Communication device, communication method, and computer program product

Abstract

An independent ECU is mounted on a vehicle. A processing section of the independent ECU repeatedly acquires vehicle data, such as image data, related to the vehicle, and instructs transmission of associated data, such as image data, related to the acquired vehicle data. The processing section determines a transmission ratio, which is a proportion of the number of the transmitted associated data in the number of the associated data obtained by acquisition or generation, according to a state of the vehicle. The processing section determines whether or not to transmit the associated data obtained by acquisition or generation in accordance with the determined transmission ratio.

Description

Technical Field

[0001] This disclosure relates to communication devices, communication methods, and computer programs.

[0002] This application claims priority based on Japanese Application No. 2020-175479, filed on October 19, 2020, and invokes all the contents of that Japanese application. Background Technology

[0003] Patent Document 1 discloses a communication device that transmits vehicle-related data via a communication line. This communication device acquires data from sensors and transmits the acquired data to a second communication device via the communication line. The sensors are cameras, infrared sensors, or LIDAR (Light Detection and Ranging) devices, etc.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-149130 Summary of the Invention

[0007] One aspect of this disclosure relates to a communication device mounted on a vehicle, wherein the communication device includes a processing unit that performs processing, the processing unit repeatedly acquiring vehicle data related to the vehicle, the processing unit instructing the transmission of associated data related to the acquired vehicle data, the processing unit determining a transmission ratio based on the state of the vehicle, the transmission ratio being the proportion of the number of associated data transmitted to the number of associated data obtained through acquisition or generation, and the processing unit determining whether to transmit the associated data obtained through acquisition or generation according to the determined transmission ratio.

[0008] In one aspect of the communication method disclosed herein, a computer performs the following steps: repeatedly acquiring vehicle data related to a vehicle; instructing the transmission of associated data related to the acquired vehicle data; determining a transmission ratio based on the state of the vehicle, the transmission ratio being the proportion of the amount of associated data transmitted to the amount of associated data obtained through acquisition or generation; and determining whether to transmit the acquired associated data according to the determined transmission ratio.

[0009] One aspect of this disclosure relates to a computer program that causes a computer to perform the following steps: repeatedly acquiring vehicle data related to a vehicle; instructing the transmission of associated data related to the acquired vehicle data; determining a transmission ratio based on the state of the vehicle, the transmission ratio being the proportion of the amount of associated data transmitted to the amount of associated data obtained through acquisition or generation; and determining whether to transmit the acquired associated data according to the determined transmission ratio.

[0010] Furthermore, this disclosure can be implemented not only as a communication device with such a characteristic processing unit, but also as a communication method that uses the aforementioned characteristic processing as steps, or as a computer program for causing a computer to execute the aforementioned steps. Additionally, this disclosure can be implemented as a semiconductor integrated circuit that implements part or all of the communication device, or as a communication system that includes the communication device. Attached Figure Description

[0011] Figure 1 This is a block diagram showing the main structural components of the communication system in Embodiment 1.

[0012] Figure 2 This is an illustrative diagram of configurations such as integrated ECUs and independent ECUs.

[0013] Figure 3 This is a block diagram showing the main structural components of an integrated ECU.

[0014] Figure 4 It is a chart showing the transmission ratio corresponding to the driving status.

[0015] Figure 5 It is a chart showing the transmission ratio corresponding to the parking status.

[0016] Figure 6 It is a chart showing the transmission ratio corresponding to the standby state.

[0017] Figure 7 This is a block diagram showing the main structural components of a standalone ECU.

[0018] Figure 8 This is a flowchart showing the order in which the vehicle's status is updated.

[0019] Figure 9 This is a flowchart illustrating the sequence of image data transmission and processing.

[0020] Figure 10 This is a sequence diagram showing the transmission of image data while in motion.

[0021] Figure 11 This is a sequence diagram showing the transmission of image data while the vehicle is parked.

[0022] Figure 12 This is a flowchart illustrating the sequence of data transmission and processing at the vehicle doors.

[0023] Figure 13 This is a sequence diagram showing the transmission of data from the second door while the vehicle is parked.

[0024] Figure 14 This is a sequence diagram showing the transmission of data from the second door while the vehicle is in motion.

[0025] Figure 15 This is a flowchart illustrating the sequence of additional image data transmissions.

[0026] Figure 16 This is a flowchart illustrating the sequence of additional image data transmissions.

[0027] Figure 17 This is a sequence diagram illustrating the first example of appended transmission of image data.

[0028] Figure 18 This is a sequence diagram illustrating the second example of appended transmission of image data.

[0029] Figure 19 This is a block diagram showing the main structural components of the integrated ECU in Embodiment 2.

[0030] Figure 20 It is a reduced coordinate graph corresponding to the driving state.

[0031] Figure 21 This is a block diagram showing the main structural components of a standalone ECU.

[0032] Figure 22 This is a flowchart illustrating the sequence of image data transmission and processing.

[0033] Figure 23 This is a flowchart illustrating the sequence of data transmission and processing at the vehicle doors.

[0034] Figure 24 This is a flowchart illustrating the sequence of image data storage and processing. Detailed Implementation

[0035] [The problem this disclosure aims to solve]

[0036] Typically, sensors repeatedly output data. The communication device described in Patent Document 1, for example, transmits the acquired data via a communication line to a second communication device each time data is obtained from the sensor. The importance of the data varies depending on the vehicle's state.

[0037] When the sensor output is image data showing the front of the vehicle, the data is highly important when the vehicle is moving. Conversely, its importance is low when the vehicle is parked. In a structure where the communication device transmits data whenever data is acquired from the sensor, the amount of data transmitted per unit time remains constant even when the data's importance is low. Therefore, there is a problem that efficient data transmission cannot be achieved.

[0038] Therefore, a communication device, communication method, and computer program capable of efficiently transmitting data are provided.

[0039] [The Effects of This Disclosure]

[0040] According to this disclosure, efficient transmission of associated data can be achieved.

[0041] [Description of embodiments of this disclosure]

[0042] First, embodiments of this disclosure will be described by way of example. At least some of the embodiments described below may be combined arbitrarily.

[0043] (1) One aspect of the present disclosure involves a communication device mounted on a vehicle, wherein the communication device includes a processing unit that performs processing, the processing unit repeatedly acquires vehicle data related to the vehicle, the processing unit instructs the transmission of associated data related to the acquired vehicle data, the processing unit determines a transmission ratio based on the state of the vehicle, the transmission ratio being the proportion of the number of associated data transmitted to the number of associated data obtained through acquisition or generation, and the processing unit determines whether to transmit the associated data obtained through acquisition or generation according to the determined transmission ratio.

[0044] (2) In a communication device according to one aspect of this disclosure, the associated data is vehicle data or data generated based on multiple vehicle data.

[0045] (3) In a communication device according to one aspect of the present disclosure, the number of types of associated data is 2 or more, and the processing unit determines the transmission ratio based on the types of associated data obtained by acquisition or generation and the state of the vehicle.

[0046] (4) In a communication device according to one aspect of this disclosure, the associated data is transmitted via a communication line, and the processing unit determines the transmission ratio based on the type of associated data obtained by acquisition or generation, the state of the vehicle, and the load value of the communication line.

[0047] (5) In a communication device according to one aspect of the present disclosure, among a variety of associated data, there are first type of associated data and second type of associated data. When the state of the vehicle is the first state, the transmission ratio associated with the first type of associated data is greater than the transmission ratio associated with the second type of associated data. When the state of the vehicle is the second state, the transmission ratio associated with the first type of associated data is less than the transmission ratio associated with the second type of associated data.

[0048] (6) A communication device according to one aspect of the present disclosure includes a receiving unit that receives request data that requests additional transmission of the associated data, and when the receiving unit receives the request data, the processing unit instructs the transmission of the associated data that was determined not to be transmitted.

[0049] (7) In a communication device according to one aspect of the present disclosure, there is a receiving unit that receives request data that requests additional transmission of the associated data. When the receiving unit receives the request data, the processing unit instructs the transmission of the associated data obtained by acquisition or generation, regardless of the state of the vehicle.

[0050] (8) One aspect of the communication device disclosed herein includes an output unit that outputs a control signal indicating the operation of the actuator to an actuator, wherein the factors used by the processing unit to determine the transmission ratio include the type of the actuator.

[0051] (9) In a communication device according to one aspect of this disclosure, the state of the vehicle is determined based on whether the ignition switch is turned on, whether the parking brake is turned on, and whether the speed of the vehicle is zero.

[0052] (10) In a communication method according to one aspect of this disclosure, a computer performs the following steps: repeatedly acquiring vehicle data related to a vehicle; instructing the transmission of associated data related to the acquired vehicle data; determining a transmission ratio based on the state of the vehicle, the transmission ratio being the proportion of the amount of associated data transmitted to the amount of associated data obtained by acquiring or generating; and determining whether to transmit the acquired associated data according to the determined transmission ratio.

[0053] (11) A computer program according to one aspect of the present disclosure causes a computer to perform the following steps: repeatedly acquiring vehicle data related to a vehicle; instructing the transmission of associated data related to the acquired vehicle data; determining a transmission ratio based on the state of the vehicle, the transmission ratio being the proportion of the amount of associated data transmitted to the amount of associated data obtained by acquiring or generating; and determining whether to transmit the acquired associated data according to the determined transmission ratio.

[0054] In the communication devices, communication methods, and computer programs involved in the above-mentioned approach, it is determined whether to send associated data according to the transmission ratio corresponding to the vehicle's status. Therefore, efficient transmission of associated data is achieved.

