Motion manager, vehicle, vehicle control method, and non-transitory storage medium

Abstract

The present disclosure relates to a motion manager, a vehicle, a vehicle control method, and a non-transitory storage medium. The motion manager configured to request a motion of a vehicle according to a motion plan for driving assistance of the vehicle to at least one of a plurality of actuators provided in the vehicle, the motion manager including one or more processors. The one or more processors are configured to: receive information indicating a plurality of motion plans and classify the information into predetermined items so that an implementation method to achieve an objective of each of the motion plans is selectable without specifying or distinguishing a setting source of each of the motion plans; arbitrate the motion plans; calculate a motion request to the vehicle based on a result of arbitrating the motion plans; and distribute the motion request to at least one of the plurality of actuators.

Description

Technical Field

[0001] This disclosure relates to a motion manager, a vehicle, a vehicle control method, and a non-transitory storage medium. Background Technology

[0002] A vehicle is known to consist of multiple applications, a motion manager, and an actuator system. Multiple applications set and request motion plans for driver assistance. The motion manager unifies the multiple motion plans from the applications and sets motion requests based on the unified motion plans. The actuator system implements the set motion requests. In this vehicle, there are instances where, for example, identification information (hereinafter referred to as ID) is distributed to the motion plans requested by each application from the motion manager, allowing the application from which the request originates to be specified. The motion manager processes the motion plans associated with the distributed IDs and sets the motion requests.

[0003] Regarding such vehicles, for example, Japanese Unexamined Patent Application Publication No. 2021-049990 discloses the following technology: a control device receives multiple requests from a driver assistance system, arbitration requests, and sets requests to an actuator system, wherein the requests from the driver assistance system include multiple identification information of the application. Summary of the Invention

[0004] In vehicles as described above, for example, when a new application is added to add new functionality, a new ID is also added, which is then processed by the motion manager. This results in design changes to be made to add the new ID to all systems associated with that ID (motion manager and actuator systems). When there are many design changes, these changes take time, potentially slowing down application updates or product deployment.

[0005] This invention provides a motion manager, vehicle, vehicle control method, and non-transitory storage medium that limit the increase in the number of design changes caused by the addition of a new application that sets a motion plan, even when such an application is added.

[0006] According to a first aspect of this disclosure, a motion manager is configured to request, from at least one of a plurality of actuators disposed in a vehicle, motion of the vehicle according to a motion plan for driver assistance. The motion manager includes one or more processors configured to: receive information indicating a plurality of motion plans and classify the information into predetermined items such that the method for achieving the purpose of each of the motion plans is selectable without specifying or distinguishing the setting source of each of the motion plans; arbitrate the motion plans; calculate a motion request for the vehicle based on the result of arbitrating the motion plans; and distribute the motion request to at least one of the plurality of actuators. The predetermined items include a request value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the motion of the vehicle according to each of the motion plans.

[0007] Using the above scheme, vehicle movement can be achieved based on the received motion plan without specifying or distinguishing the setting source of the motion plan (i.e., without distributing identification information such as IDs). Therefore, even when a new application is added, the increase in the number of design changes caused by the addition of the application can be limited by receiving motion plans that can be categorized into predetermined items.

[0008] In the first scheme, the predetermined item may further include information indicating the priority of at least one of the responsiveness and quietness of the vehicle's movement according to the movement plan.

[0009] In this way, the movement of the vehicle can be realized with high precision based on the received motion plan, without having to distinguish the source of the motion plan setting.

[0010] In the first approach, the predetermined item may further include information indicating the level of the driving assistance.

[0011] In this way, the movement of the vehicle can be realized with high precision based on the received motion plan, without having to distinguish the source of the motion plan setting.

[0012] According to a second aspect of this disclosure, a vehicle includes a driving assistance system and a motion manager. The driving assistance system includes multiple applications configured to independently set each of multiple motion plans for driving assistance with the vehicle. The motion manager is configured to receive information indicating each of the motion plans set in at least one of the multiple applications and to categorize the information into predetermined items, the predetermined items including a request value indicating a physical value of the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the motion of the vehicle according to each of the motion plans, such that the method of achieving the purpose of each of the motion plans can be selected without specifying or distinguishing the setting source of each of the motion plans; and to request the motion of the vehicle according to the motion plan from at least one of a plurality of actuators disposed in the vehicle.

[0013] In the second approach, the predetermined items may further include information indicating the priority of at least one of the responsiveness and quietness of the vehicle's movement according to the movement plan.

[0014] In the second approach, the predetermined item may further include information indicating the level of the driving assistance.

[0015] The vehicle control method according to the third aspect of this disclosure is executed by a computer. The vehicle control method includes: receiving information indicating each of a plurality of motion plans for driving assistance of the vehicle and classifying the information into predetermined items such that the method for achieving the purpose of each of the motion plans is selectable without specifying or distinguishing the setting source of each of the motion plans; arbitrating the motion plans; calculating a motion request for the vehicle based on the result of arbitrating the motion plans; and distributing the motion request to at least one of a plurality of actuators disposed in the vehicle. The predetermined items include a request value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the vehicle's motion according to each of the motion plans.

[0016] The fourth aspect of this disclosure is a non-transitory storage medium storing instructions executable by a computer to perform functions. These functions include: receiving information indicating each of a plurality of motion plans for vehicle driving assistance and classifying the information into predetermined items such that the method for achieving the purpose of each motion plan is selectable without specifying or distinguishing the setting source of each motion plan; arbitrating the motion plans; calculating a motion request for the vehicle based on the result of arbitrating the motion plans; and distributing the motion request to at least one of a plurality of actuators disposed in the vehicle. The predetermined items include a requested value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the vehicle's motion according to each of the motion plans.

