Vehicle control system, vehicle integrated control device, electronic control device, network communication device, vehicle control method, and computer-readable storage medium

Abstract

A vehicle control system, a vehicle integrated control device, an electronic control device, a network communication device, a vehicle control method, and a computer-readable storage medium are provided. A vehicle control system (500) controls a vehicle that is equipped with a plurality of ECUs (30) and a vehicle integrated control device (10) that controls the plurality of ECUs (30). The vehicle integrated control device (10) includes a control target value operation section that operates control target values for controlling the plurality of ECUs (30). In addition, the vehicle integrated control device (10) includes a predicted control value operation section that estimates a future vehicle state and operates predicted control values for controlling the plurality of ECUs (30). The vehicle integrated control device (10) includes a command signal generation section that generates a command signal that includes a motion command and a predicted control command. The plurality of ECUs (30) each include an actuator control section that controls an actuator (50) based on the predicted control command.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle control system, a vehicle integrated control device, an electronic control device, a network communication device, a vehicle control method, and a vehicle control program. BACKGROUND

[0002] Conventionally, as a means of controlling brake and driving force of a vehicle, and a steering angle, there is a vehicle integrated control device that performs centralized control by one electronic control device. The vehicle integrated control device calculates a control value of the vehicle based on information such as a state of the vehicle and a surrounding traffic environment. Then, the vehicle integrated control device controls actuators connected to electronic control devices for causing the vehicle to act by delivering control instructions to the electronic control devices. The electronic control devices are called ECUs (Electric Control Units).

[0003] On the other hand, in a case where an abnormality occurs in the vehicle integrated control device that performs centralized control, many vehicle controls can be lost, which can lead to a serious accident. Therefore, in a vehicle control system including the vehicle integrated control device, a reliability is required in which even in a case where an abnormality occurs in the vehicle integrated control device, a function related to brake, driving, and steering of the vehicle is not lost and the operation of the vehicle is continued.

[0004] Conventionally, as a vehicle control system with high reliability, there is known a system in which the vehicle integrated control device is physically redundantly configured. Further, there is known a system in which the reliability is improved by mounting all or a part of the functions of the vehicle integrated control device on other ECUs.

[0005] In Patent Literature 1, a vehicle control device that performs brake, driving, and steering of a vehicle is disclosed. The vehicle control device switches control to a normal node other than a node in which a failure is detected by a failure detection function in a case where a failure is detected in the node, thereby continuing normal operation in the entire system.

[0006] PRIOR ART DOCUMENTS

[0007] PATENT LITERATURE

[0008] Patent Literature 1: Japanese Patent Application Publication No. 2009-227276 SUMMARY

[0009] PROBLEMS TO BE SOLVED BY THE INVENTION

[0010] In Patent Literature 1, it is described that when a main computer that generates a control target value has failed, a control target value is switched to be generated by an actuator controller. Here, the main computer corresponds to a vehicle integrated control device. Further, the actuator controller corresponds to an ECU. However, in the structure of Patent Literature 1, the ECU needs to perform not only a process of controlling an actuator but also a high-level arithmetic process of operating a control target value, and there is a problem that the ECU is required to have a high arithmetic performance.

[0011] An object of the present disclosure is to achieve a continuation of an operation when a vehicle integrated control device has failed without adding a high-level arithmetic process to an ECU.

[0012] Means for solving the problem

[0013] The vehicle control system of the present disclosure is a vehicle control system of a vehicle that mounts a plurality of electronic control devices that control actuators respectively and a vehicle integrated control device that controls the plurality of electronic control devices, in which the vehicle integrated control device includes: a control target value operation section that operates a control target value for controlling the plurality of electronic control devices in accordance with a current state of the vehicle and a target trajectory generated based on a travel scheduled path of the vehicle; a predicted control value operation section that estimates a future vehicle state, operates a predicted control value for controlling the plurality of electronic control devices based on the estimated vehicle state and the target trajectory; and an instruction signal generation section that acquires the control target value and the predicted control value, generates an operation instruction transmitted to the plurality of electronic control devices respectively based on the control target value, and generates a predicted control instruction transmitted to the plurality of electronic control devices respectively based on the predicted control value, generates an instruction signal including the operation instruction and the predicted control instruction, and the plurality of electronic control devices each include an actuator control section that controls the actuator based on the predicted control instruction.

[0014] Effects of the invention

[0015] In the vehicle control system of the present disclosure, a predicted control value for controlling an electronic control device is operated. Also, the electronic control device is able to control an actuator in accordance with a predicted control instruction based on the predicted control value. Therefore, according to the vehicle control system of the present disclosure, a continuation of an operation when a vehicle integrated control device has failed can be achieved without adding a high-level arithmetic process to an electronic control device. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a configuration example of the vehicle control system of Embodiment 1.

[0017] Figure 2 is a configuration example of the vehicle integrated control device of Embodiment 1.

[0018] Figure 3 is a hardware structure example and a software structure example of the vehicle integrated control device of Embodiment 1.

[0019] Figure 4 is an example of a flowchart showing the operation of the communication control section of Embodiment 1.

[0020] Figure 5 is an example of a flowchart showing the operation of the surrounding environment recognition section of Embodiment 1.

[0021] Figure 6 is an example of a flowchart showing the operation of the vehicle state recognition section of Embodiment 1.

[0022] Figure 7 is an example of a flowchart showing the operation of the host vehicle position estimation section of Embodiment 1.

[0023] Figure 8 is an example of a flowchart showing the operation of the target trajectory generation section of Embodiment 1.

[0024] Figure 9 is an example of a flowchart showing the operation of the control target value calculation section of Embodiment 1.

[0025] Figure 10 is an example of a calculation method of the control target value of Embodiment 1.

[0026] Figure 11 is an example of a flowchart showing the operation of the prediction control value calculation section of Embodiment 1.

[0027] Figure 12 is an example of a calculation method of the prediction control value of Embodiment 1.

[0028] Figure 13 is an example of a flowchart showing the operation of the instruction signal generation section of Embodiment 1.

[0029] Figure 14 is a structure example of the ECU of Embodiment 1.

[0030] Figure 15 is a hardware structure example and a software structure example of the ECU of Embodiment 1.

[0031] Figure 16 is an example of a flowchart showing the operation of the communication control section of Embodiment 1.

[0032] Figure 17 is an example of a flowchart showing the operation of the actuator control section of Embodiment 1.

[0033] Figure 18is a configuration example of the ECU of Embodiment 1.

[0034] Figure 19 is a configuration example of the vehicle control system of Embodiment 2.

[0035] Figure 20 is a configuration example of the network communication device of Embodiment 2.

[0036] Figure 21 is a hardware configuration example and a software configuration example of the network communication device of Embodiment 2. DETAILED DESCRIPTION

[0037] Hereinafter, the present embodiment will be described with reference to the drawings. In each drawing, the same reference signs are attached to the same or equivalent portions. In the description of the embodiment, the description of the same or equivalent portions is appropriately omitted or simplified. Furthermore, in the following drawings, the relationship of the sizes of the respective structural members is sometimes different from the actual situation. Furthermore, in the description of the embodiment, the orientation or position such as up, down, left, right, front, rear, front, and back is sometimes shown. These marks are recorded for the convenience of the description, and do not limit the configuration, direction, or orientation of the device, instrument, or member, etc.

[0038] Embodiment 1.

[0039] * * * Description of Structure * * *

[0040] <Structure of Vehicle Control System 500>

[0041] Use Figure 1 A configuration example of the vehicle control system 500 of the present embodiment will be described.