[0055] In the communication device described above, when the associated data is vehicle data, the transmission ratio is the proportion of the number of transmitted associated data items to the total number of acquired vehicle data items (associated data). For example, if the transmission ratio is 20%, one of five consecutively acquired vehicle data items (associated data) is transmitted. When associated data is generated based on multiple vehicle data items, the transmission ratio is the proportion of the number of transmitted associated data items to the total number of generated associated data items. For example, if the transmission ratio is 20%, one of five consecutively generated associated data items is transmitted.

[0056] In the communication devices described above, the transmission ratio is determined not only based on the vehicle's status but also on the type of associated data. This results in more efficient transmission of associated data.

[0057] In the communication devices described above, the transmission ratio is determined not only based on the vehicle's status and the type of associated data, but also on the load value of the communication line. This results in more efficient transmission of associated data.

[0058] In the communication device described above, depending on the vehicle's state, there are multiple states, including a first state and a second state. In the first state, the transmission ratio related to first-type associated data is greater than the transmission ratio related to second-type associated data. In the second state, the transmission ratio related to first-type associated data is less than the transmission ratio related to second-type associated data. In the first state, the first-type associated data is of high importance. In the second state, the second-type associated data is of high importance.

[0059] In the communication device described above, since it is determined that associated data will not be sent, there is unsent associated data. Upon receiving request data, the associated data that was not sent according to the determination is sent.

[0060] In the communication device described above, for example, when a request for data is received before determining whether to send the associated data obtained by acquisition or generation, the associated data obtained by acquisition or generation is sent sequentially regardless of the vehicle's state.

[0061] In the communication devices described above, the factors used to determine the transmission ratio include the type of actuator.

[0062] In the communication device described above, the vehicle's state is determined based on whether the ignition switch is on, whether the parking brake is on, and whether the vehicle's speed is zero.

[0063] [Details of the embodiments disclosed herein]

[0064] Hereinafter, specific examples of communication systems according to embodiments of the present disclosure will be described with reference to the accompanying drawings. Furthermore, the present invention is not limited to these examples, but is indicated by the claims, which are intended to encompass all modifications within the meaning and scope equivalent to the claims.

[0065] (Implementation Method 1)

[0066] <Structure of Communication System 1>

[0067] Figure 1 This is a block diagram showing the main structural components of the communication system 1 in Embodiment 1. The communication system 1 is mounted on a vehicle C. The communication system 1 includes an integrated ECU 2, multiple independent ECUs 3, two cameras 40, two lidar sensors 41, a door switch 42, a door motor 43, a sensor 50, and an actuator 51. ECU is an abbreviation for Electronic Control Unit. Among the multiple independent ECUs 3, there are independent ECUs 3a and 3b. Each independent ECU 3 is connected to the integrated ECU 2 via a communication line L. The two cameras 40, two lidar sensors 41, door switch 42, and door motor 43 are respectively connected to the independent ECU 3a. The sensor 50 and actuator 51 are respectively connected to the independent ECU 3b.

[0068] Figure 2 This diagram illustrates the configuration of the integrated ECU2 and the independent ECU3a. Two cameras 40 are positioned on the front and rear sides of vehicle C, respectively. Two LEDs 41 are positioned on the front and rear sides of vehicle C. Door switches 42 and door motors 43 are located inside the doors of vehicle C. The integrated ECU2 and the independent ECU3a are positioned in the central area of ​​vehicle C. Figure 2 The diagrams of the independent ECU3b, sensor 50, and actuator 51 are omitted.

[0069] A camera 40 positioned at the front of vehicle C repeatedly captures images of the front of vehicle C. A camera 40 positioned at the rear of vehicle C repeatedly captures images of the rear of vehicle C. Each camera 40 generates image data each time it captures an image. Each time an image data is generated, each camera 40 outputs the generated image data to an independent ECU 3a.

[0070] A LIDAR 41 positioned at the front of vehicle C intermittently emits laser light towards the front of vehicle C, performing measurements related to the laser light reflected from objects positioned at the front of vehicle C. A LIDAR 41 positioned at the rear of vehicle C intermittently emits laser light towards the rear of vehicle C, performing measurements related to the laser light reflected from objects positioned at the rear of vehicle C. Each LIDAR 41 repeatedly generates point group data representing the distance and angle related to objects positioned outside vehicle C. Each LIDAR 41 outputs point group data to an independent ECU 3a whenever it generates point group data. Camera 40 and LIDAR 41 are among multiple sensors mounted on vehicle C.

[0071] Independent ECU 3a transmits part or all of the image data acquired from a single camera 40 to integrated ECU 2 via communication line L. Independent ECU 3a also transmits part or all of the point data acquired from a single LiDAR 41 to integrated ECU 2 via communication line L. The image data and point data are vehicle data related to vehicle C, respectively, and are associated data related to the vehicle data.

[0072] The door switch 42 is switched on or off by the user. Based on the state of the door switch 42 related to being on or off, the door motor 43 locks or unlocks the doors of vehicle C. The door switch 42 repeatedly outputs first door data, indicating the state of the door switch 42 related to being on or off, to the independent ECU 3a. The first door data indicates whether the door is on or off. The door switch 42 is one of several sensors mounted on vehicle C.

[0073] Each time K first door data points are input from the door switch 42, the independent ECU 3a generates second door data based on these K first door data points. The second door data also represents the state of the door switch 42 related to its on / off state. K is an integer greater than or equal to 2 and is a fixed value. When K is 3, the state of the door switch 42 is determined based on the three states represented by the three first door data points. For example, the independent ECU 3a determines the state of the door switch 42 based on the state represented by the most frequent state among the three states represented by the three first door data points. This process is called filtering. Even if one of the three first door data points represents an incorrect state due to interference noise, the state of the vehicle C is determined to be the correct state based on the three first door data points. The second door data represents the state determined by the independent ECU 3a.

[0074] The independent ECU 3a transmits some or all of the generated second door data to the integrated ECU 2 via communication line L. The first door data is vehicle data. The second door data is associated data. Image data, dot group data, and second door data are three types of associated data. The independent ECU 3a functions as a communication device.

[0075] The independent ECU 3a outputs control signals to the door motor 43. The control signals output to the door motor 43 indicate whether the door is locked or unlocked. When the input control signal indicates locking, the door motor 43 locks the door. When the input control signal indicates unlocking, the door motor 43 unlocks the door.

[0076] Figure 1 The sensor 50 shown performs detections related to vehicle C, repeatedly generating vehicle data. The vehicle data generated by sensor 50 may include image data, point group data, first door data, speed data, ignition data, or parking brake data. Speed ​​data indicates the speed of vehicle C. Ignition data indicates whether the ignition switch of vehicle C is on. The ignition switch switches on or off when the engine of vehicle C is switched on or off. Parking brake data indicates whether the parking brake is on. The parking brake is used to keep vehicle C stationary. Whenever sensor 50 generates vehicle data, it outputs the generated vehicle data to the independent ECU 3b.

[0077] As an example, the independent ECU 3b transmits the vehicle data input from sensor 50 as associated data to the integrated ECU 2 via communication line L. The independent ECU 3b transmits some or all of the multiple vehicle data (associated data) input from sensor 50 to the integrated ECU 2.

[0078] As a second example, the independent ECU 3b generates one associated data based on N vehicle data input from sensor 50. N is an integer greater than or equal to 2 and is a fixed value. The independent ECU 3b sends the generated associated data to the integrated ECU 2 via communication line L. The independent ECU 3b may send some or all of the generated associated data to the integrated ECU 2.

[0079] Actuator 51 performs actions related to vehicle C. When actuator 51 is a lamp, actuator 51 turns the lamp on or off. Independent ECU 3b outputs a control signal to actuator 51 indicating the action of actuator 51. When a control signal is input from independent ECU 3b, actuator 51 performs the action indicated by the input control signal.

[0080] The integrated ECU2 receives various types of associated data from multiple independent ECUs3. This associated data includes image data, point group data, second door data, speed data, ignition data, and parking brake data. Based on one or more of the associated data received from one or more independent ECUs3, the integrated ECU2 determines the operation of the door motor 43 and the actuator 51.

[0081] The integrated ECU 2 transmits instruction data representing the determined action to one or more independent ECUs 3 via one or more communication lines L. Upon receiving the instruction data, independent ECU 3a outputs a control signal to the door motor 43. The action represented by the control signal is the same as the action represented by the received instruction data. Upon receiving the instruction data, independent ECU 3b outputs a control signal to the actuator 51. The action represented by the control signal is the same as the action represented by the received instruction data.

[0082] Suppose that an independent ECU3 sends a portion of associated data obtained through acquisition or generation to an integrated ECU2. In this case, when the integrated ECU2 needs one or more unplanned associated data transmissions, it sends a request data to the independent ECU3, requesting the additional transmission of one or more unplanned associated data. Upon receiving the request data, the independent ECU3 sends the one or more unplanned associated data transmissions to the integrated ECU2.

[0083] The integrated ECU2 stores vehicle state data representing the state of vehicle C. Based on speed data, ignition data, and parking brake data received as associated data, the integrated ECU2 repeatedly determines the state of vehicle C. Each time the state of vehicle C is determined, the integrated ECU2 updates the state of vehicle C represented by the vehicle state data. The states of vehicle C can be listed as driving state, parking state, and standby state. Driving state is when the ignition switch is on, the parking brake is off, and the speed of vehicle C is above zero. Parking state is when the ignition switch is on, the parking brake is on, and the speed of vehicle C is zero. Standby state is when the ignition switch is off, the parking brake is on, and the speed of vehicle C is zero.