[0017] Using the various solutions disclosed herein, it is possible to provide motion managers, vehicles, vehicle control methods, and non-transitory storage media that limit the increase in the number of design changes caused by the addition of new applications for setting motion plans, even when new applications are added. Attached Figure Description

[0018] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0019] Figure 1 This is a diagram illustrating an example of vehicle configuration;

[0020] Figure 2 This is a diagram illustrating an example of how the motion manager operates;

[0021] Figure 3 This is a diagram illustrating an example of how to arbitrate multiple sports plans using an application ID;

[0022] Figure 4 This is a table illustrating examples of predefined items categorized in the motion manager;

[0023] Figure 5 The diagram illustrates an example of control parameters regarding quietness / responsiveness based on application settings; and

[0024] Figure 6 This is a flowchart illustrating an example of the processes performed in the motion manager when the vehicle's system is started. Detailed Implementation

[0025] In the following description, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Identical or corresponding portions in the drawings are indicated by the same reference numerals and will not be described again.

[0026] Figure 1 This is a diagram illustrating an example of the configuration of vehicle 1. (Example) Figure 1 As shown, vehicle 1 includes an ADAS (advanced driver assistance system) electronic control unit (ECU) 10, a brake ECU 20, an actuator system 30, and a central ECU 40.

[0027] Vehicle 1 may be a vehicle configured to perform the functions of the following driving assistance systems, and may be, for example, a vehicle powered by an engine, a battery-powered vehicle powered by an electric motor, or a hybrid vehicle having an engine and an electric motor mounted thereon and using at least one of them as a driving source.

[0028] ADAS-ECU 10, Braking ECU 20, and Central ECU 40 are all computers, each having a processor (such as a Central Processing Unit (CPU)) for executing programs, memory, and input / output interfaces. Memory is an example of a non-transitory storage medium for storing programs.

[0029] ADAS-ECU 10 includes a driver assistance system 100 with driver assistance functions for vehicle 1. The driver assistance system 100 is configured to implement various functions for assisting the driving of vehicle 1 by executing applications installed on the driver assistance system 100, including at least one of steering control, drive control, and braking control of vehicle 1. Examples of applications installed on the driver assistance system 100 include applications implementing the functions of an automated driving system (AD), applications implementing the functions of an automatic parking system, and applications implementing the functions of an advanced driver assistance system (ADAS) (hereinafter referred to as ADAS applications), etc.

[0030] Examples of ADAS applications include at least one of the following functions: adaptive cruise control (ACC) and lane keeping assist, which enables the vehicle to maintain a constant distance from the vehicle in front; automatic speed limiter (ASL) which enables the vehicle to recognize speed limits and maintain the target vehicle's speed limit; lane keeping assist (LKA, ASL) and lane tracing assist, which enables the vehicle to maintain its lane; collision damage mitigation braking (autonomous emergency braking (AEB), pre-crash safety (PCS)) which enables the vehicle to brake automatically to mitigate the damage caused by a collision; and lane departure warning (LDW, LDA) and lane departure alert, which warns the vehicle 1 of deviating from its lane.

[0031] The various applications of the driver assistance system 100 output requests for motion plans to the braking ECU 20 (more specifically, the motion manager 200) based on information about the vehicle's surroundings acquired (input) from multiple sensors (not shown), driver assistance requests, etc., ensuring the commercial value (functionality) of each application. Examples of sensors include vision sensors such as forward-looking cameras, radar, light detection and ranging (LiDAR), position detection devices, etc.

[0032] A forward-facing camera is positioned behind, for example, the rearview mirror in the passenger compartment and is used to capture images of the area in front of the vehicle. Radar is a distance measuring device that emits radio waves of short wavelengths onto an object, detects the radio waves returning from the object, and measures the distance or direction to the object. LiDAR is a distance measuring device that emits a laser beam (light, such as infrared) in pulses onto an object and measures the distance until it is reflected back by the object. Position detection devices consist of, for example, a Global Positioning System (GPS), which uses information received from multiple satellites orbiting the Earth to detect the position of vehicle 1.

[0033] Each application acquires information about the vehicle's surroundings from the combined detection results of one or more sensors as identification sensor information, and obtains driver assistance requests through a user interface (not shown), such as a switch. For example, by using artificial intelligence (AI) or an image processing processor to process images or videos of the vehicle's surroundings acquired by the sensors, each application can identify other vehicles, obstacles, or people in the vicinity of the vehicle.

[0034] In addition, for example, the motion plan includes requests for longitudinal acceleration / deceleration generated in vehicle 1, requests for steering angle of vehicle 1, requests for keeping vehicle 1 stationary, etc.

[0035] Examples of requests for longitudinal acceleration / deceleration generated in vehicle 1 include requests for operation of transmission system 302 or braking system 304.

[0036] Examples of requests to keep vehicle 1 stopped include requests to allow and prohibit operation of at least one of the electric parking brake and parking lock mechanism (both not shown).

[0037] An electric parking brake limits the rotation of the wheels of vehicle 1 by, for example, operating an actuator. The electric parking brake can be configured to limit wheel rotation by, for example, operating a parking brake on a portion of the wheels of a plurality of wheels disposed on vehicle 1 using an actuator. Alternatively, the electric parking brake can limit wheel rotation by operating an actuator for the parking brake, arbitrarily arbitrating the hydraulic pressure supplied to the braking device of braking system 304, and operating the braking device.

