Vehicle and autonomous driving kit

Abstract

The present disclosure provides a vehicle and an autonomous driving kit. A computer of the autonomous driving kit executes a process including steps of: executing a self-diagnosis process when it is determined that an execution condition of the self-diagnosis process is satisfied, or when execution of the self-diagnosis process is notified from a vehicle-mounted platform although the execution condition of the self-diagnosis process is not satisfied; notifying the vehicle-mounted platform (3) of the execution of the self-diagnosis process; and transmitting a diagnosis result obtained by the self-diagnosis process of the autonomous driving kit to a central ECU when the self-diagnosis process has been completed.

Description

Technical Field

[0001] This disclosure relates to the control of a vehicle capable of autonomous driving. Background Technology

[0002] In recent years, autonomous driving systems that enable vehicles to operate without user intervention have been developed. To be compatible with existing vehicles, these systems are sometimes configured as external devices separate from the vehicle itself, via an interface device. For example, this external device acquires information about its surroundings independently of the vehicle and uses this information to control various actuators of the vehicle via the interface device, thereby enabling autonomous driving.

[0003] For example, Japanese Patent Application Publication No. 2019-177807 discloses a technology that, when information from an external device is missing in a vehicle that performs autonomous driving using information from an external device, uses information stored in the vehicle to fill in the missing information. Summary of the Invention

[0004] In the vehicles described above, the vehicle's usage history is used to perform a self-diagnosis to determine whether it is time to perform maintenance such as parts replacement and adjustment. If it is time to perform maintenance, the user or repair shop is notified via a server or the server, or an appointment is made to perform maintenance at the repair shop.

[0005] However, if self-diagnostics are performed separately for external devices and vehicles to determine when it is time to perform maintenance, the following situation may occur: after maintenance has just been performed on one of the external devices or the vehicle, it is determined that it is time to perform maintenance on the other, resulting in frequent notifications of when maintenance should be performed and the vehicle being put into storage at the repair shop.

[0006] This disclosure is an invention made to solve the above-mentioned problems, and its purpose is to provide a vehicle and an autonomous driving kit that suppresses situations requiring frequent maintenance.

[0007] A vehicle according to one aspect of this disclosure includes: an autonomous driving kit configured to enable autonomous driving of the vehicle, and capable of being installed in and removed from the vehicle; and a vehicle control system configured to execute vehicle control according to instructions from the autonomous driving kit. The autonomous driving kit is configured to perform a first diagnostic process, which diagnoses whether the vehicle is in a state requiring maintenance of a pre-defined first component among a plurality of components constituting the autonomous driving kit. The vehicle control system is configured to perform a second diagnostic process, which diagnoses whether the vehicle is in a state requiring maintenance of a pre-defined second component among a plurality of components constituting the vehicle, excluding the autonomous driving kit. When either the first or second diagnostic process is executed, the other diagnostic process is executed within a pre-defined period following the execution of one diagnostic process.

[0008] When this approach is adopted, by performing a first diagnostic process by the autonomous driving suite and a second diagnostic process by the vehicle control system within a pre-defined period, it is possible to prevent the timing of maintenance for the autonomous driving suite and other components from being separated. Therefore, it is possible to reduce the frequency of trips to a repair shop.

[0009] In one implementation, if the execution conditions of either the first diagnostic process or the second diagnostic process are met, the first diagnostic process and the second diagnostic process are executed in parallel.

[0010] When this approach is adopted, by executing the first and second diagnostic processes in parallel, it is possible to prevent the timing of maintenance for the autonomous driving suite and other components from being separated. Therefore, it is possible to reduce the frequency of trips to the maintenance depot.

[0011] In a further embodiment, the autonomous driving suite, upon performing a first diagnostic process, sends a pre-defined signal to the vehicle control system. Upon receiving the pre-defined signal, the vehicle control system performs a second diagnostic process.

[0012] When this approach is adopted, the vehicle control system performs a second diagnostic process based on pre-defined signals received from the autonomous driving suite, thereby enabling the first and second diagnostic processes to be performed in parallel. Therefore, it prevents the frequent need for repairs to be performed at a repair shop due to the separation of maintenance procedures for the autonomous driving suite and other components.

[0013] In a further embodiment, the vehicle control system sends a pre-defined signal to the autonomous driving suite while performing a second diagnostic process. Upon receiving the pre-defined signal, the autonomous driving suite performs a first diagnostic process.

[0014] When this approach is adopted, the autonomous driving suite performs a first diagnostic process based on pre-defined signals received from the vehicle control system, thereby enabling the first and second diagnostic processes to be performed in parallel. Therefore, it prevents the frequent need for repairs to the autonomous driving suite and other components from being performed separately.

[0015] In a further embodiment, the vehicle control system also includes a communication device capable of communicating with a server external to the vehicle. The communication device sends information related to the diagnostic results requiring repair to the server after the first and second diagnostic processes are completed.

[0016] When this approach is adopted, it can prevent the timing of maintenance of autonomous driving kits and other components from being separated, thus avoiding frequent inbound shipments to maintenance workshops.

[0017] In a further embodiment, the autonomous driving kit also includes a communication device capable of communicating with a server external to the vehicle. The communication device sends information related to the diagnostic results requiring repair to the server after the first and second diagnostic processes are completed.

[0018] When this approach is adopted, it can prevent the timing of maintenance of autonomous driving kits and other components from being separated, thus avoiding frequent inbound shipments to maintenance workshops.

[0019] Other aspects of this disclosure relate to an autonomous driving kit capable of being installed in and removed from a vehicle. The autonomous driving kit includes a computer configured to enable autonomous driving of the vehicle. The vehicle includes a vehicle control system configured to execute vehicle control according to instructions from the computer. The computer is configured to perform a first diagnostic process, which diagnoses whether the vehicle is in a state requiring maintenance of a pre-defined first component among a plurality of components constituting the autonomous driving kit. The vehicle control system is configured to perform a second diagnostic process, which diagnoses whether the vehicle is in a state requiring maintenance of a pre-defined second component among a plurality of components constituting the vehicle, excluding the autonomous driving kit. When either the first or second diagnostic process is executed, the other diagnostic process is executed within a pre-defined period following the execution of the first diagnostic process.

[0020] According to this disclosure, a vehicle and an autonomous driving kit can be provided that suppress situations requiring frequent maintenance. Attached Figure Description

[0021] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same symbols denote the same elements, wherein:

[0022] Figure 1 This diagram provides a summary view of the overall structure of the information processing system for the vehicle included in this embodiment.

[0023] Figure 2 A diagram to illustrate the structure of ADK and VP in more detail.

[0024] Figure 3 This is a flowchart illustrating an example of a process performed on an ADK computer.

[0025] Figure 4 This is a flowchart illustrating an example of the processing performed in the central ECU of the VP.

[0026] Figure 5 A diagram to illustrate the changes to the structure of ADK and VP in the example.

[0027] Figure 6 This is a flowchart illustrating an example of the processing performed by the central ECU in a modified example.

[0028] Figure 7This is a flowchart illustrating an example of the processing performed by a computer in a modified example.