[0084] Whenever the integrated ECU2 updates the vehicle status data representing the status of vehicle C, it sends the vehicle status data to multiple independent ECUs 3, including independent ECUs 3a and 3b. Each independent ECU 3 also stores vehicle status data. Each independent ECU 3 rewrites its stored vehicle status data into the vehicle status data received from the integrated ECU2. Based on the status of vehicle C, each independent ECU 3 adjusts the transmission ratio for various related data. This transmission ratio is the proportion of the amount of related data sent to the integrated ECU2 to the amount of related data obtained through acquisition or generation. The unit of the transmission ratio is percentage.

[0085] The communication protocol used for communication via communication line L is, for example, the Ethernet (registered trademark) communication protocol.

[0086] Furthermore, the number of independent ECUs 3a and 3b in the communication system 1 is not limited to one, but can be two or more. The actuator connected to the independent ECU 3a is not limited to the door motor 43, and can be an actuator different from the door motor 43. The number of actuators connected to the independent ECU 3a is not limited to one, but can be two or more. The number of actuators connected to the independent ECU 3b is not limited to one, but can be two or more. The number of sensors connected to the independent ECU 3a is not limited to five, but can be one to four or six or more. The number of sensors 50 connected to the independent ECU 3b is not limited to one, but can be two or more.

[0087] The following is an example of connecting camera 40, LIDAR 41 and door switch 42 to independent ECU 3a.

[0088] <Structure of Integrated ECU2>

[0089] Figure 3 This is a block diagram showing the main structural components of the integrated ECU2. The integrated ECU2 has multiple communication units 20, temporary storage units 21, storage units 22, and a control unit 23. They are connected to an internal bus 24. Among the multiple communication units 20 are communication units 20a and 20b. Communication unit 20a is further connected to an independent ECU 3a via a communication line L. Communication unit 20b is further connected to an independent ECU 3b via a communication line L.

[0090] The communication unit 20a receives image data, dot group data, and second door data from the independent ECU 3a. Following the instructions of the control unit 23, the communication unit 20a sends instruction data, request data, and vehicle status data to the independent ECU 3a.

[0091] The communication unit 20b receives associated data from the independent ECU 3b. Following the instructions of the control unit 23, the communication unit 20b sends instruction data, request data, and vehicle status data to the independent ECU 3b.

[0092] Temporary storage unit 21 is a volatile memory. When the power supply to the integrated ECU2 is stopped, the data stored in temporary storage unit 21 is deleted. Control unit 23 performs multiple data processing operations related to temporary storage unit 21. These multiple data processing operations include data writing and data reading.

[0093] Storage unit 22 is a non-volatile memory. Data stored in storage unit 22 is maintained regardless of whether power is supplied to the integrated ECU 2. Control unit 23 performs multiple data processing operations related to storage unit 22. These operations include data writing and data reading. Storage unit 22 stores vehicle status data representing the state of vehicle C. The state of vehicle C represented by the vehicle status data is updated by control unit 23. Storage unit 22 also stores three transmission ratio tables T1, T2, and T3 representing the transmission ratios of three types of associated data.

[0094] As described above, the second door data, image data, and dot group data are three types of associated data. The transmission ratio table T1 shows the transmission ratios of the second door data, image data, and dot group data. Similarly, the transmission ratio tables T2 and T3 show the transmission ratios of the second door data, image data, and dot group data, respectively.

[0095] Transmission ratio table T1 corresponds to the driving status. Transmission ratio table T2 corresponds to the parking status. Transmission ratio table T3 corresponds to the standby status.

[0096] The transmission ratio of the second door data is the proportion of the second door data sent to the integrated ECU2 to the total amount of second door data generated by the independent ECU3a. The transmission ratio of image data is the proportion of the image data sent to the integrated ECU2 to the total amount of image data acquired by the independent ECU3a from the single camera 40. Similarly, the transmission ratio of point group data is the proportion of the point group data sent to the integrated ECU2 to the total amount of point group data acquired by the independent ECU3a from the single LIDAR 41.

[0097] Figure 4 This is a graph showing the transmission ratio table T1 corresponding to the driving state. As mentioned above, when the ignition switch is on, the parking brake is off, and the speed of vehicle C is above zero, the state of vehicle C is the driving state. Figure 4 As shown, the transmission ratio of the second door data is 50%. Therefore, the independent ECU3a sends half of the generated second door data to the integrated ECU2.

[0098] The transmission ratio of image data and point data is 100%. Therefore, all image data acquired from one camera 40 is sent to the integrated ECU 2. All point data acquired from one LIDAR 41 is also sent to the integrated ECU 2. In the design of vehicle C, the importance of the second door data is medium. The importance of image data and point data is high. Therefore, when vehicle C is in a driving state, the transmission ratio of image data and point data is greater than the transmission ratio of the second door data.

[0099] Figure 5 This is a graph showing the transmission ratio table T2 corresponding to the parking state. As mentioned above, when the ignition switch is on, the parking brake is on, and the speed of vehicle C is zero, the state of vehicle C is the parking state. Figure 5 As shown, the transmission rate of the second door data is 100%. Therefore, the independent ECU3a sends all the generated second door data to the integrated ECU2.

[0100] The transmission ratio of image data to point data is 50%. Therefore, half of the image data acquired from one camera 40 is sent to the integrated ECU 2. Half of the point data acquired from one LiDAR 41 is also sent to the integrated ECU 2. In the design of vehicle C, the importance of the second door data is high. The importance of image data and point data is medium. Therefore, when vehicle C is in a parked state, the transmission ratio of image data and point data is less than the transmission ratio of the second door data.

[0101] Figure 6 This is a graph showing the transmission ratio table T3 corresponding to the standby state. As mentioned above, when the ignition switch is off, the parking brake is on, and the speed of vehicle C is zero, the state of vehicle C is standby. Figure 6 As shown, the transmission ratio of the second door data is 50%. Therefore, the independent ECU3a sends half of the generated second door data to the integrated ECU2.

[0102] The transmission ratio of image data and point data is 20%. Therefore, one-fifth of the multiple image data acquired from one camera 40 is sent to the integrated ECU 2. One-fifth of the multiple point data acquired from one LIDAR 41 is also sent to the integrated ECU 2. In the design of vehicle C, the importance of the second door data is medium. The importance of image data and point data is low. Therefore, when vehicle C is in standby mode, the transmission ratio of image data and point data is less than the transmission ratio of the second door data.

[0103] The control unit 23 can identify the transmission ratio of the second door data, image data, and point group data based on the transmission ratio table corresponding to the state of vehicle C represented by the vehicle state data.

[0104] like Figure 3As shown, the storage unit 22 also stores a computer program P1. The control unit 23 has a processing element for performing processing, such as a CPU (Central Processing Unit). The processing element of the control unit 23 executes the computer program P1 to perform first update processing, image data storage processing, dot group data storage processing, second door data storage processing, associated data storage processing, and instruction data transmission processing, etc.

[0105] The first update process updates the vehicle C's state as represented by the vehicle state data stored in storage unit 22. The image data storage process writes image data received from independent ECU 3a to temporary storage unit 21. The dot group data storage process writes dot group data received from independent ECU 3a to temporary storage unit 21. The second door data storage process writes second door data received from independent ECU 3a to temporary storage unit 21. The associated data storage process writes associated data received from independent ECU 3b to temporary storage unit 21. The instruction data transmission process sends instruction data to one or more independent ECUs 3.

[0106] Details regarding the first update processing, image data storage processing, point group data storage processing, second door data storage processing, associated data storage processing, and instruction data transmission processing will be described later.

[0107] Furthermore, the computer program P1 can also be stored in a non-temporary storage medium A1 in a manner readable by the processing element of the control unit 23. In this case, the computer program P1, read from the storage medium A1 by a read device (not shown), is written to the storage unit 22. The storage medium A1 is an optical disc, floppy disk, magnetic disk, magneto-optical disk, or semiconductor memory, etc. The optical disc is a CD (CompactDisc)-ROM (Read Only Memory), DVD (Digital Versatile Disc)-ROM, or BD (Blu-ray Disc), etc. The magnetic disk is, for example, a hard disk. Alternatively, the computer program P1 can be downloaded from an external device (not shown) connected to a communication network (not shown), and the downloaded computer program P1 can be written to the storage unit 22.

[0108] Furthermore, the number of processing elements in the control unit 23 is not limited to one, and may be two or more. When the control unit 23 has multiple processing elements, the multiple processing elements may also cooperate to perform the first update processing, image data storage processing, point group data storage processing, second door data storage processing, associated data storage processing, and instruction data transmission processing, etc.

[0109] <Structure of Independent ECU3a>

[0110] Figure 7 This is a block diagram showing the main structural components of the independent ECU 3a. The independent ECU 3a includes a communication unit 30, an input unit 31, an output unit 32, a temporary storage unit 33, a storage unit 34, and a control unit 35. These are connected to an internal bus 36. The communication unit 30 is further connected to the communication unit 20 of the integrated ECU 2 via a communication line L. The input unit 31 is further connected to two cameras 40, two LiDARs 41, and a door switch 42. The output unit 32 is further connected to a door motor 43.

[0111] Following the instructions of the control unit 35, the communication unit 30 transmits image data, dot group data, and second door data to the communication unit 20 of the integrated ECU 2 via the communication line L. The communication unit 30 receives instruction data, request data, and vehicle status data from the communication unit 20 of the integrated ECU 2. The communication unit 30 functions as a receiving unit.

