Vehicle control system, vehicle, and control method

Abstract

The present application relates to a vehicle control system, a vehicle, and a control method. The vehicle control system includes: an operation unit that is mounted on a vehicle and performs an operation based on an operation request; a plurality of sub-ECUs connected via a vehicle-mounted network; a core-ECU that has a gateway function for relaying data communication between the plurality of sub-ECUs and data communication between the plurality of sub-ECUs and a device outside the vehicle; and an operation request unit from a plurality of systems that requests an operation to the operation unit. The operation request unit includes at least a request from the device outside the vehicle or a request from a function added to the core-ECU from the device outside the vehicle. When the operation request from the plurality of systems is accepted, the core-ECU performs arbitration of the operation request from the plurality of systems and transmits an arbitration result to at least one of the plurality of sub-ECUs.

Description

Technical Field

[0001] This invention relates to a control system for vehicles, a vehicle, and a control method. Background Technology

[0002] Patent Document 1 describes a vehicle control device capable of adding new functions to a vehicle or deleting existing functions. Patent Document 2 describes a vehicle relay device that performs relaying between multiple vehicle networks.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-159661

[0004] Patent Document 2: Japanese Patent Application Publication No. 2014-193654 Summary of the Invention

[0005] In a first embodiment, a vehicle control system is provided. The vehicle control system includes an action unit mounted on a vehicle that performs actions based on action requests. The vehicle control system includes multiple sub-ECUs connected via an in-vehicle network. The vehicle control system includes a core ECU that has a gateway function for relaying data communication between the multiple sub-ECUs and data communication between the multiple sub-ECUs and external devices. The vehicle control system includes an action request unit from the multiple systems that requests actions from the action unit. The action request unit includes at least a request from an external device or a request for a function added to the core ECU from an external device. When an action request from the multiple systems is received, the core ECU can perform arbitration on the action requests from the multiple systems and send the arbitration result to at least one of the multiple sub-ECUs.

[0006] At least one of the core ECU and multiple sub-ECUs can acquire input information from human action instructions for the actuator, and perform arbitration of the core ECU's action requests from multiple systems and the human action instructions.

[0007] At least one of the multiple sub-ECUs can acquire action instructions from a person and perform arbitration of the core ECU's action requests from multiple systems and the action instructions from the person.

[0008] The core ECU can obtain input instruction information of action instructions from a person, perform arbitration of the core ECU's action requests from multiple systems and the action instructions from the person, and send the arbitration result to at least one of the multiple sub-ECUs.

[0009] It may include a decision unit to determine which of the action requests from multiple systems and the action instructions from a person takes priority.

[0010] At least one of the multiple sub-ECUs may have a decision unit that determines which of the action requests from multiple systems and the action instructions from a person should take priority.

[0011] The judgment of the judgment unit can be changed by rewriting the program of at least one of the multiple auxiliary ECUs.

[0012] The core ECU can send the arbitration result of the core ECU on action requests from multiple systems and information indicating which of the action requests from multiple systems and action instructions from humans takes precedence to at least one of the multiple sub-ECUs.

[0013] The actuator may include at least one of a lamp body and an opening / closing body.

[0014] In the second approach, a vehicle is provided. The vehicle is equipped with the aforementioned vehicle control system.

[0015] In a third approach, a control method is provided. This control method is executed in a vehicle control system. The vehicle control system includes: an action unit that executes actions based on action requests; a core ECU having a gateway function for relaying data communication between multiple sub-ECUs connected via an in-vehicle network and data communication between the multiple sub-ECUs and external devices; and an action request unit from multiple systems that requests actions from the action unit, the action request unit including at least a request from an external device or a request from an external device for a function to be added to the core ECU. The control method includes a step whereby, when an action request from multiple systems is received, the core ECU performs arbitration of the action requests from the multiple systems. The control method also includes a step whereby the core ECU sends the arbitration result to at least one of the multiple sub-ECUs.