[0029] Figure 8 This is a flowchart illustrating another example of the processing performed by the computer in the modified example.

[0030] Figure 9 This is a flowchart illustrating another example of the processing performed by the central ECU in the modified example. Detailed Implementation

[0031] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Furthermore, identical or equivalent parts in the drawings will be labeled with the same symbols, and their descriptions will not be repeated.

[0032] In this disclosure, "maintenance" of an autonomous driving suite refers to all actions taken to maintain the autonomous driving suite in a normal state or to restore it from an abnormal state to a normal state. Maintenance may include inspection, repair, debugging, and replacement. The same definition applies to "maintenance" of an in-vehicle platform.

[0033] Figure 1 This diagram provides a schematic representation of the overall structure of the information processing system 100, which includes the vehicle 1 as described in this embodiment. The information processing system 100 manages multiple vehicles. While it is possible for multiple vehicles to be managed by the information processing system 100, for ease of explanation, a specific vehicle 1 will be used as an example below. Vehicle 1 includes an Autonomous Driving Kit (ADK) 2 and a Vehicle Platform (VP) 3.

[0034] While the users of Vehicle 1 are typically individual users, they are not limited to this. Users can also be operators (taxi operators, car rental operators, car-sharing operators, ride-sharing service operators, etc.) that provide autonomous driving services using Vehicle 1.

[0035] ADK2 is configured to be able to be installed on and removed from VP3. ADK2 is installed, for example, in a pre-defined location such as the roof of VP3.

[0036] ADK2 is configured to implement autonomous driving of vehicle 1. Specifically, ADK2 creates a driving plan for vehicle 1. ADK2 outputs various control requests to VP3 to drive vehicle 1 according to the driving plan, based on APIs (Application Program Interfaces) defined for each control request. Furthermore, ADK2 receives various signals representing the vehicle state (the state of VP3) from VP3, based on APIs defined for each signal. ADK2 then reflects the vehicle state in the driving plan.

[0037] VP3 implements driving control in automatic driving mode according to control requests from ADK2. When ADK2 is removed from VP3, VP3 is configured to perform driving control in manual mode (driving control corresponding to driver operation).

[0038] VP3 sends various information (maintenance request information described later) to the management server 7 within the information processing system 100.

[0039] The information processing system 100 also includes a maintenance factory server 5 and a management server 7. The maintenance factory server 5 and the management server 7 are connected together via a network (not shown) in a bidirectional communication manner. Alternatively, both the maintenance factory server 5 and the management server 7 can be internal servers of an operator. Each server can also be a shared server shared by multiple operators, including the operator itself. The servers can also be cloud servers provided by a cloud server management company.

[0040] Repair shop server 5 is operated by the repair shop (e.g., a dealership or dealership) of vehicle 1. Repair shop server 5 manages the repair schedule of vehicle 1 (the date of entry into the warehouse and the repairs performed upon entry, etc.). For example, repair shop server 5 may send data related to the repair schedule to management server 7 or adjust the entry into the warehouse schedule based on requests from management server 7.

[0041] Management server 7 is, for example, a server operated by an operator that manages the maintenance of multiple vehicles, including vehicle 1. The operator could be, for example, the manufacturer of VP3 or the manufacturer of ADK2. Furthermore, management server 7 can also be configured to include servers operated by both the manufacturer of VP3 and the manufacturer of ADK2. In the following description, the case where management server 7 is configured as a single server will be used as an example.

[0042] Management server 7 is configured to receive information (repair requests) from vehicle 1 requesting repair of ADK2. Management server 7 includes a database (not shown) that stores repair requests for ADK2 received from at least one of multiple vehicles 1 in a manner that identifies the vehicle from which the request originates. Management server 7 sends the ADK2 repair request to repair shop server 5. Thereby, repair appointments for the ADK2 installed in the vehicle from which the request originates are scheduled within repair shop server 5.

[0043] Management server 7 further receives VP3 maintenance requests from vehicle 1. Management server 7 further includes a database (not shown) for storing VP3 maintenance requests received from at least one of the multiple vehicles 1 in a manner that identifies the vehicle from which the request originates. Furthermore, the database for VP3 maintenance requests can be a shared database with the database for ADK2 maintenance requests described above, or it can be a separate database. Management server 7 sends the VP3 maintenance request to repair shop server 5. Thus, the repair shop server 5 performs the scheduling of VP3 maintenance for the vehicle from which the request originates.

[0044] When the repair factory server 5 receives a repair request from ADK2 or VP3 from the management server 7, it updates the repair schedule by setting repair appointments during time periods when repair work can be performed and by providing information about the vehicle from which the request originates (e.g., the license plate number or manufacturing number). The repair factory server 5 can either automatically set appointments during idle time periods upon receiving a repair request from ADK2 or VP3, or it can automatically set appointments during time periods that meet the scheduling conditions included in various repair requests.

[0045] Figure 2 The diagram shows the structure of ADK2 and VP3 in more detail. ADK2 includes a computer 21, a recognition sensor 22, an attitude sensor 23, a sensor cleaner 24, and an HMI (Human Machine Interface) 25.

[0046] VP3 includes a Vehicle Control Interface Box (VCIB) 31 and a base vehicle 32. The base vehicle 32 includes a central ECU (Electronic Control Unit) 321, a braking system 322, a steering system 323, a powertrain system 324, an active safety system 325, a body system 326, and a DCM 327 (Digital Communication System).

[0047] Braking system 322 includes braking systems 322A and 322B. Steering system 323 includes steering systems 323A and 323B. Powertrain system 324 includes an electric parking brake (EPB) system 324A, a parking lock (P gear lock) system 324B, and a propulsion system 324C.

[0048] Computer 21 has been redundant, comprising two processors 211 and 212 (and) Figure 2 (PRC1 and PRC2 are shown in the diagram). During autonomous driving of vehicle 1, computer 21 (each processor 211, 212) uses recognition sensor 22 to acquire data related to the environment of vehicle 1. Furthermore, during autonomous driving of vehicle 1, computer 21 uses attitude sensor 23 to acquire data related to the attitude, operating status, and position of vehicle 1. Moreover, computer 21 is communicatively connected to VCIB 31. Computer 21 obtains the vehicle status from VP3 via VCIB 31 and sets the next actions of vehicle 1 (acceleration, deceleration, turning, etc.). Computer 21 outputs various instructions for implementing the next action to VP3 via VCIB 31.

[0049] The identification sensor 22 is used to identify the environment of the vehicle 1. The identification sensor 22 includes, for example, at least one of LIDAR (Laser Imaging Detection and Ranging), millimeter-wave radar, and a camera (none shown). The LIDAR, for example, measures the distance and direction of an object by emitting an infrared pulse of laser light and detecting the reflected light from an object. The millimeter-wave radar measures the distance and direction of an object by emitting millimeter waves and detecting the reflected waves from an object. The camera captures images of the area surrounding the vehicle 1.

[0050] Attitude sensor 23 is used to detect the attitude, operating status, and position of vehicle 1. Attitude sensor 23 may include, for example, an IMU (Inertial Measurement Unit) and a GPS (Global Positioning System) (neither shown). The IMU detects, for example, the acceleration of vehicle 1 in the forward, left, right, and up / down directions, as well as the angular velocities of vehicle 1 in the roll, pitch, and yaw directions. The GPS uses information received from multiple GPS satellites orbiting the Earth to determine the position of vehicle 1.