[0112] Input unit 31 is an interface. Image data from each camera 40 is repeatedly input into input unit 31. Point group data from each LIDAR 41 is repeatedly input into input unit 31. Data for the first door is repeatedly input into input unit 31 from door switch 42.

[0113] Output unit 32 is an interface. According to the instructions of control unit 35, output unit 32 outputs control signals to door motor 43. As described above, door motor 43 performs the action indicated by the input control signal.

[0114] Temporary storage unit 33 is a volatile memory. In the event of a power supply interruption to the independent ECU 3a, the data stored in temporary storage unit 33 is deleted. Control unit 35 performs multiple data processing operations related to temporary storage unit 33. These operations include data writing and data reading.

[0115] Storage unit 34 is a non-volatile memory. Data stored in storage unit 22 is maintained regardless of whether power is supplied to the integrated ECU2. Control unit 23 performs multiple data processing operations related to storage unit 22. These operations include data writing and data reading. Storage unit 34 stores vehicle status data representing the state of vehicle C. The state of vehicle C represented by the vehicle status data is updated by control unit 35. Storage unit 34 also stores three transmission ratio tables T1, T2, and T3 representing the transmission ratios of three types of associated data.

[0116] The storage unit 34 also stores the computer program P2. The control unit 35 has a processing element, such as a CPU, that performs the processing. The control unit 35 functions as a processing unit. By executing the computer program P2, the processing element of the control unit 35 performs the second update processing, image data transmission processing, dot group data transmission processing, second door data transmission processing, image data append transmission processing, dot group data append transmission processing, second door data append transmission processing, and motion control processing, etc.

[0117] The second update process rewrites the vehicle status data stored in the storage unit 34 into the vehicle status data received by the communication unit 30. The image data transmission process sends image data to the communication unit 20 of the integrated ECU 2. The dot group data transmission process sends dot group data to the communication unit 20 of the integrated ECU 2. The second door data transmission process sends second door data to the communication unit 20 of the integrated ECU 2.

[0118] Image data appending and transmitting processing involves appending image data to the communication unit 20 of the integrated ECU2. Dot group data appending and transmitting processing involves appending dot group data to the communication unit 20 of the integrated ECU2. Second door data appending and transmitting processing involves appending second door data to the communication unit 20 of the integrated ECU2. Motion control processing involves causing the door motor 43 to perform the action indicated by the instruction data received by the communication unit 30.

[0119] Details regarding the second update processing, image data transmission processing, point group data transmission processing, second door data transmission processing, image data append transmission processing, point group data append transmission processing, second door data append transmission processing, and motion control processing will be described later.

[0120] Furthermore, the computer program P2 can also be stored in a non-temporary storage medium A2 in a manner readable by the processing element of the control unit 35. In this case, the computer program P2, read from the storage medium A2 by a read device (not shown), is written to the storage unit 34. The storage medium A2 is an optical disk, floppy disk, magnetic disk, magneto-optical disk, or semiconductor memory, etc. Alternatively, the computer program P2 can be downloaded from an external device (not shown) connected to a communication network (not shown), and the downloaded computer program P2 can be written to the storage unit 34.

[0121] Furthermore, the number of processing elements in the control unit 35 is not limited to one, and may be two or more. When the control unit 35 has multiple processing elements, the multiple processing elements can also cooperate to perform vehicle status update processing, image data storage processing, point group data storage processing, second door data storage processing, associated data storage processing, and instruction data transmission processing, etc.

[0122] <Motion control of door motor 43 and actuator 51>

[0123] In the operation control of the door motor 43 and actuator 51, the control unit 23 of the integrated ECU 2 performs instruction data transmission processing, and the control unit 35 of the independent ECU 3a performs operation control processing. In the instruction data transmission processing, the control unit 23 of the integrated ECU 2 determines the operation of the door motor 43 or actuator 51 based on one or more associated data received by one or more communication units 20. Once the control unit 23 determines the operation of the door motor 43, the instruction communication unit 20a sends instruction data indicating the determined operation to the communication unit 30 of the independent ECU 3a.

[0124] In the motion control processing, when the communication unit 30 receives instruction data, the control unit 35 of the independent ECU 3a outputs a control signal to the door motor 43 via the instruction output unit 32. Here, the action represented by the control signal is the action represented by the instruction data received by the communication unit 30. As a result, the door motor 43 executes the action determined by the control unit 23 of the integrated ECU 2.

[0125] During the instruction data transmission process, when the control unit 23 of the integrated ECU2 determines the operation of the actuator 51, the instruction communication unit 20b sends instruction data indicating the determined operation to the independent ECU 3b. Upon receiving the instruction data, the independent ECU 3b outputs a control signal to the actuator 51. Here, the operation indicated by the control signal is the operation indicated by the instruction data received by the independent ECU 3b. As a result, the actuator 51 performs the operation determined by the control unit 23 of the integrated ECU2.

[0126] <Related Data Storage and Processing>

[0127] Among the multiple independent ECUs 3, there are one or more independent ECUs 3b. Each of the one or more independent ECUs 3b repeatedly sends associated data related to the vehicle data input from the sensor 50 to the communication unit 20b of the integrated ECU 2. The one or more independent ECUs 3b send multiple associated data, including speed data, ignition data, and parking brake data, to the communication unit 20b of the integrated ECU 2.

[0128] In the associated data storage processing, when the control unit 23 of the integrated ECU2 receives associated data from the communication unit 20b, it stores the associated data received by the communication unit 20b into the temporary storage unit 21. Various types of associated data stored in the temporary storage unit 21 are used, for example, when the control unit 23 determines the operation of the door motor 43 or the actuator 51. Additionally, speed data, ignition data, and parking brake data stored in the temporary storage unit 21 are used when determining the state of the vehicle C.

[0129] Assume that the transmission rate of associated data from a single independent ECU 3b to the communication unit 20b of the integrated ECU 2 is less than 100%. In this case, when the control unit 23 of the integrated ECU 2 needs one or more unplanned associated data transmissions, it sends a request to the independent ECU 3b. Upon receiving the request, the independent ECU 3b sends one or more unplanned associated data transmissions to the communication unit 20b of the integrated ECU 2. When the communication unit 20b receives one or more unplanned associated data transmissions, the control unit 23 of the integrated ECU 2 stores the received associated data in the temporary storage unit 21.

[0130] <Update of the status of vehicle C>

[0131] Figure 8 This is a flowchart illustrating the sequence of updates to the state of vehicle C. During the update of vehicle C's state, the control unit 23 of the integrated ECU 2 performs a first update process, and the control unit 35 of the independent ECU 3a performs a second update process. The control unit 23 of the integrated ECU 2 periodically performs the first update process. In the first update process, the control unit 23 determines the state of vehicle C based on speed data, ignition data, and parking brake data received from one or more communication units 20 (step S1). The state of vehicle C determined by the control unit 23 is one of a driving state, a parked state, or a standby state.

[0132] In step S1, the speed of vehicle C, represented by speed data, the state of the ignition switch, represented by ignition data, and the state of the parking brake, represented by parking brake data, are used. The method for determining the state of vehicle C based on the speed of vehicle C, the state of the ignition switch, and the state of the parking brake is as described above.

[0133] Next, the control unit 23 updates the state of vehicle C represented by the vehicle state data stored in the storage unit 22 to the state determined in step S1 (step S2). After executing step S2, the control unit 23 instructs multiple communication units 20 to send the vehicle state data stored in the storage unit 22 to multiple independent ECUs 3 (step S3). Here, the multiple communication units 20 include communication units 20a and 20b. The multiple independent ECUs 3 include independent ECUs 3a and 3b. After executing step S3, the control unit 23 ends the first update process.

[0134] In the second update process, the control unit 35 of the independent ECU 3a first determines whether the communication unit 30 has received vehicle status data (step S11). If the control unit 35 determines that the communication unit 30 has not received vehicle status data (S11: "No"), it executes step S11 again and waits until the communication unit 30 receives vehicle status data. If the control unit 35 determines that the communication unit 30 has received vehicle status data (S11: "Yes"), it rewrites the vehicle status data stored in the storage unit 34 with the vehicle status data received by the communication unit 30 (step S12) and ends the second update process. After ending the second update process, the control unit 35 executes the second update process again and waits until the communication unit 30 receives vehicle status data.

[0135] When the independent ECU3b receives vehicle status data from the communication unit 20b of the integrated ECU2, it rewrites the vehicle status data stored in the independent ECU3b into the received vehicle status data.

[0136] As described above, the state of vehicle C, represented by the vehicle state data stored in the integrated ECU2 and the independent ECUs 3a and 3b, is periodically updated.

[0137] <Image data transmission and processing of independent ECU3a>

[0138] Figure 9 This is a flowchart illustrating the sequence of image data transmission processing. The storage unit 34 stores the values ​​of image markers. The values ​​of the image markers are either zero or 1. The control unit 35 changes the values ​​of the image markers to either zero or 1. The control unit 35 of the independent ECU 3a executes two image data transmission processes corresponding to the two cameras 40 respectively. The image data transmission process corresponding to one of the cameras 40 will be described below. Similarly, both image data transmission processes are executed.

[0139] In the image data transmission process, the control unit 35 determines whether image data has been input from the camera 40 to the input unit 31 (step S21). The image data input to the input unit 31 is obtained by the control unit 35. The image data input to the input unit 31 is vehicle data.

[0140] If the control unit 35 determines that no image data has been input (S21: "No"), it executes step S21 again and waits until image data is input from the camera 40 to the input unit 31. If the control unit 35 determines that image data has been input (S21: "Yes"), it writes the input image data to the temporary storage unit 21 (step S22).