[0016] Furthermore, the above summary of the invention does not list all the essential features of the invention. Additionally, sub-combinations of these feature groups can also constitute an invention. Attached Figure Description

[0017] Figure 1 The configuration of a vehicle control device according to one embodiment, including a core ECU 202, a sub-ECU 100a, and an actuation unit 150a, is schematically shown.

[0018] Figure 2 The overall functional configuration of a vehicle 20 according to one embodiment is shown.

[0019] Figure 3 The overall functional configuration of vehicle 320, a variant of vehicle 20, is shown.

[0020] Figure 4An example of a computer 2000 is shown. Detailed Implementation

[0021] The present invention will now be described through embodiments thereof, but these embodiments do not limit the scope of the claimed invention. Furthermore, not all combinations of features described in the embodiments are essential to the solutions provided by the present invention.

[0022] Figure 1 The configuration of a vehicle control device according to one embodiment, including a core ECU 202, a sub-ECU 100a, and an actuation unit 150a, is schematically shown. Figure 1 This diagram is used to schematically illustrate the control used to operate the actuator 150a. It is assumed that the actuator 150a is, for example, a drive mechanism for an external lamp.

[0023] The core ECU 202 has voice assistance function 11, connectivity function 12, extended application function 13, AD function 14, and inter-system arbitration unit 102. The auxiliary ECU 100a has human-system arbitration unit 120a, exterior light control unit 140a, door lock detection function 15, and driver operation detection function 16.

[0024] The core ECU 202 includes a voice assistance function 11, a connectivity function 12, an extended application function 13, and an AD function 14, which are function blocks for acquiring action requests for the action unit 150a from various systems. The voice assistance function 11 acquires voice-based action requests and outputs them to the inter-system arbitration unit 102. The connectivity function 12 receives action requests for the action unit 150a from external devices via a communication network such as the Internet and outputs them to the inter-system arbitration unit 102. The extended application function 13 is implemented by software for extending the functionality of the core ECU 202 and is a function added from external devices. The extended application function 13 generates action requests for the action unit 150a in the core ECU 202 and outputs them to the inter-system arbitration unit 102. The AD function 14 is a function block related to autonomous driving. The AD function 14 acquires action requests for the action unit 150a based on an autonomous driving system with AD functionality, the outputs of various sensors, etc., and outputs them to the inter-system arbitration unit 102. In addition, the action requests of the action unit 150a include turning on the exterior light, turning off the exterior light, and changing the lighting mode of the exterior light.

[0025] The inter-system arbitration department 102 arbitrates the action requests from the action unit 150a obtained from the voice assistance function 11, connection function 12, extended application function 13 and AD function 14, decides how the action unit 150a should act, generates a control signal to request the determined action from the action unit 150a, and outputs it to the human-system arbitration department 120a.

[0026] In the sub-ECU 100a, a control signal indicating the state of the door lock detection function 15 is output to the human-system arbitration unit 120a. The driver operation detection function 16 is a function block used to acquire the driver's operation of the turn signals of the exterior lights and output the operation information to the driver intention determination function 130. The driver intention determination function 130 determines the driver's intention related to the action of the action unit 150a and outputs a control signal requesting the determined action to the human-system arbitration unit 120a.

[0027] The human-system arbitration unit 120a arbitrates the control signals from the inter-system arbitration unit 102, the control signals from the door lock detection function 15, and the control signals obtained from the driver intention determination function 130, determines how the action unit 150a should operate, generates a control signal to request the determined action from the action unit 150a, and outputs it to the exterior lighting control unit 140a. The exterior lighting control unit 140a outputs a drive signal to the action unit 150a to activate the action unit 150a based on the input control signals.

[0028] Thus, since the inter-system arbitration unit 102 arbitrates action requests from the voice assistance function 11, connectivity function 12, extended application function 13, and AD function 14, assuming that a service to activate the action unit 150a is added from an external device as a new function provided by the core ECU 202, the action request based on the new service is added to the inter-system arbitration unit 102, which then performs arbitration between multiple systems. Therefore, it is not necessary to add an external interface to the core ECU 202, nor is it necessary to change the interface between the inter-system arbitration unit 102 and the human-system inter-system arbitration unit 120a.