[0038] The parking lock mechanism restricts the rotation of the transmission output shaft by operating an actuator. The parking lock mechanism assembles a protruding unit, for example, located at the end of the parking lock lever, into the teeth of a gear (locking gear). The position of this protruding unit is arbitrated by the actuator, and the gear is configured to be a rotating element connected to the transmission of vehicle 1. In this way, the rotation of the transmission output shaft is restricted, and the rotation of the drive wheels is also restricted.

[0039] The applications installed on the driver assistance system 100 are not specifically limited to those mentioned above. Applications that perform other functions can be added, or existing applications can be omitted, and in particular, there is no limit to the number of applications that can be installed.

[0040] Furthermore, this embodiment describes a scenario where the ADAS-ECU 10 includes a driving assistance system 100 comprising multiple applications; however, for example, the ECU can be configured for each application. For instance, the driving assistance system 100 may consist of an ECU having an application that implements the functions of an automated driving system installed thereon, an ECU having an application that implements the functions of an automatic parking system installed thereon, and an ECU having an ADAS application installed thereon.

[0041] The braking ECU 20 includes a motion manager 200. In this embodiment, a hardware configuration including a motion manager 200 is described as an example; however, the motion manager 200 may be a separate ECU from the braking ECU 20, or it may be included in another ECU different from the braking ECU 20. The braking ECU 20 is configured to communicate with each of the ADAS-ECU 10, the various ECUs included in the actuator system 30, and the central ECU 40.

[0042] The motion manager 200 requests motion of the vehicle 1 from the actuator system 30 according to a motion plan set in at least one of the multiple applications of the driver assistance system 100. The detailed configuration of the motion manager 200 will be described below.

[0043] The actuator system 30 is configured to fulfill requests for motion of the vehicle 1 output from the motion manager 200. The actuator system 30 includes a plurality of actuators. Figure 1 The illustration shows an example of an actuator system 30 including, for example, a transmission system 302, a braking system 304, and a steering system 306 as actuators. The number of actuators serving as the requested destination of the motion manager 200 is not limited to the three described above, but can be four or more, or two or fewer.

[0044] The transmission system 302 includes a drivetrain capable of generating driving force on the drive wheels of the vehicle 1 and an ECU (both not shown) for controlling the operation of the drivetrain. The drivetrain includes at least one of, for example, an internal combustion engine (such as a gasoline or diesel engine), a transmission (including a gearbox, differential, etc.), an electric generator as a drive source, an energy storage device for storing the electricity supplied to the electric generator, a power conversion device for switching electricity between the electric generator and the energy storage device, and a power source (such as a fuel cell). The ECU controlling the operation of the transmission system executes control of the corresponding devices to fulfill requests for movement from the motion manager 200 to the corresponding devices in the transmission system 302.

[0045] For example, the braking system 304 includes multiple braking devices disposed on each wheel of the vehicle 1. For example, the braking devices include hydraulic brakes (such as disc brakes that use hydraulic pressure to generate braking force). As a braking device, for example, an electric generator connected to the wheels and generating regenerative torque may be further included. The braking operation of the vehicle 1 using the braking devices is controlled by the braking ECU 20. Separately from the motion manager 200, for example, a control unit (not shown) for controlling the braking system 304 is disposed in the braking ECU 20.

[0046] For example, steering system 306 includes a steering device capable of changing the steering angle of the steering wheels (e.g., the front wheels) of vehicle 1 and an ECU (both not shown) for controlling the operation of the steering device. The steering device includes, for example, a steering wheel that changes the steering angle according to the amount of operation, and electric power steering (EPS) capable of arbitrating the steering angle by actuators independent of the operation of the steering wheel. The ECU for controlling the operation of the steering device controls the operation of the EPS actuators.

[0047] The central ECU 40 includes a memory 42 capable of updating stored content. The central ECU 40 is configured to communicate with, for example, a brake ECU 20, and is configured to communicate with a device (not shown, such as a server) outside the vehicle 1 via a communication module (not shown). When it receives update information from the server outside the vehicle 1, the central ECU 40 uses the received update information to update the information stored in the memory 42. Predetermined information is stored in the memory 42. This predetermined information includes, for example, information read from various ECUs when the vehicle 1's system is started.

[0048] In this embodiment, it is described that when the system of vehicle 1 is started, the central ECU 40 reads predetermined information from various ECUs, but may have functions such as relaying communication between various ECUs (gateway function).

[0049] In the following text, reference will be made to Figure 2 A detailed example of how to operate the Motion Manager 200. Figure 2 This is a diagram illustrating an example of the operation of the motion manager 200.

[0050] As an example, Figure 2 The diagram illustrates a scenario where the driver assistance system 100 includes, for example, AEB 102, LKA 104, ACC 106, and ASL 108 as applications. A request for a motion plan, set in at least one of the multiple applications, is sent from the driver assistance system 100 to the motion manager 200 as a request signal PLN1.

[0051] The request signal PLN1 includes, for example, information about a target acceleration set in the ACC, AEB, or ASL as part of the motion plan, information about a target curvature set in the LKA as part of the motion plan, etc.

[0052] The motion manager 200 sets the requested motion for the vehicle 1 based on the motion plan request included in the received request signal PLN1, and requests the actuator system 30 to implement the set motion. In other words, the motion manager 200 sends an operation request for the transmission system 302 to the actuator system 30 as request signal ACL1. The motion manager 200 sends an operation request for the braking system 304 to the actuator system 30 as request signal BRK1. Furthermore, the motion manager 200 sends an operation request for the steering system 306 to the actuator system 30 as request signal STR1.