[0141] Next, the control unit 35 determines whether the value of the image marker is zero (step S23). If the control unit 35 determines that the value of the image marker is zero (S23: "Yes"), it reads the state of vehicle C represented by the vehicle state data from the storage unit 34 (step S24). Next, the control unit 35 selects the transmission ratio table corresponding to the state of vehicle C read in step S24 from the three transmission ratio tables T1, T2, and T3 (step S25). As described above, the transmission ratio tables T1, T2, and T3 correspond to the driving state, the parking state, and the standby state, respectively.

[0142] Next, the control unit 35 determines the image data transmission ratio as shown in the transmission ratio table selected in step S25 (step S26). Then, the control unit 35 determines whether to transmit the image data obtained from the input unit 31 as associated data to the communication unit 20 of the integrated ECU2 according to the transmission ratio determined in step S26 (step S27). If the control unit 35 determines that the image flag value is 1 (S23: "No"), or determines that image data should be transmitted (S27: "Yes"), it instructs the communication unit 30 to transmit the obtained image data to the communication unit 20 of the integrated ECU2 via the communication line L (step S28). If the control unit 35 determines that image data should not be transmitted (S27: "No"), or after executing step S28, it terminates the image data transmission process.

[0143] After finishing the image data transmission process, the control unit 35 executes the image data transmission process again and waits until the image data is input to the input unit 31. Therefore, the control unit 35 repeatedly acquires image data. When the image marker value is zero, as long as the state of vehicle C is not changed, it determines whether to transmit the image data at the actual transmission ratio as determined in step S26. When the image marker value is 1, regardless of the state of vehicle C, whenever image data is input to the input unit 31, the communication unit 30 sends the input image data to the communication unit 20 of the integrated ECU 2.

[0144] <Transmission of image data>

[0145] Figure 10 This is a sequence diagram illustrating the transmission of image data while the vehicle is in motion. Figure 10 The image shows an example where the image marker value is zero. When vehicle C is in a driving state, in step S25 of the image data transmission processing, the control unit 35 of the independent ECU 3a selects the transmission ratio table T1. For example... Figure 4 As shown, in the transmission ratio table T1, the transmission ratio of image data is 100%. Therefore, as... Figure 10 As shown, in the independent ECU3a, whenever image data is input from a camera 40 to the input unit 31, the communication unit 20 sends the input image data to the communication unit 20 of the integrated ECU2.

[0146] Figure 11 This is a sequence diagram showing the transmission of image data while the vehicle is parked. Figure 11 The image shows an example where the image marker value is zero. When vehicle C is in a parked state, in step S25 of the image data transmission processing, the control unit 35 of the independent ECU 3a selects the transmission ratio table T2. For example... Figure 5 As shown in the transmission ratio table T2, the transmission ratio of image data is 50%. Therefore, as... Figure 11 As shown, in the independent ECU3a, the communication unit 30 sends half of the multiple image data input from one camera 40 to the input unit 31 to the communication unit 20 of the integrated ECU2.

[0147] exist Figure 11 In the example, the communication unit 20 sends image data to the communication unit 20 of the integrated ECU 2 every other time.

[0148] Furthermore, the method by which the communication unit 20 transmits image data is not limited to transmitting image data every other image. If the transmission ratio is 50%, there is no problem. Therefore, for example, the communication unit 30 transmits two consecutive image data inputs from the camera 40 to the communication unit 20 of the integrated ECU 2. Then, the communication unit 30 does not transmit the two consecutive image data inputs from the camera 40. The communication unit 30 can also repeat this series of actions.

[0149] When the image marker value is zero, and vehicle C is in standby mode, the control unit 35 of independent ECU 3a selects to send the proportional table T3. For example... Figure 6 As shown, in the transmission ratio table T3, the transmission ratio of image data is 20%. Therefore, in the independent ECU 3a, the communication unit 30 transmits one-fifth of the multiple image data input from one camera 40 to the communication unit 20 of the integrated ECU 2. For example, the communication unit 20 transmits image data to the communication unit 20 of the integrated ECU 2 every four images.

[0150] <Point-to-Group Data Transmission Processing for Independent ECU3a>

[0151] No filtering is performed on image data. Image data consists of vehicle data and related data. Similarly, no filtering is performed on point group data. Point group data also consists of vehicle data and related data. Therefore, point group data transmission processing is performed by the control unit 35 of the independent ECU 3a, just like image data transmission processing.

[0152] The storage unit 34 stores the values ​​of the dot group markers. The values ​​of the dot group markers are either zero or 1. The control unit 35 changes the values ​​of the dot group markers to either zero or 1. The control unit 35 of the independent ECU 3a executes two dot group data transmission processes corresponding to the two LIDARs 41 respectively. In the description of the image data transmission process, the camera 40, image data, and image markers are replaced with LIDAR 41, dot group data, and dot group markers. Thus, the dot group data transmission process can be explained.

[0153] <Door data transmission and processing of independent ECU3a>

[0154] Figure 12 This is a flowchart illustrating the sequence of door data transmission processing. The storage unit 34 stores the value of the door marker. The value of the door marker is either zero or 1. The control unit 35 changes the value of the door marker to either zero or 1. As described above, the second door data is generated based on K door data. K is an integer greater than or equal to 2 and is a fixed value. The storage unit 34 stores the number of data points of the first door data continuously input from the door switch 42 to the input unit 31.

[0155] In the door data transmission process, the control unit 35 determines whether the first door data has been input from the door switch 42 (step S31). The first door data input to the input unit 31 is obtained by the control unit 35. If the control unit 35 determines that the first door data has not been input (S31: "No"), it executes step S31 again and waits until the first door data is input to the input unit 31. If the control unit 35 determines that the first door data has been input (S31: "Yes"), it increments the data count by 1 (step S32) and determines whether the data count is K (step S33).

[0156] If the control unit 35 determines that the data quantity is not K (S33: "No"), it executes step S31 again and waits until the data quantity becomes K. If the control unit 35 determines that the data quantity is K (S33: "Yes"), it generates second door data based on the acquired K first door data (step S34). As described above, the second door data generated in step S34 is, for example, the data representing the state most frequently among the K states represented by the K first door data. After executing step S34, the control unit 35 sets the data quantity to zero (step S35). Next, the control unit 35 writes the second door data generated in step S34 to the temporary storage unit 33 (step S36).

[0157] After executing step S36, the control unit 35 determines whether the value of the door marker is zero (step S37). If the control unit 35 determines that the value of the door marker is zero (S37: "Yes"), it reads the state of vehicle C represented by the vehicle state data from the storage unit 34 (step S38). Next, the control unit 35 selects the transmission ratio table corresponding to the state of vehicle C read in step S38 from the three transmission ratio tables T1, T2, and T3 (step S39).

[0158] Next, the control unit 35 determines the transmission ratio of the second door data to the transmission ratio of the second door data represented by the transmission ratio table selected in step S39 (step S40). Then, the control unit 35 determines whether to transmit the second door data generated in step S34 to the communication unit 20 of the integrated ECU2 according to the transmission ratio determined in step S40 (step S41). If the control unit 35 determines that the door marker value is 1 (S37: "No"), or determines that the second door data should be transmitted (S41: "Yes"), it instructs the communication unit 30 to transmit the second door data generated in step S34 to the communication unit 20 of the integrated ECU2 via communication line L (step S42). If the control unit 35 determines that the second door data should not be transmitted (S41: "No"), or after executing step S42, it terminates the door data transmission process.

[0159] After finishing the door data transmission process, the control unit 35 executes the door data transmission process again, and waits until K first door data are input to the input unit 31. Therefore, the control unit 35 repeatedly acquires the first door data. When the door marker value is zero, as long as the state of vehicle C is not changed, it is determined whether to transmit the second door data in the manner of changing the actual transmission ratio to the transmission ratio determined in step S40. When the door marker value is 1, regardless of the state of vehicle C, whenever second door data is generated, the communication unit 30 sends the generated second door data to the communication unit 20 of the integrated ECU 2.

[0160] <Sending data from the second car door>

[0161] Figure 13 This is a sequence diagram showing the transmission of data from the second door while the vehicle is parked. Figure 13 The example shown is where K is 3 and the door marker value is zero. (Example:) Figure 13 As shown, in the independent ECU3a, whenever K first door data are input to the input unit 31 from the door switch 42, the control unit 35 generates second door data based on the input K first door data.

[0162] When vehicle C is in a parked state, in step S39 of the door data transmission processing, the control unit 35 of independent ECU 3a selects to transmit the proportional table T2. For example... Figure 5 As shown, in the transmission ratio table T2, the transmission ratio of the second door data is 100%. Therefore, as... Figure 13 As shown, in the independent ECU3a, whenever the control unit 35 generates the second door data, the communication unit 20 sends the second door data generated by the control unit 35 to the communication unit 20 of the integrated ECU2.

[0163] Figure 14 This is a sequence diagram showing the transmission of data from the second door while the vehicle is in motion. Figure 14 The example shown is where K is 3 and the door marker value is zero. As described above, in the independent ECU 3a, whenever K first door data are input to the input unit 31 from the door switch 42, the control unit 35 generates second door data. When the vehicle C is in a driving state, in step S39 of the door data transmission processing, the control unit 35 of the independent ECU 3a selects the transmission ratio table T1. Figure 4 As shown, in the transmission ratio table T1, the transmission ratio of the second door data is 50%. Therefore, as... Figure 14 As shown, in the independent ECU3a, the communication unit 30 sends half of the multiple second door data generated by the control unit 35 to the communication unit 20 of the integrated ECU2.