[0042] The vehicle control system 500 is a system that controls a vehicle that mounts a plurality of electronic control devices that respectively control actuators and a vehicle integrated control device 10 that controls the plurality of electronic control devices. The vehicle control system 500 has an in-vehicle network 60 that respectively connects the vehicle integrated control device 10 and the plurality of electronic control devices. The vehicle integrated control device 10 is connected with the ECU 20 and the ECU 30 via the in-vehicle network 60. Hereinafter, the electronic control device will be referred to as an ECU.

[0043] The sensor 40 is connected to the ECU 20. The ECU 20 has a sensor processing function that processes sensor data from the sensor 40 and transmits the sensor data to the vehicle integrated control device 10 via the in-vehicle network 60. The sensor 40 includes a laser radar, a radar, a sonar, a camera, an acceleration sensor, a throttle opening sensor, and a steering angle sensor.

[0044] Further, the ECU 30 is connected with the actuators 50. The ECU 30 has an actuator control function of controlling the actuators 50 based on the action command from the vehicle integrated control device 10. In the actuator control function, an abnormality determination function of determining abnormality of the action command is included. The ECU 30 includes an engine ECU, a brake control ECU, an electric power steering ECU, and an ADAS-ECU such ECU. Further, the actuators 50 include an accelerator motor, a brake pressure adjustment actuator, and a steering motor such actuator.

[0045] <Structure of the vehicle integrated control device 10>

[0046] Use Figure 2 The structure example of the vehicle integrated control device 10 of the present embodiment will be described.

[0047] As a functional structure, the vehicle integrated control device 10 is provided with each of a surrounding environment recognition section 110, a vehicle state recognition section 111, a host vehicle position estimation section 112, a target trajectory generation section 113, a control target value calculation section 114, a prediction control value calculation section 115, a command signal generation section 116, a communication control section 117, and a vehicle parameter 118.

[0048] The surrounding environment recognition section 110 acquires information received from a sensor that measures the surrounding environment such as a light image detection ranging device (hereinafter, LiDAR: Light Detection And Ranging), a radar, or a camera. The surrounding environment recognition section 110 recognizes, as surrounding environment information, information of other vehicles located around the host vehicle, traffic conditions, and signs based on these information, and transmits the surrounding environment information to the target trajectory generation section 113.

[0049] The vehicle state recognition section 111 acquires information received from a sensor that measures the state of the host vehicle such as an acceleration sensor, an angular velocity sensor, a throttle opening sensor, and a steering angle sensor. Based on these information, the state of the host vehicle such as the speed, the acceleration, the steering angle, and the orientation of the host vehicle is recognized, and the host vehicle state information is transmitted to the target trajectory generation section 113.

[0050] The host vehicle position estimation section 112 estimates the position of the host vehicle based on sensor information from a sensor such as a GNSS or a camera and map information, and transmits the host vehicle position information to the target trajectory generation section 113. The GNSS is an abbreviation of Global Navigation Satellite System.

[0051] The target trajectory generation section 113 calculates a target trajectory as a track in which the host vehicle can safely travel, based on destination information or a travel scheduled route designated by a car navigation system, the surrounding environment information, the host vehicle state information, and the host vehicle position information.

[0052] The control target value calculation section 114 calculates control target values 51 for controlling the plurality of ECUs 30 based on the current state of the vehicle and the target trajectory. The control target values 51 are control amounts required to achieve the target trajectory. The control target values, such as a braking amount, an acceleration amount, and a steering angle, which are required to achieve the target trajectory, are calculated based on the target trajectory and parameters of the host vehicle. The parameters of the host vehicle are stored in the vehicle parameters 118. The control target values become control target values to be achieved until the next control cycle.

[0053] The predicted control value calculation section 115 estimates a state of the vehicle in the future, and calculates predicted control values 52 for controlling the plurality of ECUs based on the estimated state of the vehicle and the target trajectory. The predicted control value calculation section 115 calculates predicted control values for a certain period in the future based on the target trajectory. The predicted control values become a plurality of control target values for the certain period in the future.

[0054] The instruction signal generation section 116 generates an instruction signal 53 for transmitting the two kinds of values, the control target values 51 and the predicted control values 52, to the ECUs 30.

[0055] The instruction signal generation section 116 acquires the control target values 51 and the predicted control values 52. The instruction signal generation section 116 generates an action instruction 511 to be transmitted to each of the plurality of ECUs 30 based on the control target values 51. Further, the instruction signal generation section 116 generates a predicted control instruction 521 to be transmitted to each of the plurality of ECUs 30 based on the predicted control values 52. Then, the instruction signal generation section 116 generates the instruction signal 53 including the action instruction 511 and the predicted control instruction 521.

[0056] The communication control section 117 receives sensor information from the ECUs 20. The communication control section 117 performs processing of notifying the surrounding environment recognition section 110, the vehicle state recognition section 111, and the host vehicle position estimation section 112 of the sensor information. Further, the communication control section 117 performs processing of receiving the instruction signal 53 from the instruction signal generation section 116 and transmitting to the ECUs 30.

[0057] Figure 3 is a hardware configuration example and a software configuration example of the vehicle integrated control device 10 of the present embodiment.

[0058] The vehicle integrated control device 10 is a computer. The processes of the surrounding environment recognition unit 110, the vehicle state recognition unit 111, the own vehicle position estimation unit 112, the target trajectory generation unit 113, the control target value calculation unit 114, the prediction control value calculation unit 115, the command signal generation unit 116, and the communication control unit 117 are executed by the processor 101 reading out the program stored in the storage 102.

[0059] The hardware 11 indicates a hardware structure of the embodiment, and is constituted by the processor 101, the storage 102, the communication circuit 103, and the auxiliary storage device 104.

[0060] The processor 101 is a processing device that executes a program such as a vehicle control program and an OS (Operation System). The processing device is sometimes also referred to as an IC (Integrated Circuit), and as a specific example, the processor 101 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or a GPU (Graphics Processing Unit).

[0061] The processor 101 is connected to the storage 102, and performs temporary storage of data required for the operation and saving of data, and reads out and executes the program stored in the storage 102.

[0062] The processor 101 is connected to the communication circuit 103, and performs control of the communication circuit 103 according to an instruction from the processor 101.

[0063] Figure 3 The vehicle integrated control device 10 of the embodiment has only one processor 101, but can have a plurality of processors instead of the processor 101. The plurality of processors share the execution of the program.

[0064] The storage 102 is a storage device that temporarily stores data, and functions as a main storage that serves as a work area of the processor 101. As a specific example, the storage 102 is a RAM (Random Access Memory) such as an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). The storage 102 holds the operation result of the processor 101.

[0065] The auxiliary storage device 104 stores the vehicle parameters 118, various programs executed by the processor 101, the software 12, and data used when executing the programs. As a specific example, the auxiliary storage device 104 is a HDD (Hard Disk Drive) or an SSD (Solid State Drive). Furthermore, the auxiliary storage device 104 can also be a removable storage medium such as an SD (registered trademark) memory card, a CF, a NAND flash memory, a floppy (registered trademark) disk, an optical disk, a Blu-ray (registered trademark) disk, a DVD. In addition, SD (registered trademark) is an abbreviation of Secure Digital. CF is an abbreviation of CompactFlash (registered trademark). DVD is an abbreviation of Digital Versatile Disk.

[0066] The software 12 indicates a software structure of the present embodiment, and is constituted by the vehicle state recognition unit 111, the own vehicle position estimation unit 112, the target trajectory generation unit 113, the control target value calculation unit 114, the prediction control value calculation unit 115, the command signal generation unit 116, the communication control unit 117, and the OS 108.

