Control device, management device, method, non-transitory storage medium, and vehicle for a vehicle

Abstract

The present disclosure relates to a control device mounted on a vehicle, a management device, a method, a non-transitory storage medium, and a vehicle. The control device mounted on a vehicle of the present invention includes a memory configured to store information related to a priority order of a plurality of application programs that implement a driving assistance function, and a processor. The processor is configured to accept an identifier of an application program that determines itself and an application program request from the plurality of application programs. The processor is configured to adjust the plurality of application program requests based on the information and the identifier. The processor is configured to output a request to an actuator based on the result of adjusting the plurality of application program requests.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a control device mounted on a vehicle, a management device, a method, a non-transitory storage medium, and a vehicle. BACKGROUND

[0002] In recent years, a plurality of application programs that realize a driving assistance function (automatic driving, automatic parking, etc.) are installed on a vehicle. In Japanese Patent Application Publication No. 2020-032894, a control device is disclosed that respectively accepts requirements (hereinafter referred to as “application program requirements”) output from the plurality of application programs, adjusts the accepted plurality of application program requirements, and outputs a requirement for driving an actuator (steering device, brake device, etc.) based on the adjustment result.

[0003] Among the plurality of application programs that realize a driving assistance function, there is a priority order of work corresponding to each function, and thus it is preferable to realize an application program requirement related to a driving assistance function based on the priority order.

[0004] However, in the control device described in Japanese Patent Application Publication No. 2020-032894, in a case where a plurality of application program requirements are accepted at the same time, there is a concern that a requirement is output to an actuator in a manner that a higher-priority application program requirement is not realized but a lower-priority application program requirement is realized. SUMMARY

[0005] The present disclosure provides a control device, a management device, a method, a non-transitory storage medium, and a vehicle that can output a requirement to an actuator in a manner that a higher-priority application program requirement is preferentially realized.

[0006] A first aspect of the present disclosure technology is a control device mounted on a vehicle, including a memory configured to store information related to a priority order of a plurality of application programs that realize a driving assistance function, and a processor. The processor is configured to accept, from the plurality of application programs, an identifier that identifies an application program of itself and an application program requirement. The processor is configured to adjust the plurality of application program requirements based on the information and the identifier. The processor is configured to output a requirement to an actuator based on a result after the plurality of application program requirements are adjusted.

[0007] According to the control device of the first aspect of the present disclosure technology, adjustment of the plurality of application program requirements is performed based on the information related to the priority order stored in the memory, and thus a requirement can be output (indicated) to an actuator in a manner that a higher-priority application program requirement is preferentially realized.

[0008] The application can also be configured such that the application requirements are requirements related to lateral movement of the vehicle, based on the first aspect of the present technology. The application can also be configured such that the driving assistance functions implemented by the plurality of applications include an automatic driving function and a collision avoidance assistance function, based on the first aspect of the present technology. The application can also be configured such that the priority order of the application configured to implement the collision avoidance assistance function is set to be higher than the priority order of the application configured to implement the automatic driving function, in the information. The application can also be configured such that the driving assistance functions implemented by the plurality of applications further include a lane maintenance assistance function, based on the first aspect of the present technology. The application can also be configured such that the priority order of the application configured to implement the automatic driving function is set to be higher than the priority order of the application configured to implement the lane maintenance assistance function, in the information. The application can also be configured such that the processor is configured to change the priority order in the information based on a state of the vehicle or a state of the driver, and adjust the plurality of application requirements based on the changed priority order, based on the first aspect of the present technology.

[0009] A second aspect of the present technology is a management device including an acceptance unit, a storage unit, an adjustment unit, and an output unit. The acceptance unit is configured to accept application IDs and action plan requirements from a plurality of devices on which functions of ADAS applications are installed. The storage unit is configured to store information on priority orders of the plurality of application IDs. The adjustment unit is configured to adjust the plurality of action plan requirements accepted by the acceptance unit based on the information. The output unit is configured to output a movement requirement to an actuator based on a result of the adjustment by the adjustment unit.