[0164] exist Figure 14 In the example, the communication unit 20 sends the data of the second door to the communication unit 20 of the integrated ECU 2 every other time.

[0165] Furthermore, the method by which the communication unit 20 transmits the second door data is not limited to transmitting the second door data every other door. If the transmission ratio is 50%, there is no problem. Therefore, for example, the communication unit 30 transmits two consecutive second door data packets generated by the control unit 35 to the communication unit 20 of the integrated ECU 2. Then, the communication unit 30 does not transmit the two consecutive second door data packets generated by the control unit 35. The communication unit 30 can also repeat this series of actions.

[0166] When K is 3 and the door marker value is zero, and vehicle C is in standby mode, the control unit 35 of independent ECU 3a selects to send the proportional table T3. For example... Figure 6 As shown, in the transmission ratio table T3, the transmission ratio of the second door data is 50%. Therefore, in the independent ECU 3a, the communication unit 30 sends half of the multiple second door data generated by the control unit 35 to the communication unit 20 of the integrated ECU 2. For example, the communication unit 20 sends the second door data to the communication unit 20 of the integrated ECU 2 every other one.

[0167] <Additional transmission of image data>

[0168] Figure 15 and Figure 16 This is a flowchart illustrating the sequence of additional image data transmission. During the additional image data transmission, the control unit 23 of the integrated ECU2 performs image data storage processing. The control unit 35 of the independent ECU3a performs image data additional transmission processing. As described above, the control unit 35 of the independent ECU3a performs image data transmission processing. Therefore, the communication unit 30 repeatedly transmits image data to the communication unit 30 of the integrated ECU2.

[0169] In image data storage processing, the control unit 23 of the integrated ECU2 determines whether the communication unit 20a has received image data from the communication unit 30 of the independent ECU 3a (step S51). If the control unit 23 determines that the communication unit 20a has not received image data (S51: "No"), it executes step S51 again and waits until the communication unit 20a receives image data. If the control unit 23 determines that the communication unit 20a has received image data (S51: "Yes"), it writes the image data received by the communication unit 20a to the temporary storage unit 21 (step S52).

[0170] After executing step S52, control unit 23 reads the vehicle status data representing the vehicle C from storage unit 22 (step S53). Next, control unit 23 selects a transmission ratio table from transmission ratio tables T1, T2, and T3 that corresponds to the vehicle C status read in step S53 (step S54). Next, control unit 23 refers to the transmission ratio corresponding to the image data in the transmission ratio table selected in step S54 and determines whether the referenced transmission ratio is less than 100% (step S56).

[0171] If the control unit 23 determines that the transmission rate is less than 100% (S56: "Yes"), it determines whether it is necessary to transmit one or more unplanned image data (step S57). In step S57, for example, if the situation around vehicle C is of high importance to the image data, the control unit 23 determines that it is necessary to transmit one or more image data. The one or more unplanned image data are one or more image data stored in the temporary storage unit 21 in a non-transmitted state during the period from the transmission of the last image data to the transmission of the next image data when the image marker value is zero.

[0172] If the control unit 23 determines that the transmission ratio is 100% (S56: "No"), or if it determines that it is not necessary to transmit one or more additional image data (S57: "No"), the image data storage process ends.

[0173] If the control unit 23 determines that one or more additional image data need to be transmitted (S57: "Yes"), it instructs the communication unit 20a to send request data, which requests the additional transmission of one or more image data (step S58). During the image data additional transmission process, the control unit 35 of the independent ECU 3a determines whether the communication unit 30 has received the request data from the communication unit 20a of the integrated ECU 2 (step S71). If the control unit 35 determines that the communication unit 30 has not received the request data (S71: "No"), it executes step S71 again and waits until the communication unit 30 receives the request data.

[0174] If the control unit 35 determines that the communication unit 30 has received the requested data (S71: "Yes"), it determines whether all unscheduled image data has been stored in the temporary storage unit 21 (step S72). If the control unit 35 determines that all image data has been stored (S72: "Yes"), it instructs the communication unit 30 to send all image data that was not sent according to the determination in step S27 of the image data transmission process to the communication unit 20a of the integrated ECU2 via the communication line L (step S73). After executing step S73, the control unit 35 ends the image data append transmission process.

[0175] If the control unit 35 determines that not all image data has been stored (S72: "No"), it changes the value of the image marker to 1 (step S74). Therefore, in the image data transmission process, whenever image data is acquired from the camera 40, the control unit 35 of the independent ECU 3a instructs the communication unit 20 to transmit the acquired image data, regardless of the state of the vehicle C. After executing step S74, the control unit 23 determines whether the transmission of all unscheduled image data has been completed (step S75).

[0176] If the control unit 35 determines that the transmission of all image data is incomplete (S75: "No"), it executes step S75 again and waits until the transmission of all image data is completed. If the control unit 23 determines that the transmission of all image data is completed (S75: "Yes"), it changes the value of the image marker to zero (step S76) and ends the image data append transmission process.

[0177] After the image data appending and sending process ends, the control unit 23 executes the image data appending and sending process again and stands by until the communication unit 20a receives the requested data.

[0178] In image data storage processing, after executing step S58, the control unit 23 of the integrated ECU2 determines whether the communication unit 20a has received all the unscheduled image data (step S59). If the control unit 23 determines that it has not received all the unscheduled image data (S59: "No"), it executes step S59 again and waits until the communication unit 20a receives all the unscheduled image data.

[0179] If the control unit 35 determines that it has received all image data that was not scheduled to be sent (S59: "Yes"), it writes all the image data received by the communication unit 20a into the temporary storage unit 21 (step S60) and ends the image data storage process. After ending the image data storage process, the control unit 35 executes the image data storage process again and waits until the communication unit 20a receives the image data.

[0180] <Example 1 of appending image data>

[0181] Figure 17 This is a sequence diagram illustrating the first example of appended transmission of image data. Figure 17 The table shows the transmission of image data in standby mode. In the transmission ratio table T3 corresponding to the standby mode, as shown... Figure 6 As shown, the proportion of image data sent is 20%. Figure 17In this example, the communication unit 30 of the independent ECU 3a sends one image data to the communication unit 20a of the integrated ECU 2 every four frames. During the image data transmission process, the control unit 35 of the independent ECU 3a writes all the image data input from one camera 40 to the temporary storage unit 33.

[0182] In image data storage and processing, it is assumed that the control unit 23 of the integrated ECU2 determines that four unplanned image data sets need to be sent. In this case, the communication unit 20 sends a request data to the communication unit 30 of the independent ECU 3a, requesting the transmission of the four unplanned image data sets. Figure 17 In the example, after writing four unplanned image data to the temporary storage unit 33 of the independent ECU3a, the communication unit 20a of the integrated ECU2 sends request data.

[0183] In this case, during the image data appending and transmission process, the control unit 35 of the independent ECU 3a executes step S73. As a result, the communication unit 30 of the independent ECU 3a sends four unplanned image data points to the communication unit 20 of the integrated ECU 2. Consequently, the four unplanned image data points are written to the temporary storage unit 33 of the integrated ECU 2.

[0184] <Example 2 of appending image data>

[0185] Figure 18 This is a sequence diagram illustrating the second example of appended transmission of image data. Figure 18 and Figure 17 Similarly, the transmission of image data in standby mode is shown. In Figure 18 In the example, before writing the four unplanned image data to the temporary storage unit 33 of the independent ECU3a, the communication unit 20a of the integrated ECU2 sends request data.

[0186] In this case, during the image data supplementation and transmission process, the control unit 35 of the independent ECU 3a executes step S74. This changes the value of the image marker to 1. As described above, when the image marker value is 1, regardless of the state of the vehicle C, the communication unit 30 of the independent ECU 3a sends the image data input to the input unit 31 from the camera 40 to the communication unit 20 of the integrated ECU 2 whenever image data is input from the camera 40 to the input unit 31. This writes the four unplanned image data to the temporary storage unit 33 of the integrated ECU 2. During the image data supplementation and transmission process, after the transmission of the four unplanned image data is completed, the control unit 35 of the independent ECU 3a returns the image marker value to zero.

[0187] Furthermore, after writing a portion of the multiple image data that were not planned for transmission to the temporary storage unit 33 of the independent ECU 3a, the communication unit 20a of the integrated ECU 2 may send request data. In this case, as a first example, the control unit 35 instructs the communication unit 30 to send a portion of the image data to the communication unit 20a of the integrated ECU 2. Subsequently, the control unit 35 changes the value of the image marker to 1. As a result, the communication unit 30 sends the remaining image data to the communication unit 20a of the integrated ECU 2. As a second example, the control unit 35 stands still until the remaining image data is written to the temporary storage unit 33. After writing all the image data, the control unit 35 instructs the communication unit 30 to send all the image data written to the temporary storage unit 33 to the communication unit 20a of the integrated ECU 2.

[0188] <Additional Sending of Point Group Data>

[0189] During the additional transmission of point group data, the control unit 23 of the integrated ECU2 performs point group data storage processing. The control unit 35 of the independent ECU3a performs point group data additional transmission processing. As described above, the control unit 35 of the independent ECU3a performs point group data transmission processing. Therefore, the communication unit 30 repeatedly transmits point group data to the communication unit 30 of the integrated ECU2.

[0190] The point group data storage processing and point group data appending and transmission processing are the same as the image data storage processing and image data appending and transmission processing, respectively. By replacing "camera 40," "image data," "image data transmission processing," and "image markers" with "LIDAR 41," "point group data," "point group data transmission processing," and "point group markers," respectively, in the description of the image data storage processing and image data appending and transmission processing, the point group data storage processing and point group data appending and transmission processing can be explained.