[0051] The sensor cleaner 24 is configured to remove dirt adhering to the various sensors (camera lenses, laser irradiation parts, etc.) during the operation of the vehicle 1 using a washing liquid, a wiper, etc. The HMI 25 is configured to connect, for example, to an input / output device (not shown) such as a touch panel display installed on the base vehicle 32.

[0052] VCIB31 is communicatively connected to ADK2 via CAN (Controller Area Network) or similar means. VCIB31 receives various control requests from ADK2 or outputs vehicle status to ADK2 by executing predefined APIs defined for each signal. When receiving a control request from ADK2, VCIB31 outputs a control command corresponding to that control request to the system corresponding to that control command. Furthermore, VCIB31 acquires various information related to the vehicle status (the status of the base vehicle 32) and outputs the acquired information to ADK2.

[0053] VCIB31 includes VCIB311 and VCIB312. VCIB311 and VCIB312 are essentially equivalent in function. However, the connection destinations of the bus to the system in the base vehicle 32 differ between VCIB311 and VCIB312. Specifically, VCIB311 is communicatively connected to the braking system 322A, steering system 323A, EPB system 324A, P-gear locking system 324B, propulsion system 324C, and body system 326. VCIB312 is communicatively connected to the braking system 322B, steering system 323B, and P-gear locking system 324B.

[0054] The central ECU 321 sends various information indicating the vehicle's status to the management server 7 via the DCM 327, or sends various requests to the management server 7. Furthermore, the central ECU 321 receives instructions or notifications from the management server 7 via the DCM 327. Moreover, the central ECU 321 uses the vehicle status obtained from the various systems of the VP3 to perform diagnostics to determine whether the VP3 is in a condition requiring maintenance, or receives the diagnostic results of self-diagnostics performed in the various systems of the VP3 and uses the received diagnostic results to perform diagnostics to determine whether the VP3 is in a condition requiring maintenance.

[0055] Although in this embodiment, the central ECU 321 is described as the entity that performs diagnostic processing to determine whether the vehicle 1 is in a state requiring maintenance, it may also be a device that, in addition to such a function, has functions such as relaying communication between various ECUs included in each system (gateway function).

[0056] Braking systems 322A and 322B are configured to control braking devices (not shown) installed on each wheel of the base vehicle 32. The braking devices include, for example, disc brake systems that operate according to hydraulic pressure regulated by actuators. Braking system 322A generates braking commands for the braking devices based on a control request transmitted from ADK2 via VCIB311.

[0057] Steering systems 323A and 323B are configured to control the steering angle of the steering wheels of vehicle 1 using a steering mechanism (not shown). The steering mechanism includes, for example, an electric power steering (EPS) system capable of adjusting the steering angle via an actuator. Steering system 323A generates steering commands for the steering mechanism based on a control request transmitted from ADK2 via VCIB311. Steering system 323B generates steering commands for the steering mechanism based on a control request transmitted from ADK2 via VCIB312.

[0058] The EPB system 324A controls an EPB (not shown) installed on at least one of a plurality of wheels according to a control request transmitted from ADK2 via VCIB311. The EPB secures the wheels, for example, by engaging a drum brake for parking.

[0059] The P-gear locking system 324B controls a P-gear locking device (not shown) installed in the transmission according to a control request transmitted from ADK2 via VCIB311. The P-gear locking device locks the rotation of the transmission output shaft by engaging the parking lock lever with a locking gear connected to a rotating element within the transmission. This, in turn, locks the wheels.

[0060] The propulsion system 324C switches the shift range of the shifting device (not shown) according to the control request transmitted from ADK2 via VCIB311. Furthermore, the propulsion system 324C controls the driving force from the drive source (electric generator, engine, etc., not shown) according to the control request from ADK2.

[0061] The active safety system 325 uses a sensor array (camera, radar, sensors, etc., not shown) to detect obstacles in front of or behind the vehicle. Based on the distance between the vehicle 1 and the obstacle, and the direction of movement of the vehicle 1, the active safety system 325 determines whether there is a possibility of a collision between the vehicle 1 and the obstacle. If a collision is deemed possible, the active safety system 325 outputs a braking command to the braking system 322A to increase braking force.

[0062] The body system 326 is configured to control components such as the turn indicator, horn, and windshield wipers (not shown) based on the driving state or environment of the vehicle 1, for example. The body system 326 controls the aforementioned components according to the control requests transmitted from ADK2 via VCIB31.

[0063] DCM327 is an in-vehicle communication module. DCM327 is configured to enable bidirectional data communication between the central ECU321 and the management server 7.

[0064] In vehicle 1 with the above structure, the utilization history of vehicle 1 is used to diagnose whether it is in a maintenance state that requires parts inspection, repair, replacement, debugging, etc. If it is in a maintenance state, a maintenance request for vehicle 1 is sent to management server 7.

[0065] When the management server 7 receives a maintenance request from vehicle 1, it sends information to the maintenance factory server 5 requesting an adjustment to the maintenance schedule (schedule adjustment request) and information about the requested maintenance content (maintenance content information). Additionally, the management server 7 may include information such as the vehicle 1's operating schedule as the request source, which requests scheduled maintenance within a predetermined time period, in the schedule adjustment request.

[0066] Repair shop server 5 uses schedule adjustment requests and repair content information from management server 7 to schedule repair appointments and update the repair schedule during any time period within the idle time frame. Repair shop server 5 sends a notification of the schedule adjustment results to management server 7. Management server 7, for example, sends information about the arrival schedule and time period (arrival schedule information) to vehicle 1, the source of the repair request. Vehicle 1 can then move to the repair shop on the date and time specified as the arrival date, using either manual or automatic driving, to receive repairs.

[0067] The diagnostic scenarios for determining whether vehicle 1 is in a state requiring maintenance include situations where the usage period of the part to be diagnosed exceeds a threshold since the last replacement time, the consumption of the part to be diagnosed exceeds a threshold since the last replacement time, an error code for the part to be diagnosed is output, and the output value of the part to be diagnosed becomes abnormal.

[0068] For example, if the usage period of various engine oils since the last change exceeds a threshold set according to the type of engine oil, the system is diagnosed as needing an oil change. Similarly, if the wear of brake pads exceeds a threshold, the system is diagnosed as needing brake pad replacement. Or, if a predetermined error code is output from equipment related to the driving action of vehicle 1, such as the engine or generator, the system is diagnosed as needing inspection. Finally, if the output values ​​of various sensors exceed their normal range, the system is diagnosed as needing sensor replacement or adjustment.

[0069] These judgments are made using the diagnostic results of a self-diagnostic process performed in vehicle 1. The self-diagnostic process is performed, for example, in computer 21 of ADK2 or central ECU 321 of VP3.