[0053] The request signal ACL1 includes information such as the requested value of the drive torque or drive force, or information about the arbitration method (e.g., choosing between a maximum or minimum value, or whether to change the value step by step or gradually).

[0054] The request signal BRK1 includes, for example, information about the requested value of the braking torque, information about the arbitration method (e.g., whether to change the value gradually or incrementally), or information about the timing of braking (whether to execute immediately, etc.).

[0055] The request signal STR1 includes, for example, information about the target steering angle, information about whether the target steering angle is valid, or information about the upper and lower limits of the auxiliary torque for steering wheel operation.

[0056] The actuators that have received the corresponding request signals among the multiple actuators constituting the actuator system 30 are controlled in order to realize the operation request included in the request signal.

[0057] The following section will describe an example of configuring the motion manager 200. For example... Figure 2 As shown, the motion manager 200 includes a receiving unit 202, an arbitration unit 204, a calculation unit 206, and a distribution unit 208.

[0058] The receiving unit 202 receives motion plan requests from one or more applications of the driving assistance system 100. Details of the motion plan in this embodiment will be described below.

[0059] Arbitration unit 204 arbitrates requests for multiple motion plans received from various applications via receiving unit 202. An example of this arbitration process could be selecting a motion plan from multiple motion plans based on predetermined selection criteria. Alternatively, another example of this arbitration process could be setting a new motion plan based on multiple motion plans. Arbitration unit 204 may further incorporate predetermined information received from actuator system 30 and arbitrate the requests for motion plans. Furthermore, arbitration unit 204 may determine whether to temporarily prioritize the motion of vehicle 1 required based on driver and vehicle states over the motion of vehicle 1 corresponding to the motion plan determined based on the arbitration result.

[0060] The calculation unit 206 calculates the motion request based on the arbitration result of the motion plan request in the arbitration unit 204 and the motion of the vehicle 1 determined based on the arbitration result. The motion request is a physical quantity used to control at least one actuator of the actuator system 30, and includes physical quantities that are different from the physical quantity of the motion plan request. For example, when the motion plan request (first request) is longitudinal acceleration, the calculation unit 206 calculates the value obtained by converting the acceleration into driving force or driving torque as the motion request (second request).

[0061] The distribution unit 208 distributes motion requests calculated by the calculation unit 206 to at least one actuator of the actuator system 30. For example, when an acceleration of vehicle 1 is requested, the distribution unit 208 distributes the motion request only to the transmission system 302. Alternatively, when a deceleration of vehicle 1 is requested, the distribution unit 208 appropriately distributes the motion request to both the transmission system 302 and the braking system 304 to achieve a target deceleration.

[0062] The actuator system 30 sends information about the status of the drive system 302 to the motion manager 200 as a signal ACL2. Examples of information about the status of the drive system 302 include information about the operation of the accelerator pedal, information about the actual drive torque or actual drive force of the drive system 302, actual shift range information, information about the upper and lower limits of the drive torque, information about the upper and lower limits of the drive force, or information about the reliability of the drive system 302.

[0063] The braking system 304 of the actuator system 30 sends information about the status of the braking system 304 to the motion manager 200 as a signal BRK2. Examples of information about the status of the braking system 304 include information about the operation of the brake pedal, information about the braking torque requested by the driver, information about the requested value of the braking torque after arbitration, information about the actual braking torque after arbitration, or information about the reliability of the braking system 304.

[0064] The steering system 306 of the actuator system 30 sends information about the state of the steering system 306 to the motion manager 200 as a signal STR2. Examples of information about the state of the steering system 306 include information about the reliability of the steering system 306, information about whether the driver is holding the steering wheel, information about the torque used to operate the steering wheel, or information about the steering wheel's rotation angle.

[0065] In addition to the aforementioned transmission system 302, braking system 304, and steering system 306, the actuator system 30 also includes a sensor group 308.

[0066] Sensor group 308 includes multiple sensors for detecting the behavior of vehicle 1. Sensor group 308 includes, for example, a longitudinal G-sensor that detects the vehicle body acceleration in the longitudinal direction, a lateral G-sensor that detects the vehicle body acceleration in the lateral direction, wheel speed sensors mounted on each wheel and detecting wheel speed, and a yaw rate sensor that detects the angular velocity of the rotation angle (yaw angle) in the yaw direction. Sensor group 308 sends information including the sensor detection results as a signal VSS2 to motion manager 200. In other words, signal VSS2 includes, for example, the detection values ​​of the longitudinal G-sensor, the detection values ​​of the lateral G-sensor, the detection values ​​of the wheel speed sensors of each wheel, the detection values ​​of the yaw rate sensor, and information about the reliability of each sensor.

[0067] When receiving various signals from the actuator system 30, the motion manager 200 sends predetermined information as signal PLN2 to the driver assistance system 100.

[0068] The configuration of the devices installed on vehicle 1 and the configuration of motion manager 200 described above are examples, and can be appropriately added, replaced, modified, omitted, etc. Furthermore, the functions of various devices can be appropriately integrated into one device or distributed to multiple devices for execution.