[0029] Furthermore, the human-system arbitration unit 120a arbitrates the inter-system arbitration result based on the human-system arbitration unit 120a and the action request based on human operation such as that of the driver, and generates a control signal output to the exterior lighting control unit 140a. Therefore, when adding a new service, it is not necessary to change the interface between the human-system arbitration unit 120a and the exterior lighting control unit 140a. As a result, since it has the configuration to arbitrate inter-system action requests based on the inter-system arbitration unit 102 and human-system action requests based on the human-system arbitration unit 120a, system changes such as introducing new interfaces are reduced when adding a new service to the core ECU 202. Therefore, the development time required to construct the control logic for arbitrating action requests such as human switching operations and action requests from existing systems can be reduced.

[0030] Figure 2The overall functional configuration of a vehicle 20 according to one embodiment is shown. The vehicle 20 includes a vehicle control system 22. The vehicle control system 22 includes a TCU 201, a core ECU 202, a sub-ECU 203, an ICB 204, sub-ECUs 100a, 100b, 205a, 205b, an operating member 170a, and an operating member 170b. Furthermore, although... Figure 2 The diagram shows a vehicle 20 equipped with a vehicle control system 22; however, the configuration of the vehicle 20 is not limited to the example of this embodiment and may include other components. Similarly, the configuration of the vehicle control system 22 is not limited to the example of this embodiment and may include other components. Figure 2 Not all constituent elements are shown.

[0031] Core ECU 202, sub-ECU 203, ICB 204, sub-ECU 100a, sub-ECU 100b, sub-ECU 205a, and sub-ECU 205b are Electronic Control Units (ECUs) used for controlling in-vehicle equipment. Each of these ECUs can be configured to include a computer with a processor, volatile memory, and non-volatile memory. TCU 201 is a Telematics Control Unit.

[0032] TCU201 is responsible for wireless communication with the outside of vehicle 20. For example, TCU201 is responsible for wireless communication via mobile networks and wireless LAN communication. As an example of an external device, communication terminal 50 can communicate with core ECU 202 through TCU201. For example, a user of communication terminal 50 can remotely operate the power windows of vehicle 20 by communicating with core ECU 202 using communication terminal 50.

[0033] Core ECU 202 is connected to TCU 201 via vehicle network 180a. Core ECU 202 and TCU 201 can communicate with each other via vehicle network 180a. Core ECU 202 is connected to auxiliary ECU 203 via vehicle network 180b. Core ECU 202 and auxiliary ECU 203 can communicate with each other via vehicle network 180b. For example, auxiliary ECU 203 is an ECU related to the autonomous driving system. Core ECU 202 is connected to ICB 204 via vehicle network 180c. Core ECU 202 and ICB 204 can communicate with each other via vehicle network 180c. ICB 204 is an ICB (Infotainment Control Box) equipped with voice assistance functions and extended applications. ICB 204 may also have a user interface such as a display. ICB 204 is an example of an auxiliary ECU. ICB 204 can generate action requests to the action unit 150. Core ECU 202 is connected to auxiliary ECU 100a via vehicle network 180d. Core ECU 202 and auxiliary ECU 100a can communicate with each other via vehicle network 180d. Core ECU 202 is connected to auxiliary ECU 100b via vehicle network 180e. Core ECU 202 and auxiliary ECU 100b can communicate with each other via vehicle network 180e. Auxiliary ECU 100a is connected to auxiliary ECU 205a via vehicle network 180f. Auxiliary ECU 100a and auxiliary ECU 205a can communicate with each other via vehicle network 180f. Auxiliary ECU 100b is connected to auxiliary ECU 205b via vehicle network 180g. Auxiliary ECU 100b and auxiliary ECU 205b can communicate with each other via vehicle network 180g.

[0034] Vehicle network 180a is, for example, a communication network that follows Ethernet (registered trademark). Vehicle networks 180b, 180c, 180d, 180e, 180f, and 180g are, for example, CAN (Controller Area Network) communication networks.