[0070] The computer 21 of ADK2 is configured to perform a first diagnostic process, which is a process of diagnosing whether repair of a pre-defined part among a plurality of parts constituting ADK2 is required. The pre-defined parts that are the objects of the diagnostic process performed by the computer 21 include, for example, various sensors such as the identification sensor 22 and the attitude sensor 23 included in ADK2, and devices such as the sensor cleaner 24.

[0071] Furthermore, the central ECU 321 of VP3 is configured to perform a second diagnostic process, which is a process of diagnosing whether a pre-defined replacement of a second part among the various parts constituting VP3 is necessary. The pre-defined parts that are the targets of the diagnostic process performed by the central ECU 321 include, for example, engine oil, brake pads, equipment associated with the driving action of vehicle 1, and various sensors.

[0072] However, if ADK2 and VP3 perform the diagnosis of whether the condition requires maintenance separately, it is possible that after maintenance of one of ADK2 and VP3 has just been performed, it will be judged that it is time to perform maintenance of the other, thus frequently issuing notifications for maintenance or sending items to the maintenance factory.

[0073] Therefore, in this embodiment, if either the first diagnostic process or the second diagnostic process is executed, the other diagnostic process is executed within a pre-defined period starting from the execution of the first diagnostic process. For example, if the execution condition for the diagnostic process in either ADK2 or VP3 is met, by notifying the other party of the execution of the diagnostic process, the other diagnostic process can be executed within a pre-defined period starting from the execution of the first diagnostic process. Furthermore, the pre-defined period is not particularly limited; for example, it can be set in a way that makes the travel distance or travel time appropriate for the condition of repairing a part determined to require diagnosis by the first diagnostic process appropriate.

[0074] By adopting this approach, the timing of ADK2 and VP3 maintenance can be prevented from being separated. Therefore, frequent deliveries to the maintenance depot can be reduced.

[0075] The following is for reference Figure 3 An example of the processing performed by computer 21 of ADK2 is illustrated. Figure 3 This is a flowchart illustrating an example of the processing performed by computer 21 of ADK2. The flowchart shows a series of processes that are repeatedly executed by computer 21 at predetermined control cycles.

[0076] In step (hereinafter referred to as S) 100, computer 21 determines whether the execution conditions for self-diagnosis processing are met. The execution conditions for ADK2's self-diagnosis processing include, for example, conditions such as vehicle 1 being in unmanned autonomous driving mode and a predetermined first time elapsed since the last self-diagnosis processing execution time. Computer 21 can determine whether it is in unmanned autonomous driving mode by receiving predetermined information from VP3, or it can determine whether VP3 is unmanned by receiving information obtained from VP3 using devices such as seating sensors or cameras inside the vehicle (not shown), while simultaneously determining whether vehicle 1 is moving using identification sensor 22 or attitude sensor 23. Furthermore, the first time is preset, for example, based on the aging rate of the parts of ADK2 being diagnosed. When the execution conditions for self-diagnosis processing are determined to be met (yes in S100), the process proceeds to S102.

[0077] In S102, computer 21 performs the self-diagnostic process of ADK2. Computer 21 diagnoses, for example, whether a part being diagnosed is in a condition requiring repair. Since the diagnostic objects and methods in ADK2 have been described above, their detailed descriptions will not be repeated. When computer 21 obtains the diagnostic results, it stores information about the diagnostic results in a predetermined area of ​​memory (not shown). Then, the process proceeds to S106. Alternatively, if the execution condition for self-diagnosis is not met (not in S100), the process proceeds to S104.

[0078] In S104, computer 21 determines whether a notification of execution of self-diagnostic processing has been received from VP3. For example, computer 21 may determine that a notification of execution of self-diagnostic processing has been received from the central ECU 321 of VP3 (a pre-defined signal) indicating that self-diagnostic processing has been performed in VP3. If a notification of execution of self-diagnostic processing has been received (yes in S104), the process proceeds to S102.

[0079] In S106, computer 21 notifies VP3 of the execution of diagnostic processing. Specifically, computer 21 sends information (a pre-defined signal) to central ECU 321 indicating that self-diagnostic processing has been performed in ADK2. Then, processing proceeds to S108.

[0080] In S108, the computer 21 determines whether the self-diagnostic process has been completed. The computer 21 may determine whether the self-diagnostic process has been completed based on the status of a flag that is set to the "on" state when the self-diagnostic process is completed, or it may determine that the self-diagnostic process has been completed when the diagnostic results are stored in a predetermined area of ​​the memory. If it is determined that the self-diagnostic process has been completed (yes in S108), the process proceeds to S110. Conversely, if it is determined that the self-diagnostic process has not yet been completed (no in S108), the process returns to S108.

[0081] In S110, computer 21 sends the diagnostic results of ADK2's self-diagnostic processing to central ECU 321. Additionally, if it is determined that there is no notification to execute self-diagnostic processing (not in S104), this process ends.

[0082] Next, refer to Figure 4 An example of the processing performed using the central ECU321 of VP3 is illustrated below. Figure 4This is a flowchart illustrating an example of a process executed using the central ECU 321. The flowchart shows a series of processes that are repeatedly executed by the central ECU 321 at predetermined control cycles.

[0083] In S200, the central ECU 321 determines whether the execution conditions for the self-diagnosis process are met. The execution conditions for the self-diagnosis process of VP3 include, for example, conditions such as the vehicle 1 being in an autonomous driving process and a predetermined second time elapsed since the last self-diagnosis execution time. The central ECU 321 may, for example, determine whether VP3 is autonomous driving using information obtained from devices such as seating sensors or in-cabin cameras, while simultaneously determining whether the vehicle 1 is moving using information obtained from the ADK2 using the identification sensor 22 or the attitude sensor 23. Furthermore, the second time is predetermined, for example, based on the aging rate of the parts of VP3 being diagnosed. When the execution conditions for the self-diagnosis process are determined to be met (yes in S202), the process proceeds to S202.

[0084] In S202, the central ECU 321 performs the self-diagnostic process of VP3. The central ECU 321 diagnoses, for example, whether a part being diagnosed is in a condition requiring repair. Since the diagnostic objects and methods in VP3 have been described above, their detailed description will not be repeated. Upon obtaining the diagnostic results, the central ECU 321 stores information about the diagnostic results in a predetermined area of ​​a memory (not shown). Then, the process proceeds to S204.

[0085] In S204, the central ECU 321 notifies ADK2 of the execution of diagnostic processing. Specifically, the central ECU 321 sends information (a pre-defined signal) to ADK2 indicating that the self-diagnostic processing of VP3 has been performed. Then, the processing proceeds to S206.

[0086] In S206, the central ECU 321 determines whether the self-diagnostic process has been completed. The central ECU 321 may determine whether the self-diagnostic process has been completed based on the status of a flag that was set to the "on" state when the self-diagnostic process of VP3 was completed, or it may determine that the self-diagnostic process has been completed when the diagnostic results are stored in a predetermined area of ​​the memory. If it is determined that the self-diagnostic process of VP3 has been completed (yes in S206), the process proceeds to S208. Conversely, if it is determined that the self-diagnostic process has not yet been completed (no in S206), the process returns to S206.