[0069] In the vehicle 1 with the above configuration, as described above, the motion manager 200 arbitrates requests for motion plans among those received from various applications of the driver assistance system 100 based on predetermined selection criteria. As an arbitration process, it is described that a motion plan is selected from multiple motion plans based on predetermined selection criteria. However, as a method for selecting a motion plan from multiple motion plans, it is considered that each application uses identification information (hereinafter referred to as "application ID") to select a motion plan, which allows the application and the motion plan to be uniquely identified.

[0070] Figure 3 This is a diagram illustrating an example of how to arbitrate a campaign plan using an application ID.

[0071] For example, such as Figure 3 As shown in the upper part, the driving assistance system 100 includes application (1) 100A and application (2) 100B. The motion manager 200 receives request quantity A and identification information ID1 from application (1) 100A, and can use the identification information ID1 to specify that the request source of request quantity A is application (1) 100A. In addition, the motion manager 200 receives request quantity B and identification information ID2 from application (2) 100B, and can use the identification information ID2 to specify that the request source of request quantity B is application (2) 100B.

[0072] The motion manager 200 processes selection requests for each ID. Specifically, for example, when priorities are set for each ID and identification information ID1 has a higher priority than identification information ID2, and when the motion manager 200 receives request quantity A and request quantity B, the motion manager 200 calculates the motion request for the actuator system 30 based on request quantity A.

[0073] In this case, for example, such as Figure 3 As shown in the lower part, assume that a new application (3) 100C with new functions is added to the driver assistance system 100. At this time, the application (3) 100C outputs a request quantity C and an identification information ID3 that can identify the source of the request as the application (3) 100C as a motion plan to the motion manager 200. Therefore, in addition to the existing identification information ID1 and ID2, the motion manager 200 also needs to set up the processing of the new identification information ID3. In other words, for all systems associated with the identification information (motion manager 200 and actuator system 30), a design change occurs to process the application (3) 100C newly designated by the identification information ID3. When there are many design changes, the design changes take time, and the speed of application updates or product deployment may be slowed down.

[0074] Then, in this embodiment, when receiving information indicating multiple motion plans from multiple applications, the motion manager 200 classifies the received information indicating the motion plans into predetermined items. The predetermined items include the request value of the physical quantity indicating the amount of motion of vehicle 1, the information indicating the direction of motion of vehicle 1, and the information indicating the motion priority of vehicle 1 according to multiple motion plans. The information is received so that the implementation method of achieving the purpose of the motion plan can be selected without specifying or distinguishing the setting source of the motion plan.

[0075] Therefore, it is possible to realize the movement of vehicle 1 according to the received motion plan without specifying or distinguishing the setting source of the motion plan (i.e., without distributing identification information such as ID). Therefore, even when a new application is added, the increase in the number of design changes caused by the addition of the application can be limited by receiving multiple motion plans that can be classified into predetermined items.

[0076] In the following text, reference will be made to Figure 4 Describes the predefined items categorized in Motion Manager 200. Figure 4 This is a table illustrating examples of predefined items categorized in the motion manager 200.

[0077] In this embodiment, as Figure 4 As shown, the predetermined items include (A) the requested physical quantity, (B) the requesting ECU, (C) the direction of movement, (D) the level of assistance, (E) the execution priority, (F) the quietness, and (G) the operational limitations. In other words, the predetermined items include items (A) to (D) consisting of specification information (static information), and items (E) to (G) consisting of conditions to be observed when the application request is fulfilled (dynamic information), using the specification information to understand the ECU configuration and the content of the request.

[0078] For example, when a motion plan is set in each application, each application sends the set motion plan to the motion manager 200. The motion manager 200 categorizes the received multiple motion plans into the corresponding items in (A) to (G) above, without distinguishing the setting source. The information included in the multiple motion plans is set in a form that can at least be categorized into items (A) and (C) to (G). For information about the requesting source ECU regarding item (B), for example, when the system of vehicle 1 is started, the motion manager 200 obtains information about the ECU that is the requesting source of the application from the central ECU 40.

[0079] The predetermined items (A) to (G) categorized in the motion manager 200 will be described below.

[0080] (A) The requested physical quantity indicates the requested value of the physical quantity used in each application to achieve the requested motion of vehicle 1. This requested value can be, for example, a single value, or it can have a specific width of two values ​​(i.e., an upper limit and a lower limit). Depending on the application, the physical quantity is set to different physical quantities and includes, for example, acceleration, force, or steering angle. Furthermore, the requested physical quantity in the application is not limited to a single physical quantity, and for example, multiple types of physical quantity request values ​​can be set in one application.

[0081] In this embodiment, for example, (A) the requested physical quantity includes at least one of (1) the requested value of ground acceleration, (2) the requested value of total driving force, (3) the requested value of thrust, (4) the requested value of braking force, and (5) the requested value of steering angle.

[0082] (1) Ground acceleration indicates the acceleration or deceleration of vehicle 1. (2) Total driving force indicates the total driving force of vehicle 1, including, for example, resistance (such as driving resistance). (3) Propulsion indicates the force applied by transmission system 302 in the forward direction of vehicle 1. (4) Braking force indicates the force that brakes vehicle 1 through multiple braking devices of braking system 304. (5) Steering angle indicates the steering angle of the steering wheel.