[0191] <Additional transmission of data for the second door>

[0192] During the additional transmission of data for the second door, the control unit 23 of the integrated ECU2 performs the data storage processing for the second door. The control unit 35 of the independent ECU3a performs the additional transmission processing for the second door data. As described above, the control unit 35 of the independent ECU3a performs the transmission processing for the second door data. Therefore, the communication unit 30 repeatedly transmits the second door data to the communication unit 30 of the integrated ECU2.

[0193] The data storage processing and data appending transmission processing for the second door are the same as those for the image data storage processing and image data appending transmission processing, respectively. By replacing camera 40, image data, image data transmission processing, and image marker with door switch 42, second door data, second door data transmission processing, and door marker, respectively, in the description of the image data storage processing and image data appending transmission processing, the data storage processing and second door data appending transmission processing for the second door can be explained. Step S27 of the image data transmission processing corresponds to step S41 of the second door data transmission processing.

[0194] However, as described above, the door switch 42 repeatedly outputs the first door data to the input unit 31 of the independent ECU 3a. The control unit 35 of the independent ECU 3a generates the second door data based on K pieces of the first door data. Whenever the second door data is generated, the control unit 35 stores the generated second door data in the temporary storage unit 33. When the door flag value is 1, in the second door data transmission process, regardless of the state of the vehicle C, the control unit 35 of the independent ECU 3a instructs the communication unit 20 to transmit the generated second door data whenever it is generated.

[0195] <Effects of Independent ECU3a>

[0196] In the independent ECU 3a, the control unit 35 determines whether to send associated data according to the transmission ratio corresponding to the state of the vehicle C. This achieves efficient transmission of associated data. Furthermore, the control unit 35 determines the transmission ratio not only based on the state of the vehicle C but also on the type of associated data. This results in even more efficient transmission of associated data.

[0197] like Figures 4-6 As shown, the ratio of image data transmission to second door data transmission varies depending on the state of vehicle C. Similarly, the ratio of point group data transmission to second door data transmission also varies depending on the state of vehicle C.

[0198] (Implementation Method 2)

[0199] In Implementation 1, the transmission ratios of image data, dot group data, and second door data vary depending on the state of vehicle C. However, each transmission ratio varies not only based on the state of vehicle C but also on the load value of communication line L.

[0200] The differences between Embodiment 2 and Embodiment 1 will now be explained. All other structures, except those described later, are shared with Embodiment 1. Therefore, the same reference numerals are used for the structural parts shared with Embodiment 1, and their descriptions are omitted.

[0201] <Structure of Integrated ECU2>

[0202] Figure 19 This is a block diagram showing the main structural components of the integrated ECU2 in Embodiment 2. The storage unit 22 of the integrated ECU2 stores three reduction coordinate graphs G1, G2, and G3 for reducing the transmission ratio. The three reduction coordinate graphs G1, G2, and G3 correspond to the driving state, the parking state, and the standby state, respectively.

[0203] Figure 20 This is the reduction coordinate graph G1 corresponding to the driving state. Regarding the reduction coordinate graph G1, the horizontal axis shows the load value of the communication line L connecting the communication unit 20 of the integrated ECU2 and the communication unit 30 of the independent ECU3a. The vertical axis shows the reduction ratio of the transmission proportion. The reduction ratio is greater than zero and less than 1. The load value is represented, for example, by the proportion of the period during which data is transmitted via the communication line L connecting the integrated ECU2 and the independent ECU3a within a certain specified period. In this case, the load value is the utilization rate.

[0204] In the reduction coordinate graph G1, the relationship between the reduction ratio and the load value is shown for image data, point group data, and data from the second door, respectively. Figure 20 In the example, the larger the load value, the smaller the reduction ratio of both the image data and the second door data. The reduction ratio of the point group data is fixed at 1 regardless of the load value. When vehicle C is in a driving state, the transmission ratio is determined as the product of the transmission ratio shown in the transmission ratio table T1 and the reduction ratio. Therefore, the smaller the reduction ratio, the smaller the transmission ratio.

[0205] The reduction coordinate diagrams G2 and G3 corresponding to the parking and standby states are the same as those in reduction coordinate diagram G1. Regarding reduction coordinate diagrams G2 and G3, the reduction ratios of image data, point group data, and second door data are smaller as the load value increases, or are fixed at 1.

[0206] <Structure of Independent ECU3a>

[0207] Figure 21 This is a block diagram showing the main structural components of the independent ECU3a. The storage unit 34 of the independent ECU3a also stores the downshift coordinate diagrams G1, G2, and G3.

[0208] The communication unit 30 periodically calculates the load value of the communication line L connected to it. As a first example of calculating the load value, the communication unit 30 calculates the utilization rate (load value) of the communication line L based on the voltage of the communication line L. The communication unit 30 has a temporary storage unit (not shown) that is volatile, storing data transmitted via the communication line L. The communication unit 30 sequentially transmits the data stored in the temporary storage unit via the communication line L. After transmitting the data, the communication unit 30 deletes the data from the temporary storage unit. As a second example of calculating the load value, the communication unit 30 calculates the utilization rate (load value) of the communication line L based on the amount of data stored in the temporary storage unit.

[0209] The temporary storage unit of the communication unit 30 stores the load value of the communication line L. Whenever the communication unit 30 calculates the load value of the communication line L, it updates the load value stored in the temporary storage unit to the calculated load value. If no load value is stored in the temporary storage unit, the communication unit 30 writes the calculated load value into the temporary storage unit. The control unit 35 refers to the load value stored in the temporary storage unit of the communication unit 30.

[0210] Furthermore, the calculation of the load value may be performed by the control unit 35 instead of the communication unit 30.

[0211] <Image data transmission and processing of independent ECU3a>

[0212] Figure 22 This is a flowchart illustrating the sequence of image data transmission processing. In the image data transmission processing of Embodiment 2, the control unit 35 of the independent ECU 3a similarly executes steps S21 to S25, S27, and S28 of the image data transmission processing in Embodiment 1. Therefore, the explanation of steps S21 to S25, S27, and S28 is omitted.

[0213] In the image data transmission processing of Embodiment 2, after executing step S25, the control unit 35 refers to the transmission ratio corresponding to the image data in the transmission ratio table selected in step S25 (step S81). The transmission ratio table selected in step S25 is one of three transmission ratio tables T1, T2, and T3. After executing step S81, the control unit 35 selects from the three downshifting coordinate tables G1, G2, and G3 the downshifting coordinate graph corresponding to the state of vehicle C read in step S24 (step S82).

[0214] After executing step S82, the control unit 35 obtains the load value from the communication unit 30 (step S83). Next, the control unit 35 refers to the reduction ratio corresponding to the load value obtained in step S83 for the image data of the reduced coordinate graph selected in step S82 (step S84). Next, the control unit 35 determines the transmission ratio of the image data as the product of the transmission ratio referred to in step S81 and the reduction ratio referred to in step S84 (step S85). In step S27, the control unit 35 determines whether to transmit the image data obtained from the input unit 31 as associated data to the communication unit 20 of the integrated ECU2 according to the transmission ratio determined in step S85.

[0215] <Point-to-Group Data Transmission Processing for Independent ECU3a>

[0216] Similar to image data transmission processing, point group data transmission processing is also performed by the control unit 35 of the independent ECU 3a.

[0217] <Door data transmission and processing of independent ECU3a>

[0218] Figure 23 This is a flowchart illustrating the sequence of door data transmission processing. In the door data transmission processing of Embodiment 2, the control unit 35 of the independent ECU 3a similarly executes steps S31 to S39, S41, and S42 of the door data transmission processing in Embodiment 1. Therefore, the explanation of steps S31 to S39, S41, and S42 is omitted.

[0219] In the door data transmission process of Embodiment 2, after executing step S39, the control unit 35 sequentially executes steps S91 to S95. Steps S91 to S95 are the same as steps S81 to S85 in the image data transmission process. Steps S91 to S95 can be explained by replacing image data with second door data in the explanation of steps S81 to S85. In step S91, the transmission ratio table selected in step S39 is used. After executing step S95, the control unit 35 executes step S41. In step S41, the control unit 35 determines whether to send the second door data generated in step S34 to the communication unit 20 of the integrated ECU2 according to the transmission ratio determined in step S95.

[0220] <Additional transmission of image data>

[0221] In the additional transmission of image data, the control unit 23 of the integrated ECU2 performs image data storage processing. The control unit 35 of the independent ECU3a performs image data additional transmission processing. The image data additional transmission processing in Embodiment 2 is the same as that in Embodiment 1.

[0222] Figure 24 This is a flowchart illustrating the sequence of image data storage and processing. In the image data storage and processing, the control unit 23 of the integrated ECU2 executes steps S51-S54 and S56-S60 in the same manner as in Embodiment 2. Therefore, the explanation of steps S51-S54 and S56-S60 is omitted.

[0223] In the image data storage processing of Embodiment 2, after executing step S54, the control unit 23 sequentially executes steps S101 to S105. Steps S101 to S105 are the same as steps S81 to S85 of the image data transmission processing. In step S101, the transmission ratio table selected in step S54 is used. After executing step S105, the control unit 23 executes step S56. In step S56, the control unit 35 determines whether the transmission ratio referenced in step S105 is less than 100%.

[0224] <Point Cluster Data Storage and Processing>

[0225] The point cluster data storage processing is the same as the image data storage processing. By replacing camera 40, image data, image data transmission processing, and image markers with LIDAR 41, point cluster data, point cluster data transmission processing, and point cluster markers respectively in the image data storage processing, the point cluster data storage processing and point cluster data append transmission processing can be explained.