[0087] In S208, the central ECU 321 determines whether a notification of execution of self-diagnostic processing has been received from the computer 21 of ADK2. For example, the central ECU 321 may determine that a notification of execution of self-diagnostic processing has been received from ADK2 if it receives information (a pre-defined signal) from the computer 21 indicating that self-diagnostic processing has been performed in ADK2. If a notification of execution of self-diagnostic processing has been received from ADK2 (yes in S208), the process proceeds to S216. Otherwise, if the condition for execution of self-diagnostic processing has not been met (no in S200), the process proceeds to S210.

[0088] In S210, the central ECU 321 determines whether there is a notification from ADK2 indicating the execution of self-diagnostic processing. The determination method is the same as that in the process described in S208 above. Therefore, its detailed explanation will not be repeated. If it is determined that there is a notification from ADK2 indicating the execution of self-diagnostic processing (yes in S210), the process proceeds to S212.

[0089] In S212, the central ECU 321 performs diagnostic processing for VP3. Regarding the self-diagnostic processing, since it is the same as the process described in S202 above, its detailed explanation will not be repeated. Then, the process proceeds to S214.

[0090] In S214, the central ECU 321 determines whether the self-diagnostic process has been completed. The determination method is the same as that in S206 described above, so a detailed explanation will not be repeated. If it is determined that the self-diagnostic process for VP3 has been completed (yes in S214), the process proceeds to S216. Conversely, if it is determined that the self-diagnostic process for VP3 has not been completed (no in S214), the process returns to S214.

[0091] In S216, the central ECU 321 determines whether it has received a diagnostic result obtained from the self-diagnostic processing of ADK2. For example, when the central ECU 321 receives a diagnostic result from ADK2, it stores information representing the diagnostic result in a predetermined area of ​​the memory. Therefore, the central ECU 321 may determine that a diagnostic result has been received from ADK2 if, for example, information representing the diagnostic result has already been stored in the predetermined area of ​​the memory. If it is determined that a diagnostic result obtained from the self-diagnostic processing of ADK2 has been received (yes in S216), the process proceeds to S218. Conversely, if it is determined that no diagnostic result has been received (no in S216), the process returns to S216.

[0092] In S218, the central ECU 321 determines whether maintenance work is required. Specifically, if the information indicating the diagnostic result obtained from the self-diagnostic processing of ADK2 includes a maintenance request for ADK2 (i.e., a request for replacement, repair, inspection, or adjustment of the part to be diagnosed), the central ECU 321 determines that maintenance work is required. Alternatively, if the diagnostic result obtained from the self-diagnostic processing of VP3 includes a maintenance request for VP3, the central ECU 321 determines that maintenance work is required. If maintenance work is determined to be required (yes in S218), the process proceeds to S220.

[0093] In S220, the central ECU 321 sends a maintenance request to the management server 7 using the DCM 327. If the central ECU 321 receives a maintenance request for ADK2 from the diagnostic results obtained through the self-diagnostic processing of ADK2, it sends a maintenance request for ADK2 to the management server 7. Furthermore, if the central ECU 321 receives a maintenance request for VP3 from the diagnostic results obtained through the self-diagnostic processing of VP3, it sends a maintenance request for VP3 to the management server 7.

[0094] In addition, if the execution conditions for the self-diagnostic process of VP3 are not met (no in S200), and there is no notification to execute the self-diagnostic process of ADK2 (no in S210), or if it is determined that maintenance work is not required (no in S218), this process ends.

[0095] An example of the actions of ADK2 and VP3 based on the above structure and flowchart is provided.

[0096] <Only when the execution conditions for self-diagnostic processing are met in ADK2>

[0097] For example, during autonomous driving, if it is determined that the execution time of the last ADK2 self-diagnostic process has passed the first time, it is determined that the execution conditions of the ADK2 self-diagnostic process have been met (yes in S100), and thus the ADK2 self-diagnostic process is executed (S102), and the execution of the self-diagnostic process is notified to VP3 (S106). Then, the self-diagnostic process is completed (yes in S108), and the diagnostic results obtained from the ADK2 self-diagnostic process are sent to the central ECU321 (S110).

[0098] In VP3, even if the execution conditions for VP3's self-diagnostic processing are not met (no in S200), if there is a notification from ADK2 to execute self-diagnostic processing (yes in S210), it will be determined that VP3's self-diagnostic processing will be executed (S212). Therefore, ADK2's self-diagnostic processing and VP3's self-diagnostic processing will be executed within a pre-defined period.

[0099] When it is determined that the self-diagnosis process has been completed (yes in S214) and the diagnosis result of ADK2 has been received (yes in S216), a determination is made as to whether maintenance work needs to be performed on either ADK2 or VP3 (S218). If it is determined that maintenance work needs to be performed on either ADK2 or VP3 (yes in S218), a maintenance request for at least one of ADK2 and VP3 that is determined to require maintenance work will be sent to the management server 7 (S220).

[0100] When the management server 7 receives a maintenance request from ADK2 or VP3, it sends a schedule adjustment request and maintenance details to the maintenance factory server 5. The maintenance factory server 5 schedules any available time slot and sends the scheduled time slot as an adjustment result notification to the management server 7. The management server 7 then sends the scheduled time slot as inventory entry schedule information to vehicle 1, the source of the maintenance request. Thus, vehicle 1 can receive maintenance at the maintenance factory during the scheduled time slot.

[0101] <Only when the execution conditions for self-diagnostic processing are met in VP3>

[0102] For example, in the autonomous driving process, if it is determined that two time intervals have elapsed since the last execution time of the self-diagnosis process in VP3, it is determined that the execution condition for the self-diagnosis process in VP3 has been met (yes in S200), and thus the self-diagnosis process is executed (S202), and the execution of the self-diagnosis process is notified to ADK2 (S204). Then, when the self-diagnosis process has been completed (yes in S206) and the notification of the execution of the self-diagnosis process of ADK2 has been received from ADK2 (yes in S208), it is determined whether the diagnosis result of ADK2 has been received (S216).

[0103] When the diagnostic result of ADK2 is received (yes in S216), a determination is made as to whether maintenance work needs to be performed on at least one of ADK2 and VP3 (S218). If it is determined that maintenance work needs to be performed on at least one of ADK2 and VP3 (yes in S218), a maintenance request for at least one of ADK2 and VP3 that is determined to require maintenance work is sent to the management server 7 (S220).

[0104] As described above, according to the vehicle 1 of this embodiment, when the execution conditions for diagnostic processing in either ADK2 or VP3 are met, by notifying the other party of the execution of diagnostic processing, the execution of diagnostic processing in the other party can be carried out within a predetermined period from the execution of diagnostic processing in one party. That is, by executing the self-diagnostic processing of ADK2 and the self-diagnostic processing of VP3 in parallel, the situation where the timing of maintenance in ADK2 and VP3 is separated can be suppressed. Therefore, the situation of frequent visits to the repair shop can be suppressed. Therefore, a vehicle and an autonomous driving kit that suppress the situation of frequent maintenance needs can be provided.

[0105] The following are examples of changes.

[0106] Although the above implementation describes the case of using the central ECU 321 to perform the self-diagnostic processing of VP3 as an example, the execution subject of the self-diagnostic processing in VP3 can also be set to be any ECU of each system, and is not limited to the central ECU 321.