[0035] Will use Figure 2 The example shown will be explained in detail. The core ECU 202 includes an inter-system arbitration unit 102. The sub-ECU 100a includes a judgment unit 110a and a human-system inter-arbitration unit 120a. The sub-ECU 100b includes a judgment unit 110b and a human-system inter-arbitration unit 120b. The output of the operating member 170a is input to the human-system inter-arbitration unit 120a, and the output of the operating member 170b is input to the human-system inter-arbitration unit 120b.

[0036] Action units 150a and 150b execute actions based on action requests. Action unit 150a is, for example, a drive mechanism for an exterior light. Action unit 150b is a drive mechanism for a power window. Operating member 170a is, for example, a turn signal switch for the exterior light. Operating member 170a is, for example, an operating switch for the power window. In this embodiment, the drive mechanism for an exterior light or a power window is exemplified as the action unit. However, the action unit can be used not only for light bodies such as exterior lights or windows such as power windows, but also for opening and closing mechanisms such as sunroofs, tailgates, and doors, or for various vehicle-mounted devices such as windshield wipers, door locks, air conditioners, and horns. Furthermore, the action unit is not limited to a vehicle body system drive mechanism; it can also be a drive mechanism for a driving system.

[0037] Sub-ECUs 203, 204, 100a, and 100b are connected via the vehicle network 180a. The core ECU 202 functions as a gateway, relaying data communication between sub-ECUs 203, 204, 100a, 100b, 205a, and 205b, as well as between ICB204, 100a, and 100b and the communication terminal 50. The core ECU 202 is sometimes also referred to as the "central ECU" or "main ECU."

[0038] The core ECU 202 receives action requests from multiple systems that request action from the action unit 150. For example, by mounting on... Figure 1 The voice assistance function 11 on the ICB204, the connectivity function 12 on the TCU201, the extended application function 13 on the ICB204, and the AD function of the sub-ECU203 are used to handle action requests. For example, an action request to the action unit 150 can be sent from the communication terminal 50 outside the vehicle, and the core ECU202 can handle the action request sent through the TCU201. The core ECU202 can also handle the action request to the action unit 150 sent from the sub-ECU203. An action request to the action unit 150 can be generated within the core ECU202 based on information detected by the ICB204. The action request includes at least a request from the communication terminal 50 or a request from a function added to the core ECU202 from the communication terminal 50.

[0039] When an action request is received from multiple systems, the core ECU 202 arbitrates the action requests from the multiple systems and sends the arbitration result to at least one of the sub-ECUs 100a and 100b. Specifically, the core ECU 202 has the inter-system arbitration department 102 arbitrate the action requests from the multiple systems.

[0040] Therefore, the core ECU 202, acting as a receiving port, receives and arbitrates action requests related to the vehicle body of the vehicle 20. Thus, by simply changing the arbitration logic of the core ECU 202, which functions as a gateway between external and internal vehicle devices, new services and functions can be added without affecting other interfaces. This reduces development time when adding new services or functions. Furthermore, since updates to the core ECU 202 can be performed via OTA (Over-The-Air), the development time required to add new services and functions can be further reduced.

[0041] At least one of the core ECU 202, sub-ECU 203, ICB 204, sub-ECU 100a, and sub-ECU 100b acquires input information from human action instructions for the action unit 150, and performs arbitration of the core ECU 202's arbitration results for action requests from multiple systems and human action instructions. Figure 2 In this configuration, at least one of the sub-ECUs 100a and 100b receives a human action instruction and arbitrates the arbitration results of the core ECU 202 regarding action requests from multiple systems and the human action instruction. For example, the human-system arbitration unit 120a arbitrates the arbitration results for the core ECU 202 and the human action instruction input via the operating member 170a. Furthermore, the human-system arbitration unit 120b arbitrates the arbitration results for the core ECU 202 and the human action instruction input via the operating member 170b. Sub-ECU 100a causes sub-ECU 205a to operate the action unit 150a by sending a control signal corresponding to the arbitration result to sub-ECU 205a. Sub-ECU 100b causes sub-ECU 205b to operate the action unit 150b by sending a control signal based on the arbitration result to sub-ECU 205b. Therefore, since it is not necessary to arbitrate human input information via the core ECU 202, the responsiveness to human operations can be improved. Furthermore, development time related to arbitration can be reduced.