[0226] <Data storage and processing for the second car door>

[0227] The data storage processing for the second door is the same as the image data storage processing. By replacing the camera 40, image data, image data transmission processing, and image marker with the door switch 42, second door data, second door data transmission processing, and door marker respectively in the description of the image data storage processing, the data storage processing for the second door and the additional transmission processing of the second door data can be explained.

[0228] However, the door switch 42 repeatedly outputs the first door data to the input unit 31 of the independent ECU 3a. The control unit 35 of the independent ECU 3a generates the second door data based on K pieces of the first door data. Whenever the second door data is generated, the control unit 35 stores the generated second door data in the temporary storage unit 33. When the door flag value is 1, during the second door data transmission process, regardless of the state of the vehicle C, the control unit 35 of the independent ECU 3a instructs the communication unit 20 to transmit the generated second door data whenever it is generated.

[0229] <The Effects and Afterword of Independent ECU3a>

[0230] In the independent ECU 3a, the control unit 35 determines the transmission ratio not only based on the state of the vehicle C and the type of associated data, but also based on the load value of the communication line L. Therefore, more efficient transmission of associated data is achieved. The independent ECU 3a in Embodiment 2 achieves the same effect as the independent ECU 3a in Embodiment 1.

[0231] <Variation Example>

[0232] In embodiments 1 and 2, the factors used to determine the transmission ratio by the control unit 35 of the independent ECU 3a may include the type of actuator that outputs the control signal from the output unit 32 of the independent ECU 3a. Examples of various actuators include, in addition to the door motor 43, devices for adjusting the brightness of headlights and motors that drive windshield wipers. Specifically, the transmission ratios represented by the transmission ratio tables T1, T2, and T3 differ depending on the actuator that outputs the control signal from the output unit 32 of the independent ECU 3a.

[0233] When the safety level related to the actuator that outputs control signals to the output unit 32 of the independent ECU 3a is high, the transmission ratio is set to a high value. When the safety level related to the actuator that outputs control signals to the output unit 32 of the independent ECU 3a is low, the transmission ratio is set to a low value.

[0234] As a level of safety, an example is the ISO 26262 functional safety standard produced by ISO (International Organization for Standardization). In ISO 26262, ASIL (Automotive Safety Integrity Level) is specified as an indicator of functional safety. As a level of safety requirement, it is assigned QM (Quality Management), A, B, C, or D. Functions assigned D require the highest level of safety policy. Functions assigned A require the lowest level of safety policy. Functions assigned QM are not related to safety.

[0235] In embodiments 1 and 2, regarding image data, new image data can be generated based on multiple image data sets. Similarly, regarding point group data, new point group data can be generated based on multiple point group data sets. Alternatively, the second door data may not be generated. In this case, the first door data is used as vehicle data and associated data.

[0236] The three types of associated data are not limited to image, point group, and door switch data 42. For example, illuminance or vehicle speed data can also be used as associated data. Furthermore, the number of types of associated data is not limited to 3; it can be 1, 2, or more than 4. The method for determining the transmission ratio is not limited to using a transmission ratio table or using a transmission ratio table and a reduction ratio coordinate graph. A formula can also be used to determine the transmission ratio.

[0237] The state of vehicle C is not limited to driving, parking, or standby. The number of states of vehicle C is not limited to 3; it can be 2 or more. The parameters used to determine the state of vehicle C are not limited to the state of the ignition switch, the state of the parking brake, and the speed of vehicle C. To determine the state of vehicle C, parameters different from the state of the ignition switch, the state of the parking brake, and the speed of vehicle C can also be used. The number of parameters used to determine the state of vehicle C is not limited to 3; it can be 1, 2, or more. Furthermore, independent ECU 3b can be configured in the same way as independent ECU 3a.

[0238] The integrated ECU2 and multiple independent ECUs3 can also be connected to a shared bus. In this case, communication between the integrated ECU2 and the independent ECUs3 is performed, for example, according to the CAN (Controller Area Network) protocol. Independent ECUs 3a and 3b can also each have the function of distributing power from the battery mounted in vehicle C to multiple actuators. Alternatively, the integrated ECU2 can also be an on-board computer. Furthermore, the integrated ECU2 can also be implemented as part of the functionality of an on-board computer.

[0239] It should be considered that the disclosed embodiments 1 and 2 are exemplary in all respects and not restrictive. The scope of the invention is defined not by the foregoing meaning but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0240] Label Explanation

[0241] 1. Communication System

[0242] 2. Integrated ECU

[0243] 20, 20a, 20b, 30 Communications Department

[0244] Temporary storage sections 21 and 33

[0245] Storage sections 22 and 34

[0246] 23 Control Department

[0247] 24, 36 Internal Bus

[0248] 3.3b Independent ECU

[0249] 3a Independent ECU (Communication Device)

[0250] 31 Input Section

[0251] 32 Output Section

[0252] 35. Control Department (Processing Department)

[0253] 40 cameras

[0254] 41 LIDAR

[0255] 42. Car door switch

[0256] 43 Door Motors

[0257] 50 sensors

[0258] 51 Actuator

[0259] A1, A2 storage media

[0260] Vehicle C

[0261] G1, G2, G3 Reduced Coordinate Graph

[0262] L communication line

[0263] P1, P2 computer programs

[0264] T1, T2, T3 Sending Ratio Table

Claims

1. A communication device mounted on a vehicle, wherein, The communication device includes a processing unit that performs processing. The processing unit repeatedly acquires vehicle data related to the vehicle. The processing unit instructs the transmission of associated data related to the acquired vehicle data. The processing unit determines the transmission ratio based on the vehicle's status. The transmission ratio is the proportion of the amount of associated data transmitted to the amount of associated data obtained through acquisition or generation. The processing unit determines whether to send the associated data obtained through acquisition or generation, based on the determined transmission ratio. The communication device includes a receiving unit that receives request data, which requests the additional transmission of associated data that was not transmitted according to a determination. If the receiving unit receives the request data after writing the associated data that was not sent according to the determination to the temporary storage unit, the processing unit instructs the sending of the associated data that was not sent according to the determination. If the receiving unit receives the request data before writing the associated data that was not sent according to the determination to the temporary storage unit, the processing unit changes the value of the flag to 1. If the value of the flag is 1, the processing unit instructs the sending of the associated data obtained by acquisition or generation, regardless of the state of the vehicle. After the sending of the associated data that was not sent according to the determination is completed, the processing unit returns the value of the flag to zero.

2. The communication device according to claim 1, wherein, The associated data is vehicle data or data generated based on multiple vehicle data.

3. The communication device according to claim 1 or 2, wherein, The number of types of the associated data is two or more. The processing unit determines the transmission ratio based on the type of associated data obtained through acquisition or generation and the status of the vehicle.

4. The communication device according to claim 3, wherein, The associated data is transmitted via the communication line. The processing unit determines the transmission ratio based on the type of associated data obtained by acquisition or generation, the status of the vehicle, and the load value of the communication line.

5. The communication device according to claim 3, wherein, Among the various types of related data, there are two types: type 1 related data and type 2 related data. When the vehicle is in state 1, the transmission ratio associated with the first type of associated data is greater than the transmission ratio associated with the second type of associated data. When the vehicle is in state 2, the transmission ratio associated with the first type of associated data is less than the transmission ratio associated with the second type of associated data.

6. The communication device according to claim 1 or 2, wherein, The communication device includes an output unit that outputs a control signal indicating the operation of the actuator to the actuator. The factors used in determining the transmission ratio by the processing unit include the type of actuator.

7. The communication device according to claim 1 or 2, wherein, The vehicle's state is determined based on whether the ignition switch is on, whether the parking brake is on, and whether the vehicle's speed is zero.

8. A communication method, wherein, The computer performs the following steps: Repeatedly acquire vehicle-related data; Instructs the transmission of associated data related to the acquired vehicle data; The transmission ratio is determined based on the status of the vehicle, and the transmission ratio is the proportion of the amount of associated data transmitted to the amount of associated data obtained through acquisition or generation. Based on the determined sending ratio, determine whether to send the acquired associated data; and If, after writing the associated data that was not sent according to the determination to the temporary storage unit, a request is received to append the associated data that was not sent according to the determination, the request is instructed to send the associated data that was not sent according to the determination. If the request data is received before the associated data that was not sent according to the determination is written to the temporary storage unit, the value of the flag is changed to 1. If the value of the flag is 1, the associated data obtained by acquisition or generation is instructed to be sent regardless of the state of the vehicle. After the transmission of the associated data that was not sent according to the determination is completed, the value of the flag is returned to zero.

9. A computer program product comprising a computer program, wherein, The computer program is used to cause the computer to perform the following steps: Repeatedly acquire vehicle-related data; Instructs the transmission of associated data related to the acquired vehicle data; The transmission ratio is determined based on the status of the vehicle, and the transmission ratio is the proportion of the amount of associated data transmitted to the amount of associated data obtained through acquisition or generation. Based on the determined sending ratio, determine whether to send the acquired associated data; and If, after writing the associated data that was not sent according to the determination to the temporary storage unit, a request is received to append the associated data that was not sent according to the determination, the request is instructed to send the associated data that was not sent according to the determination. If the request data is received before the associated data that was not sent according to the determination is written to the temporary storage unit, the value of the flag is changed to 1. If the value of the flag is 1, the associated data obtained by acquisition or generation is instructed to be sent regardless of the state of the vehicle. After the transmission of the associated data that was not sent according to the determination is completed, the value of the flag is returned to zero.

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