[0010] A third aspect of the present technology is a control method executed by a computer of a control device mounted on a vehicle, including: accepting, from a plurality of applications that implement driving assistance functions, an identifier configured to identify the application itself and an application requirement; adjusting the plurality of application requirements accepted by the accepting based on information on priority orders of the plurality of applications stored in a prescribed storage unit and the identifier; and outputting a requirement to an actuator based on a result of the adjusting.

[0011] A fourth aspect of the present technology is a non-transitory storage medium that stores a command capable of being executed by a computer of a control device mounted on a vehicle and causing the computer to perform a function. The function includes: accepting, from a plurality of applications that implement driving assistance functions, an identifier configured to identify the application itself and an application requirement; adjusting the plurality of application requirements accepted by the accepting based on information on priority orders of the plurality of applications stored in a prescribed storage unit and the identifier; and outputting a requirement to an actuator based on a result of the adjusting.

[0012] A fifth aspect of the present technology is a vehicle that mounts the control device of the first aspect of the present technology.

[0013] Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, wherein the same reference numerals are BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a functional block diagram of a control device and its peripheral section according to one embodiment of the present disclosure.

[0015] Figure 2 is an example of application priority order information stored in a storage section.

[0016] Figure 3 is an example of various criteria for setting the priority order of an application.

[0017] Figure 4 is an example of applications and functions installed in a vehicle.

[0018] Figure 5 is an application example of application priority order information. DETAILED DESCRIPTION

[0019] The control device of the present disclosure performs adjustment required by a plurality of applications based on the priority order of the plurality of applications that is set in advance according to prescribed criteria. Thereby, the actuator can be instructed in a manner that gives priority to achieving the requirements of applications having a higher priority order. One embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0020] <EMBODIMENT>

[0021] [Structure]

[0022] Figure 1 is a functional block diagram of a control device and its peripheral section mounted on a vehicle according to one embodiment of the present disclosure. Figure 1 The illustrated functional blocks include a plurality of driving assistance devices 11 to 13, a control device 20, and an actuator 30.

[0023] The drive assist devices 11 to 13 are structures for realizing various functions (drive assist functions) for assisting driving of a vehicle including at least drive control and brake control of the vehicle by executing an application program installed in each device. As the application programs installed in the drive assist devices 11 to 13, an application program realizing a function of automatic driving, an application program realizing a function of automatic parking, and an application program realizing a function of an advanced driver assistance system (ADAS: Advanced Driver Assistance System) can be exemplified. In the application program of the advanced driver assistance system (ADAS application program), an application program realizing a function of collision avoidance assistance (PCS or the like), an application program realizing a function of pedestrian risk avoidance, an application program realizing a function of front vehicle following driving (ACC or the like) in which a vehicle-to-vehicle distance is constantly maintained from a preceding vehicle, an application program realizing a function of lane keeping assistance (LKA, LTA or the like) in which a lane in which a vehicle is traveling is maintained, an application program realizing a function of collision mitigation braking (AEB or the like) in which braking is automatically applied in order to mitigate a loss in collision, an application program realizing a function of lane departure warning (LDW, LDA or the like) in which a vehicle is warned of departure from a traveling lane, an application program realizing a function of steering wheel operation guidance, and the like are included.

[0024] The drive assist devices 11 to 13 output, as application program requests, requests for action plans (front / rear acceleration / deceleration or the like) in which functionality (merit) of a single application program is ensured, to the control device 20 on the basis of information (recognition sensor information or the like) of a vehicle acquired (input) from various sensors or the like not shown. In addition, the drive assist devices 11 to 13 output, to the control device 20, respectively, identifiers (application program IDs) of the application programs for which the requests are made, together with the application program requests. The application program IDs are determined in advance for each application program.