[0067] The "unit" of each of the surrounding environment recognition unit 110, the vehicle state recognition unit 111, the own vehicle position estimation unit 112, the target trajectory generation unit 113, the control target value calculation unit 114, the prediction control value calculation unit 115, the command signal generation unit 116, and the communication control unit 117 can be changed to a "process", a "step", or a "procedure". The vehicle control program causes the computer to execute each process after changing the "unit" of each to a "process". The "process" of each can be changed to a "program", a "program product", a "computer-readable storage medium storing the program", or a "computer-readable recording medium recording the program". Furthermore, the vehicle control method is a method performed by the vehicle control system 500 executing the vehicle control program.

[0068] The vehicle control program can also be provided by being stored in a computer-readable recording medium. Furthermore, the vehicle control program can also be provided as a program product.

[0069] * * * Explanation of Actions * * *

[0070] <Actions of the Vehicle Integrated Control Device 10>

[0071] Next, the actions of the vehicle integrated control device 10 of the present embodiment will be explained. The action steps of the vehicle integrated control device 10 correspond to the vehicle control method. Furthermore, the program that realizes the actions of the vehicle integrated control device 10 corresponds to the vehicle control program.

[0072] Here, a case where the vehicle integrated control device 10 collects sensor data and performs vehicle control will be described.

[0073] Figure 4 is an example of a flowchart showing the operation of the communication control section 117 of the present embodiment. Also, the order of the processes shown in this flowchart can be changed as appropriate.

[0074] (Step S101: Destination determination process)

[0075] The communication control section 117 determines whether or not the destination of the received message is the vehicle integrated control device 10 when receiving a received message from a sensor or an ECU. The communication control section 117 proceeds to step S102 when the destination of the received message is the vehicle integrated control device 10, and proceeds to step S103 in other cases.

[0076] (Step S102: Data notification process)

[0077] The communication control section 117 extracts data from the received message by removing a header. The communication control section 117 notifies any of the surrounding environment recognition section 110, the vehicle state recognition section 111, and the own vehicle position estimation section 112 according to the category of the received message.

[0078] (Step S103: Message discard process)

[0079] The communication control section 117 discards the received message.

[0080] Figure 5 is an example of a flowchart showing the operation of the surrounding environment recognition section 110 of the present embodiment. Also, the order of the processes shown in this flowchart can be changed as appropriate.

[0081] (Step S201: Data acquisition process)

[0082] The surrounding environment recognition section 110 acquires various sensor data from the notification received from the communication control section 117.

[0083] (Step S202: Other vehicle detection process)

[0084] The surrounding environment recognition unit 110 detects, as information of other vehicles, distance and direction from the host vehicle to other vehicles or relative position between the host vehicle, traveling direction, moving speed, and size from the acquired various sensor data. In the case of having a plurality of other vehicles, the information is recognized per vehicle. As for the detection method of other vehicles, there are a method of using image analysis of a camera, a method of distance detection based on LiDAR, a method of distance detection based on millimeter wave radar, and the like, and the detection can also be performed by a method of using these methods in combination.

[0085] (Step S203: Pedestrian and Obstacle Detection Processing)

[0086] The surrounding environment recognition unit 110 detects, as information of pedestrians and obstacles, distance and direction with respect to the host vehicle or relative position between the host vehicle, and size from the acquired various sensor data. The detection method of pedestrians and obstacles can utilize the same method as the other vehicle detection method.

[0087] (Step S204: Road Condition Detection Processing)

[0088] The surrounding environment recognition unit 110 detects, as information of road conditions, positions of lanes and road shoulders, road signs, concave-convex, and frozen road surface from the acquired various sensor data. The detection method of road conditions mainly uses image analysis using a camera.

[0089] (Step S205: Data Notification Processing)

[0090] The surrounding environment recognition unit 110 notifies the target trajectory generation unit 113 of the information of other vehicles, pedestrians and obstacles, and road conditions detected in steps S202 to S204.

[0091] Figure 6 is an example of a flowchart showing the operation of the vehicle state recognition unit 111 of the present embodiment. In addition, the order of the processes shown in the present flowchart can be changed as appropriate.

[0092] (Step S301: Data Acquisition Processing)

[0093] The vehicle state recognition unit 111 acquires various sensor data from the notification received from the communication control unit 117.

[0094] (Step S302: Vehicle Traveling State Detection Processing)

[0095] The vehicle state recognition unit 111 detects, as the running state of the vehicle, information such as the speed, acceleration, yaw angle, and yaw rate of the vehicle from the acquired various sensor data. The detection of the running state of the vehicle is performed by sensors such as a gyro sensor, an acceleration sensor, and a yaw rate sensor.

[0096] (Step S303: Control state detection processing of device)

[0097] The vehicle state recognition unit 111 detects, as the control state of the on-vehicle device, information such as the amount of acceleration, the amount of braking, the steering angle, the control amount of various actuators, and the control allowable range from the acquired various sensor data and the state notification of the ECU.

[0098] (Step S304: Data notification processing)

[0099] The vehicle state recognition unit 111 notifies the target trajectory generation unit 113 of the information of the running state of the vehicle and the control state of the device detected in step S302 and step S303.

[0100] Figure 7 is an example of a flowchart showing the operation of the host vehicle position estimation unit 112 of the present embodiment. Also, the order of the processes shown in the present flowchart can be changed as appropriate.

[0101] (Step S401: Data acquisition processing)

[0102] The host vehicle position estimation unit 112 acquires various sensor data from the notification received from the communication control unit 117.

[0103] (Step S402: Host vehicle position estimation processing)

[0104] The host vehicle position estimation unit 112 estimates the position of the host vehicle on the basis of the acquired various sensor data. As the position of the host vehicle, there is a method of measuring using a GNSS. Further, there are a method of estimating the position of the host vehicle with high precision using a gyro sensor and on the basis of accumulated movement information, or a method of estimating the position of the host vehicle with high precision by matching information of a structure or a road structure analyzed from a camera image with map information. Further, these methods can be combined as appropriate.

[0105] (Step S403: Data notification processing)

[0106] The host vehicle position estimation unit 112 notifies the target trajectory generation unit 113 of the information of the position of the host vehicle estimated in step S402.

[0107] Figure 8is an example of a flowchart showing the operation of the target trajectory generation section 113 of the present embodiment. In addition, the order of the processes shown in the present flowchart can be changed as appropriate.

[0108] The target trajectory generation section 113 acquires the relative position information of the obstacles and the vehicle through vehicle-to-vehicle communication or road-to-vehicle communication. In addition, the target trajectory generation section 113 acquires the relative position information of the obstacles and the vehicle obtained by the sensors possessed by the vehicle. The target trajectory generation section 113 predicts the future paths of the obstacles on the basis of these relative position information of the obstacles and the vehicle and the map information, compares the future paths of the obstacles with the travel plan path of the vehicle, and generates a target trajectory. The target trajectory generation section 113 generates a target trajectory that is corrected so as to become the safest path on the basis of the comparison of the future paths of the obstacles with the travel plan path that is the path plan of the vehicle.

[0109] (Step S501: data acquisition process)

[0110] The target trajectory generation section 113 acquires the surrounding environment, the state of the host vehicle, and the position of the host vehicle from the notifications received from the surrounding environment recognition section 110, the vehicle state recognition section 111, and the host vehicle position estimation section 112.

[0111] (Step S502: vehicle parameter acquisition process)

[0112] The target trajectory generation section 113 acquires the period for calculating the target trajectory and the control period of each ECU from the vehicle parameters 118.