[0107] Furthermore, although the above embodiment describes the method in which the central ECU321 executes the self-diagnostic process of VP3 when it receives a notification from ADK2 to execute the self-diagnostic process, the execution timing can be as long as the self-diagnostic process of VP3 is executed within a predetermined period from the execution of the self-diagnostic process of ADK2.

[0108] Furthermore, although the above embodiment describes a scenario where the diagnostic result of the self-diagnostic process performed in ADK2 is sent to VP3, and the maintenance request of VP3 or ADK2 is sent to the management server 7 via DCM327, which is the communication device of VP3, in the case where ADK2 is equipped with a communication module, the maintenance request of VP3 or ADK2 can also be sent to the management server 7 via the communication module equipped on ADK2.

[0109] Figure 5A diagram to illustrate the modified structures of ADK2 and VP3 in the example in more detail. Figure 5 The vehicle shown is 1 and Figure 2 The difference between the vehicle shown in Figure 1 and the ADK2 lies in the inclusion of a communication module 26. Regarding other structures, due to... Figure 2 The structure of vehicle 1 is the same, so its detailed description will not be repeated.

[0110] The communication module 26 is configured to enable bidirectional data communication between the computer 21 and the management server 7.

[0111] The following is for reference Figure 6 An example of the processing performed by the central ECU321 of VP3 in this modified example will be illustrated. Figure 6 This is a flowchart illustrating an example of the processing performed by the central ECU 321 in a modified example. The flowchart shows a series of processes that are repeatedly executed by the central ECU 321 at predetermined control cycles.

[0112] In S300, the central ECU 321 determines whether the execution conditions for self-diagnostic processing are met. The execution conditions for VP3's self-diagnostic processing are the same as those described above. Figure 4 The execution conditions for the self-diagnostic process in S200 of the flowchart shown are the same. Therefore, its detailed explanation will not be repeated. If the execution condition for the self-diagnostic process is determined to be met (yes in S300), the process proceeds to S302.

[0113] In S302, the central ECU 321 performs the self-diagnostic process for VP3. The self-diagnostic process for VP3 is similar to that described above. Figure 4 The self-diagnostic process in S202 of the flowchart shown is the same. Therefore, its detailed explanation will not be repeated. Then, the process moves to S306. In addition, if the execution condition for the self-diagnostic process is not met (not in S300), the process moves to S304.

[0114] In S304, it is determined whether a notification to execute self-diagnostic processing has been received from ADK2. If it is determined that a notification to execute self-diagnostic processing has been received from ADK2 (yes in S304), the process is transferred to S302.

[0115] In S306, the central ECU321 notifies ADK2 of the execution of the self-diagnostic process of VP3. Then, the process is transferred to S308.

[0116] In S308, the central ECU 321 determines whether the self-diagnostic processing of VP3 has been completed. The method for determining the completion of the VP3 self-diagnostic processing is the same as described above. Figure 4 The method for determining the completion of the self-diagnostic process in S206 of the flowchart shown is the same. Therefore, its detailed explanation will not be repeated. If it is determined that the self-diagnostic process has been completed (yes in S308), the process proceeds to S310. Conversely, if it is determined that the self-diagnostic process has not been completed (no in S308), the process returns to S308.

[0117] In S310, the central ECU321 sends the diagnostic results obtained from the self-diagnostic processing of VP3 to ADK2. Furthermore, if it is determined that there is no notification of execution of self-diagnostic processing (not in S304), this process ends.

[0118] Next, refer to Figure 7 An example of the processing performed by computer 21 of ADK2 in this modified example will be described. Figure 7 This is a flowchart illustrating an example of the processing performed by computer 21 in a modified example. The flowchart shows a series of processes that are repeatedly executed by computer 21 at predetermined control cycles.

[0119] In S400, computer 21 determines whether the execution conditions for ADK2's self-diagnostic processing are met. The execution conditions for ADK2's self-diagnostic processing are as described above. Figure 3 The execution conditions for the self-diagnostic process in S100 of the flowchart shown are the same. Therefore, its detailed explanation will not be repeated. If the execution condition for the self-diagnostic process, which is determined to be ADK2, has been met (yes in S400), the process proceeds to S402.

[0120] In S402, computer 21 performs ADK2's self-diagnostic process. ADK2's self-diagnostic process is similar to the one described above. Figure 3 The self-diagnostic process in S102 of the flowchart shown is the same. Therefore, its detailed explanation will not be repeated. Then, the process moves to S404.

[0121] In S404, computer 21 notifies VP3 of the execution of ADK2's self-diagnostic process. Then, the process is transferred to S406.

[0122] In S406, computer 21 determines whether ADK2's self-diagnostic processing has been completed. The method for determining the completion of ADK2's self-diagnostic processing is the same as described above. Figure 3The method for determining the completion of the self-diagnostic process in S108 of the flowchart shown is the same. Therefore, its detailed explanation will not be repeated. If it is determined that the self-diagnostic process has been completed (yes in S406), the process proceeds to S408. Conversely, if it is determined that the self-diagnostic process has not been completed (no in S406), the process returns to S406.

[0123] In S408, computer 21 determines whether a notification of execution of self-diagnostic processing has been received from VP3. For example, computer 21 may determine that a notification of execution of self-diagnostic processing has been received from central ECU 321 (a pre-defined signal) indicating that self-diagnostic processing has been performed in VP3. If a notification of execution of self-diagnostic processing has been received from VP3 (yes in S408), the process proceeds to S416. Conversely, if the condition for execution of self-diagnostic processing has not been met (no in S400), the process proceeds to S410.

[0124] In S410, computer 21 determines whether a notification of execution of self-diagnostic processing has been received from VP3. The determination method is the same as that in the process described in S408 above. Therefore, its detailed explanation will not be repeated. If it is determined that a notification of execution of self-diagnostic processing has been received from VP3 (yes in S410), the process proceeds to S412.

[0125] In S412, computer 21 performs self-diagnostic processing for ADK2. Then, the processing is transferred to S414.

[0126] In S414, the computer 21 determines whether the self-diagnostic process of ADK2 has been completed. If it is determined that the self-diagnostic process of ADK2 has been completed (yes in S414), the process proceeds to S416. Otherwise, if it is determined that the self-diagnostic process has not been completed (no in S414), the process returns to S414.

[0127] In S416, computer 21 determines whether a diagnostic result obtained by the self-diagnostic processing of VP3 has been received from VP3. For example, when receiving a diagnostic result from VP3, computer 21 stores information representing the diagnostic result in a predetermined area of ​​memory. Therefore, computer 21 may determine that a diagnostic result has been received from VP3 if, for example, information representing the diagnostic result has already been stored in the predetermined area of ​​memory. If it is determined that a diagnostic result obtained by the self-diagnostic processing of VP3 has been received (yes in S416), the process proceeds to S418. Otherwise, if it is determined that no diagnostic result has been received (no in S416), the process returns to S416.

