Manager, control method, recording medium, vehicle, and control device

Abstract

The present invention relates to a manager, a control method, a recording medium, a vehicle, and a control device. The manager includes: a receiving unit that receives multiple application IDs and multiple action plans from multiple ADAS applications; a coordinating unit that coordinates the multiple action plans; and an output unit that outputs a motion request to an actuator system based on the coordination result of the coordinating unit. The output unit outputs the motion request to the actuator system corresponding to the application ID.

Description

Technical Field

[0001] The present disclosure relates to a manager for coordinating action requests from a plurality of ADAS (Advanced Driver Assistance System) applications, a control method, a recording medium, a vehicle including the manager, and a control device. Background Art

[0002] Japanese Patent Application Laid-Open No. 2020-32894 describes an information processing device that coordinates requests to actuators outputted from a plurality of driving assistance applications, and outputs instruction information to the actuators based on the coordination result.

[0003] Conventionally, driving assistance applications were designed to request the operation of specific actuators. In contrast, as described in Japanese Patent Application Laid-Open No. 2020-32894, which presupposes the use of a device that coordinates requests from multiple driving assistance applications and controls actuators based on the coordination results, driving assistance applications are designed to output control targets to a manager without specifying the actuators to be activated.

[0004] However, if the driving assistance application outputs an unexpected control target due to a malfunction of the driving assistance application, an actuator inappropriate for realizing the function of the driving assistance application may operate, and the vehicle behavior may become unstable. Summary of the Invention

[0005] Therefore, an object of the present disclosure is to provide a manager or the like that can suppress an inappropriate actuator from operating based on a request from an ADAS application.

[0006] The manager involved in one embodiment of the present disclosure includes: an acceptance unit, which accepts multiple application IDs and multiple action plans from multiple ADAS applications; a coordination unit, which coordinates the multiple action plans; and an output unit, which outputs a motion request to the actuator system based on the coordination result of the coordination unit, and the output unit outputs the motion request to the actuator system corresponding to the application ID.

[0007] A vehicle according to one embodiment of the present disclosure may include the above-mentioned manager.

[0008] A control method according to one embodiment of the present disclosure is executed by an electronic control unit mounted on a vehicle. The control method includes: accepting multiple application IDs and multiple action plans from multiple ADAS applications; coordinating the multiple action plans; and, based on the coordination results, outputting motion requests to actuator systems corresponding to the application IDs.

[0009] A storage medium according to one embodiment of the present disclosure is a computer-readable, non-transitory recording medium having a program recorded thereon. The program is executed on a computer mounted on a vehicle, causing the computer to accept multiple application IDs and multiple action plans from multiple ADAS applications, coordinate the multiple action plans, and output motion requests to actuator systems corresponding to the application IDs based on the coordination results.

[0010] A control device according to one embodiment of the present disclosure is mounted on a vehicle and includes one or more processors. The one or more processors are configured to receive multiple application IDs and multiple action plans from multiple ADAS applications, coordinate the multiple action plans, and output motion requests to actuator systems corresponding to the application IDs based on the coordination results.

[0011] The present disclosure can provide a manager and the like that can suppress inappropriate actuators from operating based on requests from ADAS applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Hereinafter, features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0013] Figure 1 This is a block diagram of a vehicle control system according to an embodiment.

[0014] Figure 2 This is a functional block diagram of a manager according to an embodiment.

[0015] Figure 3 This is a diagram showing an example of a combination permission table stored in the storage unit.

[0016] Figure 4 This is a flowchart showing an example of a control process executed by the manager according to the embodiment. DETAILED DESCRIPTION

[0017] Figure 1 This is a block diagram of a vehicle control system according to an embodiment.

[0018] Figure 1 The vehicle control system includes a plurality of ADAS applications 1 a to 1 c , a manager 10 , and a plurality of actuator systems 20 a to 20 d .

[0019] ADAS applications 1a to 1c are software that implements vehicle driving assistance functions such as autonomous driving, automatic parking, adaptive cruise control, lane keeping assist, and collision reduction braking. ADAS applications 1a to 1c are executed by computers such as ECUs that have processors such as CPUs, memories, and storage devices. ADAS applications 1a to 1c can be executed on a single ECU or distributed across two or more ECUs. Figure 1 In order to simplify the description, three ADAS applications 1a to 1c are shown, but the number of ADAS applications to be executed is not limited and may be two or less or four or more.

[0020] ADAS applications 1a to 1c generate action plans, which are vehicle control targets, based on output values ​​from various sensors mounted on the vehicle and driver inputs. ADAS applications 1a to 1c output the generated action plans and their own application IDs, which are identification information, to the manager 10 .

[0021] The manager 10 coordinates the action plans received from the ADAS applications 1a to 1c and outputs motion requests to the actuator systems 20a to 20d based on the coordination results. Details of the manager 10 will be described later.

[0022] The actuator systems 20a to 20d are systems for implementing motion requests from the manager 10. The actuator systems 20a to 20d include ECUs 30a to 30d and actuators (ACT) 40a to 40d, respectively. The ECUs 30a to 30d control the corresponding actuators 40a to 40d, respectively.