[0042] Judgment units 110a and 110b determine which of the action requests from multiple systems and the action instructions from a person takes priority. Furthermore, at least one of the sub-ECUs 100a and 100b includes a judgment unit for determining which of the action requests from multiple systems and the action instructions from a person takes priority. By providing judgment units 110a and 110b in the sub-ECUs 100a and 100b, arbitration can be performed by the core ECU 202 without changing the rear interface. Furthermore, responsiveness to human operation can be improved.

[0043] The decisions of the decision units 110a and 110b can be changed by rewriting the program of at least one of the sub-ECUs 100a and 100b. Therefore, program rewriting via OTA or similar methods can switch the priority between action requests from multiple systems and action instructions from the human. Thus, for example, when a vehicle not corresponding to high-mode autonomous driving is set to correspond to high-mode autonomous driving, it is necessary to switch control from human priority to system priority, but this switch can be performed through program rewriting.

[0044] Furthermore, the core ECU 202 can send information to at least one of the sub-ECUs 100a and 100b, indicating which of the action requests from multiple systems and the action instructions from a person takes precedence, as well as the arbitration result of the core ECU 202 regarding the action requests from multiple systems. Thus, even when the sub-ECU 100 does not correspond to a program rewrite, the priority of which of the action requests from multiple systems and the action instructions from a person takes precedence can be switched by rewriting the program of the core ECU 202.

[0045] Figure 3 The overall functional configuration of vehicle 320, a variant of vehicle 20, is shown. Vehicle 320 includes a vehicle control system 322, a variant of vehicle control system 22. Vehicle control system 322 includes TCU 201, core ECU 302, sub-ECU 203, ICB 204, sub-ECU 400a, sub-ECU 400b, operating member 170a, and operating member 170b. Here, the vehicle control system 322 and... Figure 2 The differences between the vehicle control systems 22 shown.

[0046] In the vehicle control system 322, the core ECU 302, in addition to the inter-system arbitration unit 102, also includes a human-system arbitration unit 120 and a judgment unit 110. The sub-ECU 400a does not have functions corresponding to the judgment unit 110a and the human-system arbitration unit 120a, and the sub-ECU 400b does not have functions corresponding to the judgment unit 110b and the human-system arbitration unit 120b. The outputs of the operating components 170a and 170b are input to the human-system arbitration unit 120. The sub-ECU 400a actuates the actuator 150a via the sub-ECU 205a, and the sub-ECU 400b actuates the actuator 150b via the sub-ECU 205a.

[0047] The vehicle control system 322 differs from the vehicle control system 22 in that the core ECU 202 arbitrates the arbitration results of action requests between systems and human action instructions. Specifically, the core ECU 202 obtains input instruction information of action instructions from a person, performs arbitration on action requests from multiple systems and action instructions from a person, and sends the arbitration results to at least one of the sub-ECUs 400a and 400b.

[0048] More specifically, the human-system arbitration unit 120 obtains the arbitration results of action requests from multiple systems from the inter-system arbitration unit 102. Furthermore, the human-system arbitration unit 120 obtains input instruction information for action instructions from a human via operating components 170a and 170b. The human-system arbitration unit 120 performs arbitration on the action requests from multiple systems and the action instructions from the human, and sends the arbitration results to at least one of the sub-ECUs 400a and 400b. Additionally, the judgment unit 110 determines which of the action requests from multiple systems and the action instructions from the human takes priority.

[0049] In the vehicle control system 322, similarly to the vehicle control system 22, the core ECU 202 arbitrates action requests from multiple systems and then arbitrates the arbitration result against the human's action instructions. Therefore, since the core ECU 202 processes the arbitration of action requests from multiple systems in the same way as the vehicle control system 22, adding services or functions does not require changing the interface after the arbitration process. This makes it easier to add autonomous driving functions, expand applications, and add new services in a timely manner. Furthermore, it reduces the increase in development time.