[0128] In S418, computer 21 determines whether maintenance work is required. Specifically, if computer 21 determines that maintenance work is required when the information indicating the diagnostic result obtained from the self-diagnostic processing of VP3 contains a maintenance request for VP3, then computer 21 determines that maintenance work is required when computer 21 determines that maintenance work is required when the diagnostic result obtained from the self-diagnostic processing of ADK2 contains a maintenance request for ADK2. If maintenance work is determined to be required (yes in S418), the process proceeds to S420.

[0129] In S420, computer 21 sends a maintenance request to management server 7 using communication module 26. If computer 21 receives a maintenance request for VP3 from the diagnostic results obtained through the self-diagnostic processing of VP3, it sends a maintenance request for VP3 to management server 7. Furthermore, if computer 21 receives a maintenance request for ADK2 from the diagnostic results obtained through the self-diagnostic processing of ADK2, it sends a maintenance request for ADK2 to management server 7.

[0130] Additionally, if the execution conditions for ADK2's self-diagnostic processing are not met (No in S400), and it is determined that there is no notification for the execution of VP3's self-diagnostic processing (No in S410), or if it is determined that maintenance work is not required (No in S418), this process ends.

[0131] An example of the actions of ADK2 and VP3 in this modified example, based on the structure and flowchart above, is illustrated.

[0132] <Only when the execution conditions for self-diagnostic processing are met in VP3>

[0133] For example, in the process of autonomous driving, if it is determined that two time intervals have elapsed since the last execution time of the self-diagnosis process of VP3, it is determined that the execution conditions of the self-diagnosis process in VP3 have been met (yes in S300), and thus the self-diagnosis process of VP3 is executed (S302), and the execution of the self-diagnosis process is notified to ADK2 (S306). Then, the self-diagnosis process is completed (yes in S308), and the diagnostic results obtained by the self-diagnosis process of VP3 are sent to ADK2 (S310).

[0134] In ADK2, even if the execution conditions for ADK2's self-diagnostic processing are not met (No in S400), ADK2's self-diagnostic processing will still be executed (S412) if it is determined that there is a notification for the execution of self-diagnostic processing from VP3 (Yes in S410). Therefore, ADK2's self-diagnostic processing and VP3's self-diagnostic processing will be executed within a pre-defined period.

[0135] When it is determined that the self-diagnosis process has been completed (yes in S414) and the diagnosis result of VP3 has been received (yes in S416), a determination is made as to whether maintenance work needs to be performed on at least one of ADK2 and VP3 (S418). If it is determined that maintenance work needs to be performed on at least one of ADK2 and VP3 (yes in S418), a maintenance request for at least one of ADK2 and VP3 that is determined to require maintenance work is sent to the management server 7 (S420).

[0136] <Only when the execution conditions for self-diagnostic processing are met in ADK2>

[0137] For example, in the autonomous driving process, if it is determined that the first time has elapsed since the last execution time of ADK2's self-diagnosis process, it is determined that the execution conditions for the self-diagnosis process in ADK2 have been met (yes in S400), and thus the self-diagnosis process of ADK2 is executed (S402), and the execution of the self-diagnosis process is notified to VP3 (S404). Then, if the self-diagnosis process has been completed (yes in S406) and a notification of the execution of VP3's self-diagnosis process has been received from VP3 (yes in S408), it is determined whether the diagnosis result of VP3 has been received (S416).

[0138] When the diagnostic result of VP3 is received (yes in S416), it is determined whether maintenance work needs to be performed on at least one of ADK2 and VP3 (S418). If it is determined that maintenance work needs to be performed on at least one of ADK2 and VP3 (yes in S418), a maintenance request for at least one of ADK2 and VP3 that is determined to require maintenance work is sent to the management server 7 (S420).

[0139] In this way, when the execution conditions for diagnostic processing in either ADK2 or VP3 are met, the execution of diagnostic processing can be notified from one side to the other, thus executing the diagnostic processing of the other within a pre-defined period starting from the execution of the diagnostic processing of one side. That is, by executing the self-diagnostic processing of ADK2 and the self-diagnostic processing of VP3 in parallel, the situation where the timing of maintenance implementation in ADK2 and VP3 is separated can be suppressed. Therefore, the frequent need to send equipment to the repair shop can be reduced.

[0140] Furthermore, although the above embodiment describes a scenario where the result of the self-diagnostic process performed in ADK2 is sent to VP3, and the maintenance request of VP3 or the maintenance request of ADK2 is sent to the management server 7 using DCM327, which is the communication device of VP3, it is also possible to configure the maintenance request to the management server 7 to be performed separately by ADK2 and VP3, as long as the warehouse entry date and time period used for maintenance are at least the same warehouse entry date and time period.

[0141] The structure of vehicle 1 in this example of change is... Figure 5 The structure of vehicle 1 shown is the same. Therefore, its detailed description will not be repeated.

[0142] The following is for reference Figure 8 Another example of the processing performed by computer 21 of ADK2 in this modified example will be described. Figure 8 A flowchart illustrating another example of the processing performed by computer 21 in the modified example.

[0143] Figure 8 The flowchart shown is Figure 3 The flowchart shown differs from the one shown in that it includes processes S500 and S502 instead of S110. Therefore, except as described below, Figure 8 The processes S100, S102, S104, S106, and S108 shown in the flowchart are related to... Figure 3 The processes S100, S102, S104, S106, and S108 shown in the flowchart contain the same processing content and are assigned the same step numbers. Therefore, their detailed descriptions will not be repeated.

[0144] In S108, if it is determined that the self-diagnosis process of ADK2 has been completed (yes in S108), the process is transferred to S500.

[0145] In S500, computer 21 determines whether ADK2 maintenance work needs to be performed. For example, if computer 21 determines that ADK2 maintenance work needs to be performed as part of the diagnostic results of its self-diagnostic process, then ADK2 maintenance work needs to be performed. If ADK2 maintenance work needs to be performed (yes in S500), the process proceeds to S502.

[0146] In S502, computer 21 sends a maintenance request for ADK2 to management server 7 using communication module 26. Furthermore, if it is determined that maintenance work on ADK2 is not required (which is not the case in S500), this process ends.

[0147] Next, refer to Figure 9 Another example of the processing performed by the central ECU321 of VP3 in this modified example will be described. Figure 9 This is a flowchart illustrating another example of the processing performed by the central ECU 321 in the modified example.

[0148] Figure 9 The flowchart shown is Figure 6 The flowchart shown differs from the one shown in that it includes processes S600 and S602 instead of S310. Therefore, except as described below, Figure 9 The processes S300, S302, S304, S306, and S308 shown in the flowchart are related to... Figure 6 The processes S300, S302, S304, S306, and S308 shown in the flowcharts are the same and are assigned the same step numbers. Therefore, their detailed descriptions will not be repeated.

[0149] In S308, if it is determined that the self-diagnosis process of VP3 has been completed (yes in S308), the process is transferred to S600.

[0150] In S600, the central ECU 321 determines whether VP3 maintenance work is required. For example, if the central ECU 321 determines that VP3 maintenance work is required as part of the diagnostic results from its self-diagnostic processing, then VP3 maintenance work is required. If VP3 maintenance work is determined to be required (yes in S600), the process proceeds to S602.