[0113] (Step S503: moving body trajectory prediction process)

[0114] The target trajectory generation section 113 predicts the trajectory of the moving body, such as the position, the direction of movement, and the speed, of other vehicles and pedestrians in time series on the basis of the information of the surrounding environment received. The trajectory of the moving body changes according to the state of each moving body from the state at the time point detected by the surrounding environment recognition section 110 and also changes according to the interaction of each moving body. The amount of change is predicted, and the trajectory of the moving body is calculated as time series data. The moving body trajectory prediction period is the target trajectory calculation range N acquired in step S502.

[0115] (Step S504: path map generation process)

[0116] The target trajectory generation section 113 generates a path map in which a travel scheduled path of the host vehicle is overlaid with trajectories of surrounding moving bodies with respect to the path, based on the moving body trajectory prediction information, the map information, and the host vehicle position information. The information generated in the path map is information of a lane level granularity. Further, the travel scheduled path is set in advance by input of a driver to a device such as a car navigation or a smartphone.

[0117] (Step S505: Host Vehicle Trajectory Generation Processing)

[0118] The target trajectory generation section 113 generates a trajectory of the host vehicle that can travel safely, based on the path map, the vehicle state of the host vehicle, and the host vehicle position. The period in which the trajectory of the host vehicle is generated is the target trajectory calculation range N acquired in step S502. The target trajectory generation section 113 calculates the position, speed, and direction of the host vehicle in time series as the trajectory of the host vehicle. The target trajectory generation section 113 calculates the trajectory of the host vehicle as time series data at intervals that are the same as or shorter than the shortest period T in the control period of each ECU.

[0119] The target trajectory generation section 113 generates a plurality of trajectory candidates when calculating the trajectory of the host vehicle, and calculates taking into account information such as the size of the host vehicle to avoid collision with surrounding moving bodies and stationary objects. The target trajectory generation section 113 selects the trajectory of the host vehicle from the plurality of trajectory candidates in which an index such as safety and arrival time is the smallest.

[0120] In a case where time series data is calculated at intervals of the period T with respect to the target trajectory calculation range N, the data of the trajectory of the host vehicle becomes information of N / T positions, speeds, and directions. For example, in a case where the target trajectory calculation range is set to N = 30 seconds and the period T = 0.05 seconds, the data of the trajectory of the host vehicle becomes 600 data.

[0121] (Step S506: Trajectory Notification)

[0122] The target trajectory generation section 113 notifies the control target value operation section 114 and the prediction control value operation section 115 of the trajectory of the host vehicle calculated in step S505 and the state of the host vehicle as the target trajectory.

[0123] Figure 9 is an example of a flowchart showing the operation of the control target value operation section 114 of the present embodiment. Figure 10 is a diagram showing an example of the calculation method of the control target value of the present embodiment. In addition, the order of the processes shown in the present flowchart can be changed as appropriate.

[0124] (Step S601: Data Acquisition Processing)

[0125] The control target value operation section 114 acquires the target trajectory from the notification received from the target trajectory generation section 113. In the target trajectory, the trajectory of the host vehicle and the state of the host vehicle are included.

[0126] (Step S602: Vehicle parameter acquisition processing)

[0127] The control target value operation section 114 acquires the control period of each ECU and the controllable range of each ECU from the vehicle parameters 118.

[0128] (Step S603: Control amount calculation processing)

[0129] The control target value operation section 114 calculates the control amount of each ECU so as to follow the target trajectory. Specifically, the control target value operation section 114 calculates the steering operation amount, the acceleration control amount, and the brake control amount.

[0130] As shown in FIG. 6, the control target value operation section 114 calculates the control target value based on the difference between the current state of the host vehicle (x, y, v, θ) and the target trajectory (xl, yl, vl, θl) after t seconds of the next control period. For example, the control target value operation section 114 calculates the control target value so that the steering operation amount = θl - θ and the acceleration = (vl - v) / t. If the acceleration is a positive value, it becomes the acceleration control amount, and if the acceleration is a negative value, it becomes the brake control amount. In the case where the acceleration control amount and the brake control amount exceed the controllable range of each ECU, correction is made so that the control amount falls within the control range. Figure 10

[0131] (Step S604: Control amount notification)

[0132] The control target value operation section 114 notifies the instruction signal generation section 116 of the control amount for each ECU calculated in step S603 as the control target value 51.

[0133] Figure 11 is an example of a flowchart showing the operation of the prediction control value operation section 115 of the present embodiment. Figure 12 is a diagram showing an example of the calculation method of the prediction control value of the present embodiment. In addition, the order of the processing shown in the present flowchart can be changed as appropriate.

[0134] (Step S701: Data acquisition processing)

[0135] The prediction control value operation section 115 acquires the target trajectory from the notification received from the target trajectory generation section 113. In the target trajectory, the trajectory of the host vehicle and the state of the host vehicle are included.

[0136] (Step S702: Vehicle parameter acquisition processing) ​

[0137] The prediction control value operation section 115 acquires the control period of each ECU, the controllable range of each ECU, and the target trajectory calculation range of each ECU from the vehicle parameters 118.

[0138] (Step S703: Prediction Control Value Calculation Process)

[0139] The prediction control value operation section 115 calculates the prediction control value of each ECU so as to follow the target trajectory. The calculation of the prediction control value is performed in accordance with the difference between the estimated state of the vehicle and the target trajectory in the next control period, similarly to the step S603 of the control target value operation section 114. As for the estimated state of the vehicle (xe1, ye1, ve1, θe1), the state of the host vehicle notified from the target trajectory generation section 113 is used in the first process, and the value estimated in the step S704 is used in the second and subsequent processes.

[0140] (Step S704: Vehicle State Estimation Process)

[0141] As shown in FIG. 7, the prediction control value operation section 115 estimates the state reflecting the prediction control value, i.e., the state of the vehicle (xe1, ye1, ve1, θe1) after t seconds from the next control period, from the prediction control value calculated in the step S703. The estimation of the state of the vehicle can be performed as follows, for example, in the case where the state of the vehicle before reflecting the prediction control value is set to (xp, yp, vp, θp) and the prediction control value is set to (steering operation amount = θ, acceleration = a). Figure 12

[0142] xe1 = xp + t x cos(θp + θ), ye1 = yp + t x sin(θp + θ)

[0143] vel = vp + a x t, θel = θp + θ

[0144] (Step S705: Operation Frequency Determination Process)

[0145] The prediction control value operation section 115 calculates the number of times of operation of the prediction control value as N / T times, from the target trajectory calculation range N acquired in the step S702 and the shortest period T among the control periods of each ECU. The prediction control value operation section 115 determines whether the number of times of operation of the prediction control value has reached N / T times. The prediction control value operation section 115 proceeds to the step S706 in the case where the number of times of operation of the prediction control value has reached N / T times, and proceeds to the step S703 in the case other than this.

[0146] (Step S706: Data Notification Process)

[0147] ​The prediction control value operation section 115 notifies the instruction signal generation section 116 of the time-series prediction control value 52 calculated in step 703.

[0148] Figure 13 is an example of a flowchart showing the operation of the instruction signal generation section 116 of the present embodiment. Also, the order of the processes shown in the present flowchart can be changed as appropriate.

[0149] (Step S801: data acquisition process)

[0150] The instruction signal generation section 116 acquires the control target value 51 and the prediction control value 52 transmitted to each ECU from the control target value operation section 114 and the prediction control value operation section 115.

[0151] (Step S802: instruction signal generation process)

[0152] The instruction signal generation section 116 identifies the information required for each ECU to control the actuator in the control target value 51, and generates an action instruction 511 for each ECU. For example, the instruction signal generation section 116 generates an action instruction 511 indicating a change in acceleration for the engine ECU and the brake control ECU. Also, the instruction signal generation section 116 generates an action instruction 511 indicating the steering operation amount of the control target value for the electric power steering ECU.