[0025] The drive assist devices 11 to 13 are realized by computers such as electronic control units (ECU: Electronic Control Unit) having a processor such as a CPU, a memory, and an input / output interface. For example, the drive assist devices 11 to 13 can be constituted by an automatic driving ECU in which an automatic driving application program is installed, an automatic parking ECU in which an automatic parking application program is installed, and an ADAS-ECU in which an advanced driver assistance application program is installed. In addition, the number of application programs installed in each drive assist device 11 to 13 is not limited to Figure 1 one shown, but can be two or more. For example, an ACC application program, an LKA application program, and an AEB application program can also be installed in one drive assist device. In addition, the number of drive assist devices 11 to 13 is not limited to Figure 1The three shown can be two or less, or four or more.

[0026] The control device 20 decides the control content related to at least the lateral movement in the movement of the vehicle, based on the application request (action plan request) and the application ID accepted from the driving assist devices 11 to 13, and outputs the necessary request to the actuator 30 based on the decided control content. The control device 20 functions as a so-called management device (ADAS-MGR, Vehicle-MGR, etc.) related to the movement of the vehicle, or as a part of the management device, and controls the action of the vehicle. The control device 20 includes an acceptance section 21, a storage section 22, a regulation section 23, and an output section 24.

[0027] The acceptance section 21 accepts the application request (action plan request) and the application ID output from the application of each driving assist device 11 to 13, respectively. As the application request in the present embodiment, the request of the steering angle (or the steering angle) related to the lateral movement of the vehicle, etc. can be exemplified. The application request and the application ID accepted by the acceptance section 21 are output to the regulation section 23.

[0028] The storage section 22 stores the information (application priority order information) related to the priority order of a plurality of applications including the application installed in each driving assist device 11 to 13. Figure 2 is one example of the application priority order information stored in the storage section 22. As shown in the Figure 2 application priority order information, the priority order of each application (even the function thereof) determined by the application ID is set. The priority order of the application is set according to a predetermined criterion.

[0029] Figure 3 is one example of various criteria for setting the priority order of the application. In this Figure 3 , the upper row of <priority criterion> indicates the relationship between the content of the application and the priority. In the example of the upper row, it is shown that the priority of the application dedicated to the emergency avoidance is the highest, and then the priority order is sequentially from high to low for the application in which the user does not intervene, the application based on the demand on the application side other than these applications, and the application used only in the factory and not on the road. In addition, in the Figure 3 , the middle row of <judgment criterion at the time of application competition> indicates the judgment criterion of the selection in the case where there are applications with the same priority. In the example of the middle row, it is shown that the application in which the user does not intervene is selected in the case where there are applications with the same priority. In addition, in the Figure 3 , the lower row of <priority criterion> indicates the relationship between the content of the application and the priority. In the example of the lower row, it is shown that the priority of the application dedicated to the emergency avoidance is the highest, and then the priority order is sequentially from high to low for the application in which the user does not intervene, the application based on the demand on the application side other than these applications, and the application used only in the factory and not on the road. In addition, in the Figure 3In the middle example, the application (A-1) with the higher vehicle speed (control range speed) within the application control range is first selected. If the control range speeds are the same, the application (A-2) is selected based on the priority of the safety stage (range guaranteed by the application). Figure 3 In the lower row, <Judgment criteria for multiple functions> shows the judgment criteria for selection when multiple functions exist in one application. Figure 3 In the example in the lower row, a plurality of functions are compared and selected in the order of priority in terms of safety response, controllability, etc. (B-1).

[0030] The storage unit 22 stores the target application program. Figure 3 The criteria shown above predetermine the priority of the applications ( Figure 2 ). The method for determining the priority of the application will be described later.

[0031] The adjustment unit 23 adjusts the multiple application requests (action plan requests) received by the receiving unit 21 from each driving assistance device 11-13. During this adjustment, the adjustment unit 23 determines the priority of the requested application based on the application ID received from each driving assistance device 11-13 and the application priority information stored in the storage unit 22. The adjustment unit 23 then adjusts the multiple application requests based on the determined application priority. Furthermore, the adjustment unit 23 may also determine the application priority based on information indicating the vehicle status, driver status, and availability received from an onboard device (not shown).