[0023] Figure 2 This is a functional block diagram of a manager according to an embodiment.

[0024] The manager 10 includes a receiving unit 11, a coordinating unit 12, an allocating unit 13, an output unit 14, and a storage unit 15. The manager 10 can be implemented by an electronic control unit including a processor (CPU) and a memory or other storage device.

[0025] The accepting unit 11 accepts an action plan and an application ID from the ADAS applications 1 a to 1 c .

[0026] The coordination unit 12 coordinates multiple action plans received from ADAS applications 1a-1c. Action plans can include, for example, target values ​​for the vehicle's forward and backward motion, target values ​​for the vehicle's lateral motion, gear position, and the activation status of the electric parking brake (EPB). When two or more related action plans are received from ADAS applications, the coordination unit 12 coordinates by, for example, selecting one action plan from the received action plans based on predetermined rules or setting an allowable range of control based on the received action plans.

[0027] The distribution unit 13 calculates motion requests for the actuator systems 20a-20d based on the coordination results of the coordination unit 12, and distributes the motion requests to at least one of the plurality of actuator systems 20a-20d. The distribution unit 13 distributes the motion requests based on the action plan selected by the coordination to one or more of the actuator systems 20a-20d based on the application ID of the ADAS application that outputs the action plan selected by the coordination unit 12 and a combination permission table stored in the storage unit 15, which will be described later.

[0028] The output unit 14 outputs the calculated and distributed motion requests to the actuator systems 20 a to 20 d based on the coordination result of the coordination unit.

[0029] The storage unit 15 stores a combination permission table in which the application ID of each ADAS application is associated with information related to the actuator system corresponding to the application ID. The storage unit 15 can be implemented by a storage device such as a memory.

[0030] Figure 3 This is a diagram showing an example of a combination permission table stored in the storage unit.

[0031] The combination permission table is defined by associating actuator systems that are permitted to act in order to implement an action plan from an ADAS application with the application ID of the ADAS application.

[0032] exist Figure 3 In this example, for the action plan from the ADAS application with application ID ID_1, the activation of ACTa and ACTb is permitted, while the activation of other actuators is prohibited. Similarly, for the action plan from the ADAS application with application ID ID_m, the activation of ACTc is permitted, while the activation of other actuators is prohibited. For the action plan from the ADAS application with application ID ID_n, the activation of ACTd is permitted, while the activation of other actuators is prohibited.

[0033] In addition to defining the permissions for all actuator system actions, the combination permission table can also define permissions for specific actuator system actions. For example, if an ADAS application outputs an action plan that includes a gear change, the combination permission table can define whether to allow gear changes to all gears, or whether to allow gear changes to a specific gear other than the P gear (e.g., the P gear).

[0034] Figure 4 This is a flowchart showing an example of a control process executed by the manager according to the embodiment. Figure 4The control process shown is started, for example, when the vehicle is started (IG-ON), and is repeatedly performed at predetermined intervals while the ADAS application is being executed.

[0035] In step S1, the receiving unit 11 receives an application ID and an action plan from the ADAS applications 1a to 1c. The process then proceeds to step S2.

[0036] In step S2, the coordination unit 12 coordinates the plurality of action plans accepted by the acceptance unit 11. Then, the process proceeds to step S3.

[0037] In step S3, the allocating unit 13 refers to the combination permission table stored in the storage unit 15. Then, the process proceeds to step S4.

[0038] In step S4, the allocator 13 determines whether the actuator system requested to operate according to the action plan selected in step S2 is an actuator that is permitted based on the referenced combination permission table. If the determination in step S4 is "yes," the process proceeds to step S5. On the other hand, if the determination in step S4 is "no," the process proceeds to step S1, discarding the action plan selected in step S2.

[0039] In step S5, the allocation unit 13 calculates the motion request for the actuator system based on the selected action plan. In addition, the allocation unit 13 allocates the motion request to the actuator system corresponding to the application ID of the ADAS application that outputs the action plan selected in step S2 based on the combination permission table. For example, Figure 1 as well as Figure 3 In the example, if the action plan from ADAS application 1a is selected through coordination, motion requests are assigned to the actuators corresponding to application ID_1 of ADAS application 1a, namely ACTa and ACTb. This motion request assignment includes calculating motion requests for one or more actuator systems (such as the powertrain and / or brakes) to achieve a single target value (such as longitudinal acceleration) and calculating motion requests for multiple actuator systems (such as shift control and EPB control) to achieve different target values. The process then proceeds to step S6.

[0040] In step S6, the output unit 14 outputs the motion request calculated and distributed in step S5 to the actuator system. Then, the process proceeds to step S1.

[0041] As described above, the manager 10 according to this embodiment outputs a motion request calculated based on the coordination results to the actuator system corresponding to the application ID of the ADAS application that outputs the action plan selected through coordination. This prevents actuator systems not associated with the application ID from operating in accordance with the action plan output by the ADAS application.