[0153] Also, the instruction signal generation section 116 identifies the information required for each ECU to control the actuator in the prediction control value 52, and generates a prediction control instruction 521 for each ECU. For example, the instruction signal generation section 116 generates a prediction control instruction 521 indicating a change in acceleration for the engine ECU and the brake control ECU. Also, the instruction signal generation section 116 generates a prediction control instruction 521 indicating the steering operation amount of the prediction control value 52 for the electric power steering ECU.

[0154] The instruction signal generation section 116 can also adopt a method of notifying the difference between the prediction control value 52 and the last transmitted prediction control value 52 as the method of notification of the prediction control value 52. Alternatively, the instruction signal generation section 116 can also adopt a method of compressing data in the case where the same data is present in the time-series data of 1 prediction control value 52 as the method of notification of the prediction control value 52.

[0155] (Step S803: data notification process)

[0156] The instruction signal generation section 116 notifies the communication control section 117 of the instruction signal 53 containing the action instruction 511 and the prediction control instruction 521 generated in step S802.

[0157] The communication control section 117 transmits the command signal 53 notified from the command signal generation section 116 to each ECU.

[0158] * * * Explanation of Structure * * *

[0159] <Structure Example of ECU 30>

[0160] Next, using Figure 14 The structure example of the ECU 30 of the present embodiment will be described.

[0161] As a functional structure, the ECU 30 has each of the actuator control section 310, the communication control section 311, and the prediction control value 312. The actuator control section 310 has the abnormality determination section 313.

[0162] The abnormality determination section 313 determines whether or not there is an abnormality in the operation command 511.

[0163] The actuator control section 310 calculates a control amount of each actuator 50 connected to the ECU 30 based on the operation command 511 transmitted from the vehicle integrated control device 10, and controls each actuator. Further, in a case where the operation command 511 from the vehicle integrated control device 10 is abnormal, the actuator control section 310 reads the prediction control command 521 from the prediction control value 312, calculates a control amount of each actuator connected to the ECU based on the read prediction control command 521, and controls each actuator.

[0164] The communication control section 311 receives the operation command 511 and the prediction control command 521 from the vehicle integrated control device 10, notifies the actuator control section 310 of the operation command, and performs write processing of writing the prediction control command 521 to the prediction control value 312.

[0165] Figure 15 is a hardware structure example and a software structure example of the ECU 30 of the present embodiment.

[0166] The processing of the actuator control section 310 and the communication control section 311 is performed by the processor 301 reading out the program stored in the memory 302.

[0167] The hardware 31 indicates the hardware structure of the present embodiment, and is constituted by the processor 301, the memory 302, the communication circuit 303, and the auxiliary storage device 304.

[0168] The processor 301 is a processing device that executes the actuator control program and the OS. The processing device is also sometimes referred to as an IC, and as a specific example, the processor 301 is a CPU, a DSP, a GPU.

[0169] The processor 301 is connected to the memory 302, and performs temporary storage of data required for computation or saving of data, and reads out and executes a program stored in the memory 302.

[0170] The processor 301 is connected to the communication circuit 303, and performs control of the communication circuit 303 according to an instruction from the processor 301.

[0171] Figure 15 The ECU 30 according to the present embodiment has only one processor 301, but can have a plurality of processors instead of the processor 301. The plurality of processors share such processing as execution of a program.

[0172] The memory 302 is a storage device that temporarily stores data, and functions as a main memory that serves as a work area of the processor 301. As a specific example, the memory 302 is a RAM such as an SRAM or a DRAM. The memory 302 holds a result of computation of the processor 301.

[0173] The auxiliary storage device 304 stores the predicted control value 312, various programs executed by the processor 301, the software 32, and data used when each program is executed. As a specific example, the auxiliary storage device 304 is an HDD or an SSD. In addition, the auxiliary storage device 304 can also be a memory card, an SD memory card, a CF, a NAND flash memory, a floppy disk, an optical disk, a Blu-ray (registered trademark) disk, or a DVD, such as a removable recording medium.

[0174] The software 32 indicates a software structure of the present embodiment, and is constituted by the actuator control section 310, the communication control section 311, and the OS 315.

[0175] **Explanation of Action**

[0176] <ECU 30 Action>

[0177] Next, the action of the ECU 30 according to the present embodiment will be described. The action steps of the ECU 30 correspond to an actuator control method. In addition, a program that realizes the action of the ECU 30 corresponds to an actuator control program.

[0178] Here, a case where the ECU 30 receives an instruction from the vehicle integrated control device 10 and performs control of an actuator will be described.

[0179] Figure 16 is an example of a flowchart showing the action of the communication control section 311 according to the present embodiment. In addition, the order of processing shown in the present flowchart can be changed as appropriate.

[0180] (Step S901: Destination determination processing)

[0181] The communication control section 311 determines whether or not the destination of the reception message is the ECU 30 in a case where the reception message is received from the vehicle integrated control device 10. The communication control section 311 proceeds to step S902 in a case where the destination of the reception message is the ECU 30, and proceeds to step S903 in other cases.

[0182] (Step S902: data notification processing)

[0183] The communication control section 311 acquires data by removing a header or the like from the reception message, and notifies the actuator control section 310 or the prediction control value 312 according to the category of the received message.

[0184] With respect to the prediction control value stored in the prediction control value 312, it is necessary to prevent the prediction control value on the memory from being overwritten by the prediction control instruction transmitted in the abnormal state. Therefore, the communication control section 311 can also take the following method: the past prediction control instruction is held in advance, and is switched to the prediction control instruction retroactively to the time point at which the abnormality of the action instruction occurs.

[0185] (Step S903: message discard processing)

[0186] The communication control section 311 discards the reception message.

[0187] Figure 17 is an example of a flowchart showing the action of the actuator control section 310 of the present embodiment. In addition, the order of the processing shown in the present flowchart can also be changed as appropriate.

[0188] The actuator control section 310 controls the actuator on the basis of the prediction control instruction 521. Specifically, the abnormality determination section 313 of the actuator control section 310 determines whether or not the action instruction 511 is abnormal. The actuator control section 310 controls the actuator using the action instruction 511 in a case where the action instruction 511 is not abnormal. In addition, the actuator control section 310 controls the actuator using the prediction control instruction 521 in a case where the action instruction 511 is abnormal.

[0189] Specific examples of the action of the actuator control section 310 are as follows.

[0190] (Step S111: data acquisition processing)

[0191] The actuator control section 310 acquires the action instruction 511 from the communication control section 311.

[0192] (Step S112: abnormality determination processing)

[0193] The actuator control section 310 determines whether or not the action command 511 from the vehicle integrated control device 10 is abnormal. In the case where the action command 511 is not abnormal, the actuator control section 310 proceeds to step S113. In the case where the action command 511 is abnormal, the actuator control section 310 proceeds to step S114. As the method of determining the presence or absence of abnormality of the action command 511, there is a method of confirming that the action command 511 from the vehicle integrated control device 10 is not transmitted. In addition, it is also possible to detect disconnection of the link with the vehicle integrated control device 10, and it is also possible to determine by an abnormality notification from the vehicle integrated control device 10 or another in-vehicle device.

[0194] (Step S113: Actuator control processing based on action command)

[0195] The actuator control section 310 generates an action instruction for controlling the actuator in accordance with the action command 511 from the vehicle integrated control device 10 and notifies the communication control section 311 thereof.