[0032] The output unit 24 outputs a request (motion request) to the actuator 30 based on the adjustment result of the application request (action plan request) in the adjustment unit 23 .

[0033] The actuator 30 is one of the systems (implementation systems) for implementing the application requirements (action plan requirements) output by the driving assistance devices 11 to 13. When the application requirements are steering angle requirements, an electric power steering system (EPS) can be exemplified as the actuator 30. Figure 1 In the example shown in FIG. 1 , there is one actuator 30 to which the output unit 24 outputs a request (motion request), but there may be two or more actuators 30 .

[0034] [Priority determination process]

[0035] Further references Figure 4 , the order of determining the priority of the application programs executed by the control device 20 involved in this embodiment is described. Figure 4This represents an example of a target application program that may output an application request to the control device 20 among a plurality of application programs installed in the vehicle.

[0036] for Figure 4 The 11 object applications shown are firstly classified according to the priority criteria ( Figure 3 (Top row) Priority 1 application is determined. For this priority 1 dedicated emergency avoidance application, only the collision avoidance assistance application meets the criteria among the target applications. Therefore, the application ID of the collision avoidance assistance application is assigned priority "1st."

[0037] Next, based on the priority benchmark ( Figure 3 (top row), determine the application of priority 2. For the application of priority 2 where the user does not intervene, among the target applications, multiple applications such as the automatic parking application, the EM application of the automatic driving (level 4), the AD application of the automatic driving (level 4), the EM application of the automatic driving (level 3), and the AD application of the automatic driving (level 3) meet the requirements. Therefore, according to the judgment criteria ( Figure 3 The application is selected based on whether the control range speed is high or low. Automatic driving (level 4) and automatic driving (level 3) operate in a wider range from low speed to high speed, while automatic parking only operates in a low speed range. Therefore, the applications of automatic driving (level 4) and automatic driving (level 3) are selected. Next, the control range speeds of automatic driving (level 4) and automatic driving (level 3) are the same, so the safety phase (safety phase) is judged. For example, based on the outline of the definition of the level of automatic driving shown in the "Safety Technology Guidelines for Automatic Driving Vehicles" of the Automobile Bureau of the Ministry of Land, Infrastructure, Transport and Tourism of Japan, the safety phase of automatic driving (level 4) with high driving automation is higher than that of automatic driving (level 3) with conditional driving automation. Therefore, the application of automatic driving (level 4) is selected. In addition, there are multiple functions of EM and AD in the application of automatic driving (level 4), so the judgment criteria ( Figure 3Lower row) to judge safety response and controllability. EM (Emergency Maneuver) is a function that automatically stops a vehicle that is in accordance with international standards (ACSF regulations), and has a higher priority than AD (Autonomous Driving function) which is normal autonomous driving. Therefore, compared with the AD application of autonomous driving (level 4), the EM application of autonomous driving (level 4) is selected. The same selection is made for the application of autonomous driving (level 3). As a result of the above selection, for the application of priority 2, the application ID of each application is determined to be "2nd to 6th" in the order of EM of autonomous driving (level 4), AD of autonomous driving (level 4), EM of autonomous driving (level 3), AD of autonomous driving (level 3), and automatic parking.

[0038] Next, based on the priority benchmark ( Figure 3 Priority 3 applications are determined based on the application-side requirements. Among the target applications, the lane departure warning application, lane keeping assist application, pedestrian risk avoidance application, and steering wheel operation guidance application meet the requirements. These multiple applications are selected based on the order in which they are required by the vehicle system (pre-assigned priorities). In this embodiment, the application IDs of the applications are assigned a priority of "7th to 10th" in the order of lane departure warning, lane keeping assist, pedestrian risk avoidance, and steering wheel operation guidance.

[0039] Finally, according to the priority benchmark ( Figure 3 The application ID of the transport application, which operates only within the factory, is assigned priority 4. The application ID of the transport application is assigned priority 11.

[0040] According to the above order, the only decision Figure 2 The priority of the applications is as shown.