[0083] (B) The requesting source ECU indicates the ECU with the application. For example, when multiple applications are configured in multiple ECUs, the information from the requesting source ECU can be used to determine which ECU has the motion plan set or the route from which information is transmitted. For example, when a first ECU, a second ECU, and a third ECU are set in vehicle 1 as ECUs that include applications, (B) the requesting source ECU includes, for example, (1) the first ECU, (2) the second ECU, and (3) the third ECU. In addition to the ADAS-ECU 10 that includes the above-mentioned applications, examples of the first ECU, the second ECU, and the third ECU include ECUs that set motion plans on the EPB or parking lock mechanism, ECUs that perform communication with the autonomous driving suite through an interface, etc. The motion manager 200 can determine what applications are included in vehicle 1 based on the information from the requesting source ECU (e.g., whether it is a vehicle capable of autonomous driving, whether it is a vehicle without autonomous driving functions but with automatic parking functions, or whether it is a vehicle without autonomous driving functions and capable of controlling only the EPB or parking lock mechanism).

[0084] (C) The direction of movement indicates the direction of motion (movement) requested for vehicle 1. Examples of movement of vehicle 1 requested by the application include movement in the longitudinal direction, movement in the left-right direction (lateral direction), and movement in a combination of the longitudinal and left-right directions. Therefore, (C) the direction of movement includes one of (1) the longitudinal direction, (2) the left-right direction, and (3) the longitudinal + left-right direction.

[0085] As a (D) assist level, priority is set for whether the application requests movement (change of position) or force (change of speed or acceleration) for vehicle 1, and further for the timing, time period, etc., to fulfill the request. Therefore, the (D) assist level includes, for example, one of (1) movement and future target, (2) movement and immediate target, (3) force and steady-state target, (4) force and transition target, (5) movement and time curve of the entire operating area, and (6) force and time curve of the entire operating area. Priorities in (1) to (6) are preset. For example, priorities can be set in the order of numbers (1) to (6), with smaller numbers indicating higher priority, or separately from numbers (1) to (6).

[0086] (E) Execution Priority indicates the priority of the motion plan set in the application. For example, (E) Execution Priority includes one of (1) Emergency, (2) Normal (Low G), (3) Normal (High G), and (4) Conditions for Regulations. (1) Emergency is a motion with high urgency and is set to the highest priority. For example, information that can be used to specify whether the motion of vehicle 1 in the longitudinal direction or the motion of vehicle 1 in the turning direction is urgent is added to (1) Emergency. (2) Normal (Low G) is a motion in the low acceleration range where the acceleration of vehicle 1 is equal to or lower than a threshold and is set to a lower priority than (1) Emergency. (3) Normal (High G) is a motion in the acceleration range where the acceleration of vehicle 1 is higher than a threshold and is set to a lower priority than (2) Normal (Low G). (4) is a motion based on conditions for regulations, etc. and is set to a lower priority than (3) Normal (High G).

[0087] For example, when a motion plan including a deceleration request is output from the AEB application, the execution priority (E) corresponding to the motion plan in the motion manager 200 is classified as (1) emergency (in the longitudinal direction of vehicle 1).

[0088] (F) Quietness indicates whether a high level of quietness is required for vehicle 1, whether a high level of responsiveness is required for vehicle 1, or whether a balance between quietness and responsiveness is required for vehicle 1. (F) Quietness includes one of (1) responsiveness, (2) balance between responsiveness and quietness, and (3) quietness.

[0089] For example, when a motion plan including a deceleration request is output from an AEB application, the quietness (F) corresponding to the motion plan is classified as (1) attention responsiveness in the motion manager 200.

[0090] For example, when (1) responsiveness is set to (F) quietness, the value corresponding to "high gain" is set as the control parameter for feedforward (FF) control and feedback (FB) control. Furthermore, for example, when (2) the balance between responsiveness and quietness is set to (F) quietness, the value corresponding to "medium gain" is set as the control parameter for FF control and FB control. Furthermore, for example, when (3) quietness is set to (F) quietness, the value corresponding to "low gain" is set as the control parameter for FF control and FB control.

[0091] Figure 5 The diagram illustrates an example of control parameters related to quietness / responsiveness set according to the application. For example, Figure 5The diagram illustrates the control parameters (initial control value in FF control and gain in FB control) set in the motion plan for each of the AEB, ACC, and low-speed range functions. Examples of low-speed range functions include speed control during automatic parking or speed control in a speed range below the ACC speed range. Furthermore, in Figure 5 In the multiple setting modes of various setting parameters for each application, the setting mode with higher responsiveness than other applications is conveniently called "high gain", the setting mode with lower responsiveness than other applications is called "low gain", and the setting mode with medium responsiveness compared to other applications is called "medium gain".

[0092] For example, the motion plan set in the AEB application is classified as (F) quietness item (1) responsiveness. In this case, a high gain value is set as the control parameter. In other words, when the motion plan set in the AEB application is implemented, S1 is set as the initial control quantity of FF control in speed control, and in FB control of vehicle 1, Gp1 is set as the gain of P item and Gi1 is set as the gain of I item.

[0093] For example, the motion plan set in the ACC application is classified as (F) quietness item (2) balance between responsiveness and quietness. In this case, the value of medium gain is set as the control parameter. In other words, when the motion plan set in the ACC application is implemented, S2 is set as the initial control quantity of FF control in speed control, and in FB control of vehicle 1, Gp2 is set as the gain of P item and Gi2 is set as the gain of I item.

[0094] For example, in the application of the low-speed range function, the motion plan set is classified as (F) quietness item (3) focusing on quietness. In this case, the low gain value is set as the control parameter. In other words, when the motion plan set in the application of the low-speed range function is implemented, S3 is set as the initial control quantity of FF control in speed control, and in the FB control of vehicle 1, Gp3 is set as the gain of P item and Gi3 is set as the gain of I item.