[0042] Furthermore, since the storage unit 15 of the manager 10 stores information related to application IDs and one or more corresponding actuator systems (combination permission table), the definition of permitted actuators can be appropriately changed according to the type of ECU mounted on the vehicle.

[0043] Furthermore, the functions of the manager 10 described in the above embodiments can also be implemented as a control method executed by an onboard computer equipped with a processor (CPU), memory, and storage device, or as a program for causing the computer to execute the program, or as a computer-readable non-transitory storage medium storing the program. Furthermore, the functions of the manager 10 described in the above embodiments can also be implemented as a microcomputer or ECU in which the control method described above is implemented, or as a microcomputer or ECU in which a program for implementing the control method described above is installed in a storage device.

[0044] The present disclosure can be utilized as an in-vehicle control device that coordinates requests from ADAS applications and controls a plurality of actuator systems.

Claims

1. A manager, characterized in that: include: The receiving unit receives a plurality of application IDs and a plurality of action plans from a plurality of ADAS applications, i.e., advanced driver assistance system applications; a coordination unit that, when related action plans are received from two or more of the ADAS applications, coordinates the action plans by selecting one action plan from the received action plans based on a predetermined rule or by setting a control permission range based on the received action plans; as well as an output unit that outputs a motion request to the actuator system based on the coordination result of the coordination unit, The output unit outputs the motion request to the actuator system corresponding to the application ID, The application ID of each ADAS application is associated with the information related to the actuator system corresponding to the application ID. When an action plan from an ADAS application is selected through coordination, the motion request is distributed to the actuator system corresponding to the application ID of the ADAS application. The allocation of the motion requests includes calculating motion requests to one or more actuator systems to achieve one target value, and calculating motion requests to multiple actuator systems to achieve different target values.

2. The manager according to claim 1, wherein: The system further includes a storage unit that stores the application ID in association with information related to the actuator system corresponding to the application ID.

3. The manager according to claim 2, wherein: further comprising a distribution unit configured to distribute the motion request to at least one of the plurality of actuator systems based on a coordination result of the coordination unit, The allocation unit allocates the motion request to the actuator system corresponding to the application ID based on the application ID and information related to the actuator system corresponding to the application ID.

4. A control method, executed by an electronic control unit mounted on a vehicle, characterized in that: include: Accepting multiple application IDs and multiple action plans from multiple ADAS applications, i.e., advanced driver assistance system applications; When related action plans are received from two or more ADAS applications, coordinating the plurality of action plans by selecting one action plan from the received action plans based on a predetermined rule or setting a control permission range based on the received action plans; as well as outputting a motion request to the actuator system corresponding to the application ID based on a coordination result of the coordination, The application ID of each ADAS application is associated with the information related to the actuator system corresponding to the application ID. When an action plan from an ADAS application is selected through coordination, the motion request is distributed to the actuator system corresponding to the application ID of the ADAS application. The allocation of the motion requests includes calculating motion requests to one or more actuator systems to achieve one target value, and calculating motion requests to multiple actuator systems to achieve different target values.

5. A non-transitory recording medium having a program recorded thereon and readable by a computer, characterized in that: The computer mounted on the vehicle executes the program to accept multiple application IDs and multiple action plans from multiple ADAS applications, i.e., advanced driver assistance system applications. When related action plans are accepted from two or more ADAS applications, the multiple action plans are coordinated by selecting one action plan from the accepted action plans based on a predetermined rule or setting an allowable range of control based on the accepted action plans. A motion request is output to the actuator system corresponding to the application ID based on the coordination result. The application ID of each ADAS application is associated with the information related to the actuator system corresponding to the application ID. When an action plan from an ADAS application is selected through coordination, the motion request is distributed to the actuator system corresponding to the application ID of the ADAS application. The allocation of the motion requests includes calculating motion requests to one or more actuator systems to achieve one target value, and calculating motion requests to multiple actuator systems to achieve different target values.

6. A vehicle, characterized in that: A device comprising the manager according to any one of claims 1 to 3.

7. A control device mounted on a vehicle, characterized in that: comprising one or more processors configured to: Accept multiple application IDs and multiple action plans from multiple ADAS applications, i.e., advanced driver assistance system applications. When two or more related action plans are received from the ADAS application, the plurality of action plans are coordinated by selecting one action plan from the received action plans based on a predetermined rule or by setting a control allowable range based on the received action plans. outputting a motion request to the actuator system corresponding to the application ID based on a coordination result of the coordination, The application ID of each ADAS application is associated with the information related to the actuator system corresponding to the application ID. When an action plan from an ADAS application is selected through coordination, the motion request is distributed to the actuator system corresponding to the application ID of the ADAS application. The allocation of the motion requests includes calculating motion requests to one or more actuator systems to achieve one target value, and calculating motion requests to multiple actuator systems to achieve different target values.

8. The control device according to claim 7, characterized in that: The system further includes a memory for storing the application ID in association with information related to the actuator system corresponding to the application ID.

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