[0041] In addition, as a judgment criterion when competing in applications ( Figure 3The method of selecting an application when the control range speed is the same in the middle) can be based on the outline of the definition of the autonomous driving level shown in the safety technical guide for autonomous vehicles mentioned above, or it can be based on the automotive safety level (ASIL: Automotive Safety Integrity Level) which is a risk classification defined by the ISO_26262 standard for functional safety of vehicles. In the case of ASIL, the priority of the ASIL parameter "D" can be made the highest, and the priority of the ASIL parameter "A" can be made the lowest. In addition, as a judgment criterion when the application competes ( Figure 3 Another method of selecting an application when the control range speed is the same in the middle) can give higher priority to applications related to suppressing power output (upper limit application) than to applications related to allowing power output (lower limit application).

[0042] [Application Example 1]

[0043] based on Figure 3 The priority of the application program ( Figure 2 ) can be temporarily replaced according to the status of the vehicle, the status of the driver, etc.

[0044] For example, it may be configured such that if the vehicle is in a parking lot (or entering the parking lot from outside the parking lot), it can be recognized that the vehicle is to be parked, and thus before it can be determined that the control related to parking is completed (or terminated), for example, Figure 2 The priority order is shown as Figure 5 The priority of automatic driving and automatic parking is temporarily changed as shown in the priority order shown. To determine whether the vehicle is in a parking lot, for example, the location information of the navigation device can be used. The end (or suspension) of parking-related control can be determined by turning the ignition off (IG-OFF), changing the shift position to the park (P) position, or applying the parking brake (PKB-ON). In addition, by implementing such a temporary change of priority for applications other than the highest-priority collision avoidance assistance application, it is possible to maintain vehicle safety and appropriately adjust the application.

[0045] [Application Example 2]

[0046] In addition, in this embodiment, the control device 20 applies the priority order of applications when adjusting the lateral motion of the vehicle. However, the control device 20 can also apply the priority order of applications when adjusting the longitudinal (forward and backward) motion.

[0047] For example, in a case where the control device 20 implements adjustment among a plurality of application programs that require output of a front-rear acceleration as an application program by selecting an application program that requires the smallest front-rear acceleration (acceleration MIN value), in a case where the difference between the acceleration MIN value and the second smallest acceleration value is small and the magnitude relation between them fluctuates, the selected application program is frequently switched by adjustment. Therefore, for example, in a case where the difference between the acceleration MIN value and the second smallest acceleration value is equal to or smaller than a prescribed threshold value (for example, 0.01 m / sec 2 ), one application program can be fixedly selected based on the priority order of the application programs.

[0048] [Application Example 3]

[0049] As the application program requirements output to the control device 20 by each application program, in addition to the steering angle (or the steering manipulation angle) related to the lateral movement of the vehicle and the front-rear acceleration related to the longitudinal movement of the vehicle exemplified in the embodiments, a requirement of a shift position can be given. In this case, which shift position is selected can also be decided based on the priority order of the application programs.

[0050] <Effects>

[0051] As described above, according to the control device related to one embodiment of the present disclosure, adjustment of a plurality of application program requirements is performed based on the priority order of a plurality of application programs that are set in advance according to various criteria related to a prescribed priority. Thereby, the actuator output requirement (indication) can be performed in a manner that the application program requirement of a higher priority is preferentially achieved.

[0052] In addition, according to the control device related to the present embodiment, even in a case where a new function is added, the priority order can be uniquely decided by the criteria for setting the priority order of the application programs as shown in FIG. 8. Figure 3 For example, assume that an application program that implements an automatic parking function is newly added among the plurality of application programs installed in the Figure 4 The automatic parking function refers to a function of automatically traveling in a parking lot to find an empty parking space and park. This automatic parking application program corresponds to an application program of priority 2, but since it operates in a low speed range, the priority is lower than that of the automatic driving (level 4) and the automatic driving (level 3) application programs. On the other hand, the speed of the automatic parking (around 20 km / h) is generally faster than that of the automatic parking (around 10 km / h). Therefore, the automatic parking application program is uniquely determined to be positioned between the 5th and 6th positions in the priority order shown in FIG. 8. Figure 2

[0053] ​The above describes one embodiment of the present technology, but the present technology is not only understood as the control device of the vehicle, but also understood as a control system including the control device and other devices, a control method executed by the control device having a processor and a memory, a control program, a non-transitory storage medium readable by a computer in which the control program is stored, or a vehicle provided with the control device, and the like.