[0050] Vehicle 20 is an example of a transportation device. A vehicle can be a car with an internal combustion engine, an electric vehicle, or a fuel cell vehicle (FCV), etc. Cars include buses, trucks, two-wheeled vehicles, etc. Vehicles can be saddle-type vehicles, or motorcycles. In addition to vehicles, transportation devices also include aircraft such as unmanned aerial vehicles and ships. Transportation devices can be any device used to transport people or goods. Transportation devices are examples of mobile bodies. Mobile bodies are not limited to transportation devices and can be any movable device.

[0051] Figure 4Examples of computer 2000 that may embody all or part of the various embodiments of the present invention are shown. A program installed on the computer 2000 enables the computer 2000 to function as a system or unit of a system such as a vehicle control system according to the embodiments, or as a device or unit of a device such as core ECU 202, core ECU 302, sub-ECU 100a, sub-ECU 100b, etc., to perform operations associated with the system or its units, the device or its units, and / or to perform processes or steps related to the embodiments. Such a program may be executed by CPU 2012 to enable the computer 2000 to perform the processing flow described herein and specific operations associated with several or all of the functional blocks in the block diagram.

[0052] The computer 2000 based on this embodiment includes a CPU 2012 and RAM 2014, which are interconnected via a main controller 2010. The computer 2000 also includes a ROM 2026, flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, flash memory 2024, communication interface 2022, and input / output chip 2040 are connected to the main controller 2010 via an input / output controller 2020.

[0053] CPU2012 operates according to the programs stored in ROM2026 and RAM2014, thereby controlling each unit.

[0054] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 within the computer 2000. The ROM 2026 stores startup programs executed by the computer 2000 when activated, and / or programs dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as keyboards, mice, and monitors to the input / output controller 2020 via input / output ports such as serial ports, parallel ports, keyboard ports, mouse ports, monitor ports, USB ports, and HDMI (registered trademark) ports.

[0055] The program is provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or USB flash drive, or via a network. RAM 2014, ROM 2026, or flash memory 2024 are examples of computer-readable storage media. The program is installed into flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described within these programs is read by computer 2000, enabling cooperation between the program and the aforementioned types of hardware resources. The apparatus or method can be configured to perform information manipulation or processing in accordance with the use of computer 2000.

[0056] For example, when communication is performed between the computer 2000 and an external device, the CPU 2012 can execute a communication program loaded into the RAM 2014, and instruct the communication interface 2022 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 2012, the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2014 and the flash memory 2024, sends the read transmission data to the network, and writes the received data received from the network to the receive buffer processing area provided on the recording medium, etc.

[0057] In addition, CPU 2012 can read all or a required portion of a file or database stored in a recording medium such as flash memory 2024 into RAM 2014, and perform various processing on the data in RAM 2014. CPU 2012 then writes the processed data back to the recording medium.

[0058] Various types of information, such as programs, data, tables, and databases, can be saved to the recording medium and applied to information processing. The CPU 2012 can perform various operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc., as described in this specification, on data read from the RAM 2014, and write the results back to the RAM 2014. Furthermore, the CPU 2012 can retrieve information from files, databases, etc., within the recording medium. For example, if multiple items, each having an attribute value associated with a second attribute, are stored in the recording medium, the CPU 2012 can retrieve the item whose first attribute value matches the condition from these multiple items, read the second attribute value stored in that item, and thereby obtain the second attribute value associated with the first attribute that satisfies a preset condition.

[0059] The programs or software modules described above can be stored on or near the computer 2000 on a computer-readable storage medium. Recording media such as hard disks or RAM provided in server systems connected to a dedicated communication network or the Internet can be used as computer-readable storage media. Programs stored on computer-readable storage media can be provided to the computer 2000 via a network.

[0060] The program installed in the computer 2000, which enables the computer 2000 to function as the core ECU 202, can operate in the CPU 2012, etc., thereby allowing the computer 2000 to function as each unit of the core ECU 202. The information processing described in these programs is read into the computer 2000, whereby it functions as a specific unit cooperating with the software and the various hardware resources described above, i.e., each unit of the core ECU 202. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a unique core ECU 202 corresponding to the intended use is constructed.

