicle does not meet the predetermined conditions, the system will store the new setting value if the service tool writes a new setting value. A program characterized by the following features.

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