[0054] The present technology is applicable to a control device mounted on a vehicle or the like.

Claims

1. A control device mounted on a vehicle, characterized in that: The control device includes a memory configured to store information related to the priority of a plurality of application programs that implement a driving assistance function, and a processor configured as follows: The processor is composed of: receiving an identifier of an application identifying itself and an application request from the plurality of applications; adjusting a plurality of said application requirements based on said information and said identifier; outputting a request to an actuator based on a result of adjusting the plurality of application requests; as well as The application requirements are selected in descending order of priority of the applications. For the application requirements with the same priority of the applications, the application requirements are selected in descending order of the speed of the vehicle within the range of control based on the application requirements, that is, the control range speed, thereby adjusting multiple application requirements.

2. The control device according to claim 1, characterized in that The application requirement is a requirement related to lateral movement of the vehicle.

3. The control device according to claim 2, characterized in that The functions implemented by the multiple applications include autonomous driving functions and collision avoidance assistance functions, In the information, a priority of an application configured to implement the collision avoidance assist function is set higher than a priority of an application configured to implement the autonomous driving function.

4. The control device according to claim 3, characterized in that The functions implemented by the multiple applications also include lane keeping assist function, In the information, a priority order of an application configured to implement the automatic driving function is set higher than a priority order of an application configured to implement the lane keeping assist function.

5. The control device according to any one of claims 1 to 4, characterized in that: The processor is configured to change a priority order in the information based on a state of the vehicle or a state of the driver, and to adjust the plurality of application requests based on the changed priority order.

6. A management device, characterized in that: The management device includes: a receiving unit configured to receive an application ID and an action plan request from a plurality of devices having ADAS application functions installed therein; a storage unit configured to store information related to the priority of the plurality of application IDs; an adjusting unit configured to adjust the plurality of action plan requests received by the receiving unit based on the information; and an output unit configured to output a motion request to the actuator based on an adjustment result of the adjustment unit, The adjustment unit selects the action plan requirements in descending order of priority of the application ID. For the action plan requirements with the same priority of the application ID, the action plan requirements are selected in descending order of the speed of the vehicle within the range of control based on the action plan requirements, that is, the control range speed, thereby adjusting multiple action plan requirements.

7. A control method executed by a computer mounted on a vehicle control device, characterized in that: The control method includes: receiving an identifier identifying the application and an application request from a plurality of applications implementing a driving assistance function; adjusting the plurality of application requests received by the receiving based on information regarding priority of the plurality of applications stored in a predetermined storage unit and the identifier; and outputting a request to the actuator based on a regulation result in the regulation, In the adjustment, the application requirements are selected in descending order of priority of the application. For the application requirements with the same priority of the application, the application requirements are selected in descending order of the speed of the vehicle within the range of control based on the application requirements, that is, the control range speed, thereby adjusting multiple application requirements.

8. A non-transitory storage medium storing a command executable by a computer mounted on a vehicle control device and causing the computer to perform the following function, characterized in that: The features include: receiving an identifier identifying the application and an application request from a plurality of applications implementing a driving assistance function; adjusting the plurality of application requests received by the receiving based on information regarding priority of the plurality of applications stored in a predetermined storage unit and the identifier; and outputting a request to the actuator based on a regulation result in the regulation, In the adjustment, the application requirements are selected in descending order of priority of the application. For the application requirements with the same priority of the application, the application requirements are selected in descending order of the speed of the vehicle within the range of control based on the application requirements, that is, the control range speed, thereby adjusting multiple application requirements.

9. A vehicle, characterized in that: The control device according to any one of claims 1 to 5 is mounted.

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