[0095] (G) Operational restrictions are items that define whether the operation of a specific device installed on vehicle 1 is permitted. Examples of specific devices include an automatic transmission having a lock-up mechanism for the engine or torque converter. Thus, for example, when vehicle 1 includes an automatic transmission having a lock-up mechanism for the engine or torque converter, (G) operational restrictions may include at least one of (1) fuel cut-off prohibition, (2) torque converter lock-up prohibition, and (3) downshift prohibition.

[0096] Each application sets an exercise plan and sends the set exercise plan to the exercise manager 200. When a new application is added, the newly added application sets an exercise plan in a form that can be categorized into the aforementioned predetermined items (A) to (G) and sends the set exercise plan to the exercise manager 200.

[0097] The motion manager 200 receives motion plans from various applications, including added applications, via the receiving unit 202. The arbitration unit 204 of the motion manager 200 arbitrates the received multiple motion plans.

[0098] For example, the motion manager 200 selects one of a plurality of exercise plans categorized as (A) to (G). The motion manager 200 selects, for example, the exercise plan with the highest priority in execution priority (E) from the received plurality of exercise plans. Alternatively, when there are multiple exercise plans with the same priority in execution priority (E) from the received plurality of exercise plans, the motion manager 200 selects the exercise plan with the highest priority in auxiliary level (D).

[0099] The calculation unit 206 of the motion manager 200 calculates a motion request for the vehicle 1 based on predetermined items (A) to (G) corresponding to the selected motion plan, thereby enabling the vehicle 1 to move according to the selected motion plan. The distribution unit 208 of the motion manager 200 distributes the calculated motion request to at least one actuator in the actuator system 30 corresponding to the movement direction (C).

[0100] For example, when the system of vehicle 1 is started, motion manager 200 obtains predetermined information from central ECU 40, including information related to the requesting source ECU and the application. In this way, motion manager 200 can identify the requesting source ECU and recognize what applications are included in vehicle 1 and what motion plans are set.

[0101] When the system of vehicle 1 is started, motion manager 200 retrieves information from memory 42 of central ECU 40 indicating the correspondence between the application and the requesting ECU, and retrieves information on the items to which the motion plan is classified. With this information, the requested items shown in (A) to (D) above and the operating condition items shown in (E) to (G) above are set as items classified by motion manager 200.

[0102] Figure 6 This is a flowchart illustrating an example of the processing performed in the motion manager 200 when the system of vehicle 1 is started.

[0103] In step (hereinafter referred to as S) 100, the motion manager 200 determines whether the system of vehicle 1 has been started. For example, when the system of vehicle 1 is in a deactivated state, the motion manager 200 can determine that the system of vehicle 1 has been started if the start conditions for starting the system of vehicle 1 are met. For example, if the system of vehicle 1 is in a deactivated state and the user performs the operation to start the system of vehicle 1, the motion manager 200 can determine that the start conditions are met and the system of vehicle 1 has been started. When the motion manager 200 determines that the system of vehicle 1 has been started ("Yes" in S100), the process proceeds to S102. On the other hand, when the motion manager 200 determines that the system of vehicle 1 has not been started ("No" in S100), the process ends.

[0104] In S102, the motion manager 200 retrieves information from the memory 42 of the central ECU 40 indicating the correspondence between multiple request source ECUs and multiple applications.

[0105] In S104, the motion manager 200 retrieves the requested items and operating conditions from the memory 42 of the central ECU 40 as items categorized by the motion manager 200.

[0106] In S106, the motion manager 200 sets the items categorized by the motion manager 200. For example, the motion manager 200 can omit one of the above items (A) to (G) (e.g., (G) operation restrictions, etc.) from the correspondence between the application installed on the vehicle 1 and the requesting source ECU, and set the items categorized by the motion manager 200.

[0107] An example of the operation of the motion manager 200 based on the above structure and flowchart will be described.

[0108] For example, suppose the system of vehicle 1 is in a deactivated state. When the user operates the start switch and the system of vehicle 1 starts ("Yes" in S100), information indicating the correspondence between the requesting source ECU and the application is obtained from the central ECU 40 (S102). Then, the requested items and operating conditions are obtained from the central ECU 40 and classified as items by the motion manager 200 (S104). Before starting to calculate the main functions of each ECU, the items classified by the motion manager 200 using the obtained information are set (A to G above) (S106).

[0109] Therefore, after the system of vehicle 1 is started, motion manager 200 categorizes and receives multiple motion plans from various applications into the aforementioned items (A) to (G). Upon receiving a motion plan, motion manager 200 selects a motion plan according to predetermined criteria (priority), such as execution priority or assistance level. Motion manager 200 realizes the movement of vehicle 1 according to the selected motion plan by calculating the motion request to implement the selected motion plan and distributing it to at least one actuator of actuator system 30.

[0110] As described above, using the vehicle 1 of this embodiment, the movement of the vehicle 1 according to the motion plan set in the application can be realized without specifying or distinguishing the setting source of the motion plan (i.e., without distributing application IDs, etc.). Therefore, when a new application is added, the increase in the number of design changes can be limited. Therefore, even when an application that sets a motion plan is added, a motion manager, vehicle, vehicle control method, and program can be provided that limit the increase in the number of design changes caused by the addition of the number of applications.

[0111] Furthermore, since the predetermined items include information indicating the level of driving assistance and information indicating the priority of at least one of the responsiveness and quietness of the vehicle 1's movement according to the movement plan, the movement of the vehicle 1 according to the movement plan set in the application can be realized with high precision without distinguishing the setting source of the movement plan.