[0196] (Step S114: Actuator control processing based on prediction control command)

[0197] The actuator control section 310 acquires the prediction control command 521 from the prediction control value 312, generates an action instruction for controlling the actuator, and notifies the communication control section 311 thereof. Since the prediction control value 312 is time-series data, it is also possible to acquire the prediction control command 521 at the corresponding time in accordance with each control cycle of the actuator control section 310, and it is also possible to read out and store the prediction control value 312 from the prediction control value 312.

[0198] The communication control section 311 transmits the action instruction to the actuator.

[0199] * * * Explanation of effects of the present embodiment * * *

[0200] In the present embodiment, the vehicle integrated control device, in addition to transmitting a periodic control target value as an action command, also calculates a prediction control value that is a time series as a control target value in the future. The vehicle integrated control device delivers the prediction control value to the ECU as a prediction control command. The ECU pre-stores the prediction control command as a prediction control value in a memory. Thereby, the ECU is able to continue the control of the actuator by sequentially reading out the prediction control value pre-stored in the memory even in the case where an abnormality of the vehicle integrated control device or the action command is detected.

[0201] In addition, according to the present embodiment, the ECU 30 only needs to calculate an action instruction for the actuator as the function of the ECU as it is, and does not need to calculate a high-performance processor such as a prediction control value.

[0202] Other configurations

[0203] (Modified example 1)

[0204] The target trajectory generation section 113 can generate a target trajectory for safe stopping, that is, a safe stop target trajectory, in addition to generating a target trajectory following the travel planned path. Specifically, the target trajectory generation section 113 calculates a target trajectory in such a manner that the vehicle follows the travel planned path and travels safely, and in addition thereto, calculates a safe stop target trajectory for safe stopping within the number of times of calculation of the target trajectory calculation range. Then, the predictive control value calculation section 115 calculates a predictive control value in accordance with the target trajectory following the travel planned path, and calculates a predictive control value in accordance with the safe stop target trajectory for safe stopping.

[0205] (Effect of modified example 1)

[0206] In the above-described embodiment 1, the predictive control value calculation section 115 calculates the number of times of calculation of the target trajectory calculation range of predictive control values using the target trajectory calculated by the target trajectory generation section 113 in such a manner that the vehicle follows the travel planned path and travels safely. However, in a case where the action command remains in an abnormal state even if the period of the target trajectory calculation range ends, it is difficult to interrupt the action command and continue the control of the actuator. Therefore, by generating a predictive control command for safe stopping by the predictive control value calculation section 115, it is possible to safely stop even in a case where the action command has become abnormal.

[0207] (Modified example 2)

[0208] The actuator control section 310 of the ECU 30, upon detecting an abnormality of the action command, determines the cause of the abnormality, and selects a predictive control value for controlling the actuator in accordance with the cause of the abnormality.

[0209] The predictive control value calculation section 115 calculates a predictive control value in accordance with a target trajectory following the travel planned path, and also calculates a predictive control value in accordance with a target trajectory for safe stopping (safe stop target trajectory).

[0210] Upon detecting an abnormality of the action command by the actuator control section 310 of the ECU 30, the cause of the abnormality is determined, and in a case where the action command recovers from such an abnormality, a predictive control value following the travel planned path is used, and in a case where the action command does not recover from such an abnormality, a predictive control value for safe stopping is used.

[0211] (Effect of modified example 2)

[0212] According to Modification 2, the prediction control command used by the actuator control section 310 of the ECU 30 can be selected according to the abnormality cause of the action command, and in the case where the abnormality of the action command is recovered, the action is continued, and the discomfort of the occupant caused by unnecessary stopping is eliminated. As examples of the case where the abnormality is recovered, for example, the case where the vehicle integrated control device is restarted, the case where a redundant device or a redundant function is started, or the case where the driving function is handed over to the driver.

[0213] (Modification 3)

[0214] The ECU 30 communicates with other ECUs in the case where the abnormality of the action command occurs, and determines which prediction control command to use. In this case, communication can be performed between the ECUs, or the form in which a command is issued from a vehicle-mounted device other than the ECU can be adopted.

[0215] (Effect of Modification 3)

[0216] In Modification 2, the manner in which the prediction control command used by each ECU is selected is described. However, in the case where different prediction control commands are selected by each ECU, the control of the vehicle can not be unified and safe travel can not be achieved. For example, the case where the engine ECU acts in such a manner as to follow the planned travel path, and the electric power steering ECU acts in such a manner as to safely stop. By unifying which prediction control command to use between the ECUs, as in Modification 3, the action of the control of the vehicle can be unified, and safe travel can be achieved.

[0217] As described above, in Modifications 1 to 3 of the present embodiment, the prediction control value operation section generates the prediction control value according to the target trajectory of the safe stop. In addition, the prediction control value operation section generates a plurality of prediction control values corresponding to the abnormality cause of the action command.

[0218] (Modification 4)

[0219] In addition, in Embodiment 1, the structure in which the actuator control section has the abnormality determination section is adopted. However, the vehicle control system can also have an abnormality determination section that determines whether the action command has an abnormality. For example, the vehicle control system can have the abnormality determination section outside the actuator control section, and the actuator control section and the abnormality determination section can exchange information while achieving the function of Embodiment 1.

[0220] Figure 18 is an example of the structure of the ECU 30 of Modification 4 of the present embodiment.

[0221] As Figure 18As shown, for example, the ECU 30 can be provided with an abnormality determination section 313 in addition to the actuator control section 310, and the actuator control section 310 and the abnormality determination section 313 can realize the functions of Embodiment 1 while exchanging information.

[0222] (Effect of Modification Example 4)

[0223] According to Modification Example 4 of the present embodiment, it is possible to more easily change the program for the ECU.

[0224] (Modification Example 5)

[0225] In the vehicle integrated control device 10 and each ECU 30 of the present embodiment, the functions of each section are realized by software. As a modification example, the functions of each section of the vehicle integrated control device 10 and each ECU 30 can also be realized by hardware.

[0226] Specifically, the vehicle integrated control device 10 and each ECU 30 can be provided with an electronic circuit instead of a processor.

[0227] The electronic circuit is a dedicated electronic circuit that realizes the functions of each section. Specifically, the electronic circuit is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. The GA is an abbreviation for Gate Array. The ASIC is an abbreviation for Application Specific Integrated Circuit. The FPGA is an abbreviation for Field-Programmable Gate Array.

[0228] The functions of each section of the vehicle integrated control device 10 and each ECU 30 can be realized by one electronic circuit, or can be realized by being distributed to a plurality of electronic circuits.

[0229] As another modification example, a part of the functions of the vehicle integrated control device 10 and each ECU 30 can be realized by an electronic circuit, and the remaining functions can be realized by software. Furthermore, a part of the functions or all of the functions of the vehicle integrated control device 10 and each ECU 30 can also be realized by firmware.

[0230] Each of the processor and the electronic circuit is also referred to as a processing line. That is, the functions of each section of each of the vehicle integrated control device 10 and the ECU 30 are realized by a processing line.

[0231] Embodiment 2.

[0232] In the present embodiment, mainly the points different from Embodiment 1 and the points added to Embodiment 1 will be described.

[0233] In the present embodiment, the same reference numerals are assigned to structures having the same functions as those of Embodiment 1, and the description thereof is omitted.

[0234] In Embodiment 1, the prediction control command 521 transmitted from the vehicle integrated control device 10 is stored in the prediction control value 312 of the ECU 30, and the presence or absence of an abnormality is determined by the abnormality determination function possessed by the actuator control function of the ECU 30. In the structure of Embodiment 1, changes to the programs of the respective ECUs are sometimes made, and existing ECUs cannot be used.