[0061] The programs installed in the computer 2000, which enable the computer 2000 to function as the core ECU 302, can operate in the CPU 2012, etc., thereby allowing the computer 2000 to function as each unit of the core ECU 302. The information processing described in these programs is read into the computer 2000, whereby it functions as a specific unit cooperating with the software and the aforementioned hardware resources, i.e., each unit of the core ECU 302. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a unique core ECU 302 corresponding to that intended use is constructed.

[0062] The program installed in the computer 2000, which enables the computer 2000 to function as a sub-ECU 100a, can operate in the CPU 2012, etc., thereby allowing each unit of the computer 2000 as the sub-ECU 100a to function independently. The information processing described in these programs is read into the computer 2000, whereby it functions as a specific unit cooperating with the software and the various hardware resources described above, i.e., each unit of the sub-ECU 100a. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a unique sub-ECU 100a corresponding to the intended use is constructed.

[0063] The program installed in the computer 2000, which enables the computer 2000 to function as a secondary ECU 100b, can operate in the CPU 2012, etc., thereby allowing each unit of the computer 2000 to function as a secondary ECU 100b. The information processing described in these programs is read into the computer 2000, whereby it functions as a specific unit cooperating with the software and the various hardware resources described above, i.e., each unit of the secondary ECU 100b. Furthermore, by utilizing these specific units to perform calculations or processing of information corresponding to the intended use of the computer 2000 in this embodiment, a unique secondary ECU 100b corresponding to the intended use is constructed.

[0064] Various embodiments have been described with reference to block diagrams, etc. In the block diagrams, each functional block may represent (1) a step of an operation process or (2) a unit of a device having the function of performing the operation. Specific steps and units may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include logic AND, logic OR, logic XOR, logic NAND, logic NOR, and other logic operations, flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and other reconfigurable hardware circuits including memory elements.

[0065] A computer-readable storage medium can include any tangible device capable of storing instructions executable by a suitable device, such that the computer-readable storage medium having the instructions stored therein constitutes at least a portion of a product containing instructions executable to implement units for performing operations specified in a process flow or block diagram. Examples of computer-readable storage media include electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media include floppy disks (registered trademark), floppy magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), optical disc read-only memory (CD-ROM), digital multipurpose disk (DVD), Blu-ray discs (registered trademark), memory sticks, integrated circuit cards, etc.

[0066] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, status setting data, or any type of source code or object code described by any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0067] Computer-readable instructions are provided via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device. These computer-readable instructions can be executed to implement units that perform the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, and microcontrollers.

[0068] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. Such modifications or improvements can also be included within the technical scope of the present invention, as is evident from the claims.

[0069] Regarding the execution order of actions, processes, steps, and procedures in the apparatus, system, program, and method shown in the claims, specification, and drawings, it should be noted that unless explicitly stated as "before" or "firstly," any order is permissible as long as the output of a previous process is not used in a subsequent process. Even if terms such as "firstly" or "next" are used for convenience in describing the flow of actions in the claims, specification, and drawings, this does not imply that the actions must be performed in that specific order.

[0070] [Explanation of Labels in the Attached Image]

[0071] 11. Voice assistance function

[0072] 12. Connectivity Function

[0073] 13. Expand application functionality

[0074] 14 AD function

[0075] 15. Door lock detection function

[0076] 16. Driver operation detection function

[0077] 20 vehicles

[0078] 22 Vehicle control systems

[0079] 100 ECUs

[0080] 110 Judgment Department

[0081] 120 people - Inter-system Coordination Department

[0082] 130 Driver Intent Determination Function

[0083] 140 Exterior Lighting Control Unit

[0084] 150 Action Department

[0085] 170 Operating components

[0086] 180 vehicle network

[0087] 201 TCU

[0088] 202 Core ECU

[0089] 203 Secondary ECU

[0090] 204 ICB

[0091] 205 Auxiliary ECU

[0092] 320 vehicles

[0093] 322 Vehicle control system

[0094] 302 Core ECU

[0095] 400 ECUs

[0096] 2000 Computer

[0097] 2010 Main Controller

[0098] 2012 CPU

[0099] 2014 RAM

[0100] 2020 Input / Output Controller

[0101] 2022 Communication Interface

[0102] 2024 Flash Memory

[0103] 2026 ROM

[0104] 2040 Input / Output Chip.