[0112] Furthermore, by using the updatable memory 42 of the central ECU 40, for example, when an application and ECU enabling autonomous driving, automatic parking, and all other driving assistance are installed on vehicle 1, by simply changing the correspondence between the request source ECU and the application in the memory, it is possible to achieve, through a common ECU, a vehicle with autonomous driving enabled, automatic parking disabled but automatic parking and other driving assistance enabled, and a vehicle with autonomous driving and automatic parking disabled but other driving assistance enabled. Moreover, by updating the memory 42 after shipment from the vehicle assembly plant, the disabled functions can be deactivated.

[0113] In the following description, variant examples will be presented. In this embodiment, the items (A) to (G) are listed as examples as predetermined items categorized by the motion manager 200. However, the items categorized by the motion manager 200 are not limited to the above seven items, and for example, at least (A) the requested physical quantity, (C) the direction of movement, and (E) the execution priority may be included in the above items (A) to (G).

[0114] Furthermore, in this embodiment, motion plans from the application are described as being categorized into (A) and (C) through (G), and when the system of vehicle 1 is started, information about the requesting ECU (B) is obtained from the central ECU 40. However, the motion plan may include information about the requesting ECU (B).

[0115] Furthermore, in this embodiment, as an example, the configuration of the motion manager 200 is described as including a receiving unit 202, an arbitration unit 204, a calculation unit 206, and a distribution unit 208. However, for example, the configuration of the motion manager 200 may include at least a first motion manager that receives motion plans from an application, and a second motion manager capable of communicating with the first motion manager and requesting the actuator system 30 to perform motion. In this case, the functions of the arbitration unit 204, the calculation unit 206, and the distribution unit 208 may be implemented on one of the first or second motion managers.

[0116] The above-described variations can be implemented by appropriate combinations thereof, in whole or in part. The embodiments disclosed in this disclosure are to be considered illustrative in all respects and not restrictive. The scope of the invention is not shown by the foregoing description of the embodiments, but by the claims, and is intended to include within its scope the meaning equivalent to the claims and all variations.

Claims

1. A motion manager configured to request, to at least one of a plurality of actuators disposed in a vehicle, motion of the vehicle according to a motion plan for driving assistance relating to the vehicle, the motion manager being characterized in that it includes one or more processors configured to: The system receives information indicating multiple motion plans and categorizes the information into predetermined items, such that the method for achieving the purpose of each motion plan can be selected without specifying or distinguishing the setting source of each motion plan. The predetermined items include a request value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the vehicle's motion according to each motion plan. Arbitration is performed on multiple sports plans based on the categories to which each sports plan is classified in the predetermined projects. Calculate the motion request for the vehicle based on the results of the arbitration of the motion plan; as well as The motion request is distributed to at least one of the plurality of actuators.

2. The motion manager according to claim 1, characterized in that, The predetermined items further include information indicating the priority of at least one of the responsiveness and quietness of the vehicle's movement according to the movement plan.

3. The motion manager according to claim 1 or 2, characterized in that, The predetermined item further includes information indicating the level of the driving assistance.

4. A vehicle, characterized in that, include: A driving assistance system comprising multiple applications configured to independently set each of multiple motion plans for driving assistance with the vehicle; as well as The motion manager is configured as follows: Receive information indicating each of the motion plans set in at least one of the plurality of applications and classify the information into predetermined items, the predetermined items including a request value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the motion of the vehicle according to each of the motion plans, such that the method of achieving the purpose of each of the motion plans can be selected without specifying or distinguishing the setting source of each of the motion plans. Arbitration is performed on multiple sports plans based on the categories to which each sports plan is classified in the predetermined projects. and A request is made to at least one of a plurality of actuators disposed in the vehicle to perform the movement of the vehicle according to the movement plan.

5. The vehicle according to claim 4, characterized in that, The predetermined items further include information indicating the priority of at least one of the responsiveness and quietness of the vehicle's movement according to the movement plan.

6. The vehicle according to claim 4 or 5, characterized in that, The predetermined item further includes information indicating the level of the driving assistance.

7. A vehicle control method executed by a computer, the vehicle control method being characterized by comprising: Receive information about each of a plurality of motion plans for driving assistance of a vehicle and classify the information into predetermined items, such that the method of achieving the purpose of each of the motion plans can be selected without specifying or distinguishing the setting source of each of the motion plans. The predetermined items include a request value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the motion of the vehicle according to each of the motion plans. Arbitration is performed on multiple sports plans based on the categories to which each sports plan is classified in the predetermined projects. Calculate the motion request for the vehicle based on the results of the arbitration of the motion plan; as well as The motion request is distributed to at least one of a plurality of actuators disposed in the vehicle.

8. A non-transitory storage medium storing instructions executable by a computer and causing the computer to perform a function, the function being characterized by comprising: Receive information about each of a plurality of motion plans for driving assistance of a vehicle and classify the information into predetermined items, such that the method of achieving the purpose of each of the motion plans can be selected without specifying or distinguishing the setting source of each of the motion plans. The predetermined items include a request value of a physical quantity indicating the amount of motion of the vehicle, information indicating the direction of motion of the vehicle, and information indicating the priority of the motion of the vehicle according to each of the motion plans. Arbitration is performed on multiple sports plans based on the categories to which each sports plan is classified in the predetermined projects. Calculate the motion request for the vehicle based on the results of the arbitration of the motion plan; as well as The motion request is distributed to at least one of a plurality of actuators disposed in the vehicle.

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