[0235] In the present embodiment, a method in which, in a network communication device of an in-vehicle network, information of the prediction control command 521 is stored, the presence or absence of an abnormality of the action command 511 is determined, a prediction control value to be used is decided, and the respective ECUs are notified is described.

[0236] Figure 19 Fig. 10 is a diagram showing a structure example of a vehicle control system 500 of the present embodiment.

[0237] The vehicle control system 500 of the present embodiment further has a network communication device 70 on the basis of the structure of Embodiment 1.

[0238] The network communication device 70 is interposed between the in-vehicle network 60 and each of the plurality of electronic control devices (ECUs 30).

[0239] The vehicle integrated control device 10 transmits the prediction control command 521 to the network communication device 70 located on the in-vehicle network 60. The network communication device 70 stores the prediction control command 521 from the vehicle integrated control device 10 in a memory of the network communication device 70. Further, the network communication device 70 determines the presence or absence of an abnormality of the action command 511 transmitted from the vehicle integrated control device 10, and in the case where an abnormality is present in the action command 511, transmits the prediction control command 521 stored in the memory to each of the ECUs 30.

[0240] Alternatively, the network communication device 70 determines whether or not an abnormality is present in the action command 511, and notifies the actuator control section 310 of the determination result. Then, in the case where an abnormality is present in the action command 511, the actuator control section 310 can also perform control of the actuator using the prediction control command 521 stored in the memory.

[0241] Structure Example of Network Communication Device 70

[0242] Use Figure 20 The structure example of the network communication device 70 of the present embodiment is described.

[0243] As a functional configuration, the network communication device 70 has each of a control section 710, an abnormality determination section 713, a communication control section 711, and a predicted control value 712.

[0244] The communication control section 711 receives the operation instruction 511 and the predicted control instruction 521 from the vehicle integrated control device 10, notifies the abnormality determination section 713 of the operation instruction 511, and writes the predicted control instruction 521 to the predicted control value 712.

[0245] The abnormality determination section 713 determines whether or not the operation instruction 511 has an abnormality.

[0246] The control section 710 acquires the predicted control instruction 521 to be used from the predicted control value 712 and notifies the ECU 30 in a case where the operation instruction 511 has an abnormality. For example, the control section 710 determines a cause of the abnormality of the operation instruction 511 when the abnormality is detected, and selects a predicted control value for controlling the actuator according to the cause of the abnormality. The control section 710 uses a predicted control value following a travel scheduled path in a case where the operation instruction 511 recovers from such an abnormality, and uses a predicted control value for safe stop in a case where the operation instruction 511 does not recover from such an abnormality.

[0247] Further, the control section 710 notifies the ECU 30 of the operation instruction 511 in a case where the operation instruction 511 does not have an abnormality.

[0248] Figure 21 is a hardware configuration example and a software configuration example of the network communication device 70 of the present embodiment.

[0249] The hardware 71 indicates a hardware configuration of the network communication device 70, and is constituted by a processor 701, a memory 702, a communication circuit 703, and an auxiliary storage device 704.

[0250] The software 72 indicates a software configuration of the present embodiment, and is constituted by the control section 710, the abnormality determination section 713, the communication control section 711, and an OS 715.

[0251] In addition, each configuration of the hardware 71 of the network communication device 70 is the same as that of the vehicle integrated control device 10 or the ECU 30. Further, the network communication device 70 performs the same operation as that of the embodiment 1 with respect to the abnormality determination function.

[0252] According to the vehicle control system 500 of the present embodiment, it is not necessary to change the configuration and operation of each ECU that controls the actuator, and it is possible to continue the operation of the actuator even in a case where an abnormality occurs in the operation instruction.

[0253] In the present embodiment, a vehicle control system such as the following is described.

[0254] The vehicle control system includes a vehicle integrated control device in which a program that generates a time-series prediction control command acts, and an ECU in which a program that controls an actuator based on information of the prediction control command acts.

[0255] Through execution of the vehicle control program, the vehicle integrated control device generates an action command for each ECU based on sensor information, and predicts a vehicle state that reflects the action command, and on this basis, generates a prediction control command that indicates a future action of each control unit. Then, the vehicle integrated control device transmits the prediction control command to each ECU.

[0256] Further, through execution of the vehicle control program, the vehicle integrated control device predicts a future path of an obstacle in the prediction control command based on relative position information between the obstacle obtained through inter-vehicle communication or inter-road-vehicle communication, relative position information between the obstacle obtained by a sensor that grasps an environment outside the vehicle possessed by the vehicle, and map information, and collates with a path plan of the vehicle, and on this basis, corrects so as to become a safest path.

[0257] Further, through execution of the vehicle control program, the vehicle integrated control device generates a prediction control command for safe parking. Further, the vehicle integrated control device generates a plurality of prediction control commands corresponding to an abnormality cause of the action command. Further, the vehicle integrated control device generates and transmits the plurality of prediction control commands to the ECU.

[0258] In the above-described Embodiments 1 and 2, each part of the vehicle integrated control device 10 and each ECU 30 is described as an independent functional block. However, the structure of the vehicle integrated control device 10 and each ECU 30 can not be the structure as described in the above-described Embodiments. The functional blocks of the vehicle integrated control device 10 and each ECU 30 can be any structure as long as the functions described in the above-described Embodiments are achieved. Further, the vehicle integrated control device 10 and each ECU 30 can not be one device, but can be a system constituted by a plurality of devices.

[0259] Further, a plurality of parts in Embodiments 1 and 2 can be combined and implemented. Or one part in these Embodiments can be implemented. Further, these Embodiments can be implemented as a whole or partially arbitrarily combined.

[0260] That is, in Embodiments 1 and 2, free combination of each Embodiment, or deformation of any structural element of each Embodiment, or omission of any structural element in each Embodiment can be made.

[0261] In addition, the above-described embodiments are illustrative in nature and are not intended to limit the scope of the disclosure, the scope of application of the disclosure, and the scope of use of the disclosure. The above-described embodiments can be variously changed as needed.

[0262] Legend of reference signs

[0263] 10 vehicle integrated control device, 11, 31, 71 hardware, 12, 32, 72 software, 20, 30 ECU, 40 sensor, 50 actuator, 51 control target value, 52, 312, 712 prediction control value, 511 operation command, 521 prediction control command, 53 command signal, 60 in-vehicle network, 70 network communication device, 110 surrounding environment recognition unit, 111 vehicle state recognition unit, 112 own vehicle position estimation unit, 113 target trajectory generation unit, 114 control target value calculation unit, 115 prediction control value calculation unit, 116 command signal generation unit, 117, 311, 711 communication control unit, 313, 713 abnormality determination unit, 118 vehicle parameter, 101, 301, 701 processor, 102, 302, 702 memory, 103, 303, 703 communication circuit, 104, 304, 704 auxiliary storage device, 108, 315, 715 OS, 310 actuator control unit, 710 control unit, 500 vehicle control system.

Claims

1. A vehicle control system for a vehicle, the vehicle being equipped with a plurality of electronic control devices for controlling actuators respectively and a vehicle integrated control device for controlling the plurality of electronic control devices, wherein: The vehicle integrated control device comprises: a control target value calculation unit for calculating control target values ​​for controlling the plurality of electronic control devices based on a current state of the vehicle and a target trajectory generated based on a planned travel path of the vehicle; a predicted control value calculation unit that estimates a future vehicle state and calculates predicted control values ​​for controlling the plurality of electronic control devices based on the estimated vehicle state and a target trajectory within a next control cycle; as well as a command signal generating unit that obtains the control target value and the predicted control value, generates an operation command to be sent to each of the plurality of electronic control devices based on the control target value, and generates a predicted control command to be sent to each of the plurality of electronic control devices based on the predicted control value, and generates a command signal including the operation command and the predicted control command. Each of the plurality of electronic control devices includes an actuator control unit configured to control the actuator based on the predictive control command.