Claims

1. A vehicle control system, wherein, have: The motion unit is mounted on the vehicle and performs actions based on motion requests; Multiple secondary ECUs connected via an in-vehicle network; The core ECU has a gateway function for relaying data communication between the multiple sub-ECUs and data communication between the multiple sub-ECUs and external devices. as well as Action request units from multiple systems requesting actions from the action unit. The action request unit includes at least requests from external devices or requests from functions added to the core ECU from external devices. When an action request is received from the multiple systems, the core ECU performs arbitration on the action request from the multiple systems and sends the arbitration result to at least one of the multiple sub-ECUs. The core ECU and at least one of the plurality of sub-ECUs perform arbitration of the core ECU’s arbitration result for action requests from the plurality of systems and the following action instructions, the action instructions being (1) action instructions issued by the driver of the vehicle obtained through the driver operation detection function of at least one of the plurality of sub-ECUs, or (2) action instructions from a person obtained by at least one of the core ECU and the plurality of sub-ECUs and input through an operating component.

2. The vehicle control system according to claim 1, wherein, At least one of the plurality of sub-ECUs acquires the input information of the action instruction and performs arbitration of the core ECU's arbitration results of the action requests from the plurality of systems and the action instruction.

3. The vehicle control system according to claim 1, wherein, The core ECU obtains the input information of the action instruction, performs arbitration on the core ECU's arbitration results of the action requests from the plurality of systems and the action instruction, and sends the arbitration results to at least one of the plurality of sub-ECUs.

4. The vehicle control system according to any one of claims 1 to 3, wherein, It includes a decision unit for determining which of the action requests and action instructions from the plurality of systems takes priority.

5. The vehicle control system according to claim 2, wherein, At least one of the plurality of sub-ECUs has a determination unit for determining which of the action requests and action instructions from the plurality of systems should take priority.

6. The vehicle control system according to claim 5, wherein, The judgment of the judgment unit can be changed by rewriting the program of at least one of the plurality of sub-ECUs.

7. The vehicle control system according to any one of claims 2, 5, and 6, wherein, The core ECU sends, together with at least one of the plurality of sub-ECUs, the arbitration result of the core ECU on the action requests from the plurality of systems, and information indicating which of the action requests from the plurality of systems and the action instructions takes precedence.

8. The vehicle control system according to any one of claims 1 to 3, wherein, The actuator includes at least one of a lamp body and an opening / closing body.

9. A vehicle, wherein, A vehicle control system comprising any one of claims 1 to 8.

10. A control method, executed in a vehicle control system, wherein, Vehicle control systems include: The action unit that executes the action based on the action request; The core ECU has a gateway function for relaying data communication between multiple sub-ECUs connected via an in-vehicle network and for data communication between the multiple sub-ECUs and external devices. as well as Action request units from multiple systems requesting actions from the action unit. The action request unit includes at least requests from external devices or requests from functions added to the core ECU from external devices. The control method has the following characteristics: When an action request is received from the multiple systems, the core ECU performs an arbitration step for the action request from the multiple systems; The step of the core ECU sending the arbitration result to at least one of the plurality of sub-ECUs; as well as The core ECU and at least one of the plurality of sub-ECUs perform the step of arbitrating the arbitration result of the core ECU for the action request from the plurality of systems and the following action instructions, the action instructions being (1) an action instruction issued by the driver of the vehicle obtained through the driver operation detection function of at least one of the plurality of sub-ECUs, or (2) an action instruction from a person obtained by the core ECU and at least one of the plurality of sub-ECUs and input through an operating component.

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