2. The vehicle control system according to claim 1, wherein: The actuator control unit controls the actuator using the motion command when there is no abnormality in the motion command, and controls the actuator using the predictive control command when there is an abnormality in the motion command.

3. The vehicle control system according to claim 1, wherein: The vehicle control system includes a target trajectory generating unit that predicts the future path of the obstacle based on relative position information between the obstacle and the vehicle obtained through inter-vehicle communication or roadside-to-vehicle communication, relative position information between the obstacle and the vehicle obtained by sensors equipped on the vehicle, and map information, and generates the target trajectory by comparing the future path of the obstacle with the planned driving path.

4. The vehicle control system according to claim 2, wherein: The vehicle control system includes a target trajectory generating unit that predicts the future path of the obstacle based on relative position information between the obstacle and the vehicle obtained through inter-vehicle communication or roadside-to-vehicle communication, relative position information between the obstacle and the vehicle obtained by sensors equipped on the vehicle, and map information, and generates the target trajectory by comparing the future path of the obstacle with the planned driving path.

5. The vehicle control system according to claim 3, wherein: In addition to generating the target trajectory, the target trajectory generating unit further generates a safe parking target trajectory which is a target trajectory for safe parking.

6. The vehicle control system according to claim 4, wherein: In addition to generating the target trajectory, the target trajectory generating unit further generates a safe parking target trajectory which is a target trajectory for safe parking.

7. The vehicle control system according to claim 5, wherein: The predicted control value calculation unit calculates the predicted control value based on the target trajectory along the planned travel route and calculates the predicted control value based on the safe parking target trajectory.

8. The vehicle control system according to claim 6, wherein: The predicted control value calculation unit calculates the predicted control value based on the target trajectory along the planned travel route and calculates the predicted control value based on the safe parking target trajectory.

9. The vehicle control system according to claim 7, wherein: When the actuator control unit detects an abnormality in the operation command, it determines a cause of the abnormality and selects the predicted control value for controlling the actuator according to the cause of the abnormality.

10. The vehicle control system according to claim 8, wherein: When the actuator control unit detects an abnormality in the operation command, it determines a cause of the abnormality and selects the predicted control value for controlling the actuator according to the cause of the abnormality.

11. The vehicle control system according to any one of claims 1 to 10, wherein: The vehicle control system includes an abnormality determination unit that determines whether the operation command has an abnormality.

12. The vehicle control system according to claim 11, wherein: The abnormality determination unit is provided in the actuator control unit.

13. The vehicle control system according to claim 11, wherein: The vehicle control system comprises: an in-vehicle network connecting the vehicle integrated control device and each of the plurality of electronic control devices; and a network communication device provided between the vehicle network and each of the plurality of electronic control devices; The abnormality determination unit is provided in the network communication device.

14. The vehicle control system according to claim 13, wherein: When the network communication device detects an abnormality in the operation command, it determines a cause of the abnormality and selects the predictive control value for controlling the actuator based on the cause of the abnormality.

15. A vehicle integrated control device of a vehicle control system of a vehicle, the vehicle being equipped with a plurality of electronic control devices that respectively control actuators and a vehicle integrated control device that controls the plurality of electronic control devices, wherein: The vehicle integrated control device comprises: a control target value calculation unit for calculating control target values ​​for controlling the plurality of electronic control devices based on a current state of the vehicle and a target trajectory generated based on a planned travel path of the vehicle; a predicted control value calculation unit that estimates a future vehicle state and calculates predicted control values ​​for controlling the plurality of electronic control devices based on the estimated vehicle state and a target trajectory within a next control cycle; as well as An instruction signal generating unit obtains the control target value and the predicted control value, generates action instructions to be sent to the multiple electronic control devices respectively based on the control target value, and generates predicted control instructions to be sent to the multiple electronic control devices respectively based on the predicted control value, and generates an instruction signal including the action instruction and the predicted control instruction.

16. An electronic control device included in a vehicle control system of a vehicle, the vehicle being equipped with a plurality of electronic control devices each controlling an actuator and a vehicle integrated control device controlling the plurality of electronic control devices, wherein: The electronic control device includes an actuator control unit, which obtains an instruction signal including an action instruction and a prediction control instruction from the vehicle integrated control device, and controls the actuator based on the prediction control instruction, wherein the action instruction is generated based on a control target value for controlling the actuator, and the control target value is calculated based on the current state of the vehicle and a target trajectory generated based on the planned driving path of the vehicle, and the prediction control instruction is generated based on the prediction control value, and the prediction control value is calculated based on the estimated future state of the vehicle and the target trajectory in the next control cycle.

17. A network communication device included in a vehicle control system of a vehicle, the vehicle being equipped with a plurality of electronic control devices that respectively control actuators, a vehicle integrated control device that controls the plurality of electronic control devices, and a network communication device provided between an in-vehicle network and each of the plurality of electronic control devices, the in-vehicle network connecting the vehicle integrated control device to each of the plurality of electronic control devices, wherein: The network communication device includes an abnormality determination unit, which obtains an instruction signal including an action instruction and a predicted control instruction from the vehicle integrated control device, and determines whether there is an abnormality in the action instruction. The action instruction is generated based on a control target value for controlling the actuator, and the control target value is calculated based on the current state of the vehicle and a target trajectory generated based on the planned driving path of the vehicle. The predicted control instruction is generated based on a predicted control value, and the predicted control value is calculated based on an estimated future state of the vehicle and a target trajectory within the next control cycle.

18. A vehicle control method of a vehicle control system of a vehicle equipped with a plurality of electronic control devices that respectively control actuators and a vehicle integrated control device that controls the plurality of electronic control devices, wherein: The control target value calculation unit of the vehicle integrated control device calculates control target values ​​for controlling the plurality of electronic control devices based on the current state of the vehicle and a target trajectory generated based on the planned travel path of the vehicle. The predicted control value calculation unit of the vehicle integrated control device estimates the future vehicle state and calculates the predicted control value for controlling the plurality of electronic control devices based on the estimated vehicle state and the target trajectory in the next control cycle. The command signal generating unit of the vehicle integrated control device obtains the control target value and the predicted control value, generates an action command to be sent to each of the plurality of electronic control devices based on the control target value, and generates a predicted control command to be sent to each of the plurality of electronic control devices based on the predicted control value, and generates a command signal including the action command and the predicted control command. The actuator control unit of each of the plurality of electronic control devices controls the actuator based on the predictive control command.

19. A computer-readable storage medium storing a vehicle control program, the vehicle control program being a vehicle control system of a vehicle equipped with a plurality of electronic control devices that individually control actuators and a vehicle integrated control device that controls the plurality of electronic control devices, wherein: The vehicle control program causes the computer to execute the following processing: a control target value calculation process for calculating control target values ​​for controlling the plurality of electronic control devices based on a current state of the vehicle and a target trajectory generated based on a planned travel path of the vehicle; Predictive control value calculation processing, estimating a future vehicle state, and calculating predicted control values ​​for controlling the plurality of electronic control devices based on the estimated vehicle state and a target trajectory within a next control cycle; command signal generation processing, obtaining the control target value and the predicted control value, generating an operation command to be sent to each of the plurality of electronic control devices based on the control target value, and generating a predicted control command to be sent to each of the plurality of electronic control devices based on the predicted control value, and generating a command signal including the operation command and the predicted control command; as well as The actuator control process controls the actuator based on the predictive control command.

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