[0151] In S602, the central ECU321 sends a VP3 maintenance request to the management server 7 using the DCM327. ​​Furthermore, if it is determined that VP3 maintenance is not required (which is not the case in S600), this process ends.

[0152] Another example of the actions of ADK2 and VP3 in this modified example, based on the structure and flowchart above, is illustrated.

[0153] For example, in autonomous driving, if it is determined that a first time has elapsed since the last execution time of ADK2's self-diagnosis process, it is determined that the execution conditions for ADK2's self-diagnosis process have been met (yes in S100), and thus ADK2's self-diagnosis process is executed (S102), and the execution of the self-diagnosis process is notified to VP3 (S106). Then, if the self-diagnosis process has been completed (yes in S108), and it is determined that ADK2 maintenance work needs to be performed based on the diagnostic results obtained from ADK2's self-diagnosis process (yes in S500), the maintenance request for ADK2 is sent to the management server 7 using the communication module 26.

[0154] In VP3, even if the execution conditions for VP3's self-diagnostic processing are not met (No in S300), VP3's self-diagnostic processing will still be executed (S302) if it is determined that there is a notification from ADK2 to execute self-diagnostic processing (Yes in S304). Therefore, ADK2's self-diagnostic processing and VP3's self-diagnostic processing will be executed within a pre-defined period. Furthermore, the pre-defined period is, for example, a period in which the receiving date and time period set by the maintenance request from ADK2 are the same as the receiving date and time period set by the maintenance request from VP3.

[0155] Then, the execution of the self-diagnostic process is notified to ADK2 (S306), and the self-diagnostic process is completed (yes in S308). If it is determined that maintenance work on VP3 is required based on the diagnostic results obtained from the self-diagnostic process of VP3 (yes in S600), the maintenance request for VP3 is sent to the management server 7 using DCM327 (S602).

[0156] Furthermore, since self-diagnostic processing can be performed in ADK2 even if the execution conditions for self-diagnostic processing are met only in VP3, self-diagnostic processing can also be performed in ADK2 by notifying ADK2 of the execution of self-diagnostic processing from VP3. Therefore, self-diagnostic processing of ADK2 and self-diagnostic processing of VP3 will be performed within a pre-defined period.

[0157] In this way, if the execution conditions for diagnostic processing in either ADK2 or VP3 are met, the execution of diagnostic processing can be notified from one side to the other, thus executing the diagnostic processing of the other within a pre-defined period starting from the execution of the diagnostic processing of one side. That is, by executing the self-diagnostic processing of ADK2 and the self-diagnostic processing of VP3 in parallel, it is possible to prevent the timing of maintenance implementation in ADK2 and VP3 from being separated. Therefore, it is possible to reduce the frequency of requiring shipments to the maintenance depot.

[0158] Furthermore, although the above-described modified example illustrates a configuration where ADK2 and VP3 send maintenance requests to management server 7 respectively, in cases where management server 7 comprises a first management server operated by the manufacturer of ADK2 and a second management server operated by the manufacturer of VP3, it is also possible to configure ADK2 to send its maintenance request to the first management server and VP3 to send its maintenance request to the second management server. Even with such a structure, frequent inbound shipments to the repair factory can be suppressed by performing self-diagnostic processing for ADK2 and VP3 within a predefined period. In this case, the predefined period is, for example, when the first and second management servers each send a schedule adjustment request to the repair factory server 5 based on a maintenance request, configured so that the same inbound date and time period are set for each maintenance request.

[0159] In addition, the above-mentioned modifications can also be implemented by combining all or part of them as appropriate.

[0160] The embodiments disclosed herein should be considered illustrative rather than restrictive in all respects. The scope of the invention is defined not by the foregoing description but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

Claims

1. A vehicle comprising: an autonomous driving kit configured to enable autonomous driving of the vehicle and capable of being installed on and removed from the vehicle; a vehicle control system configured to enable control of the vehicle in accordance with an instruction from the autonomous driving kit, the autonomous driving kit being configured to enable execution of a first diagnosis process that diagnoses whether the vehicle is in a state requiring maintenance of a first part, which is prescribed in advance, among a plurality of parts that constitute the autonomous driving kit, and an execution condition of the first diagnosis process includes a condition that the vehicle is in an autonomous driving process without a person and a condition that a first time, which is prescribed in advance, has elapsed from a time point of execution of the first diagnosis process last time, the vehicle control system being configured to enable execution of a second diagnosis process that diagnoses whether the vehicle is in a state requiring maintenance of a second part, which is prescribed in advance, among a plurality of parts that constitute the vehicle other than the autonomous driving kit, and an execution condition of the second diagnosis process includes a condition that the vehicle is in an autonomous driving process without a person and a condition that a second time, which is prescribed in advance, has elapsed from a time point of execution of the second diagnosis process last time, in a case where either one of the autonomous driving kit and the vehicle control system executes the diagnosis process, the one transmits a prescribed signal to the other, the other executes the diagnosis process of the other within a prescribed period from execution of the diagnosis process of the one when the prescribed signal is received from the one even in a case where it is determined that the execution condition of the diagnosis process is not established, and the prescribed signal is information indicating a case where the diagnosis process is executed.

2. The vehicle according to claim 1, wherein in a case where the execution condition of the diagnosis process of either one of the first diagnosis process and the second diagnosis process is established, the first diagnosis process and the second diagnosis process are executed in parallel.

3. The vehicle according to claim 1 or 2, wherein in a case where the first diagnosis process is executed, the autonomous driving kit transmits a prescribed signal to the vehicle control system, and in a case where the prescribed signal is received, the vehicle control system executes the second diagnosis process.

4. The vehicle according to claim 1 or 2, wherein in a case where the second diagnosis process is executed, the vehicle control system transmits a prescribed signal to the autonomous driving kit, and in a case where the prescribed signal is received, the autonomous driving kit executes the first diagnosis process.

5. The vehicle according to claim 1 or 2, wherein the vehicle control system further comprises a communication device capable of communicating with a server outside the vehicle. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The communication device transmits information related to the diagnosis result requiring maintenance to the server after the first diagnosis processing and the second diagnosis processing are completed.

6. The vehicle according to claim 1 or 2, wherein The automatic driving kit further includes a communication device configured to communicate with a server outside the vehicle, The communication device transmits information related to the diagnosis result requiring maintenance to the server after the first diagnosis processing and the second diagnosis processing are completed.

7. An automatic driving kit configured to be installed in a vehicle and removed from the vehicle, wherein A computer is provided, the computer being configured to enable automatic driving of the vehicle, The vehicle includes a vehicle control system configured to enable control of the vehicle in accordance with an instruction from the computer, The computer is configured to enable a first diagnosis processing, which is a processing of diagnosing whether the vehicle is in a state requiring maintenance of a first part, which is a part of the automatic driving kit, and a condition for execution of the first diagnosis processing includes a condition that the vehicle is in an automatic driving process without a person and a condition that a first time, which is predetermined, has elapsed from a time point of execution of the last first diagnosis processing, The vehicle control system is configured to enable a second diagnosis processing, which is a processing of diagnosing whether the vehicle is in a state requiring maintenance of a second part, which is a part of the vehicle other than the automatic driving kit, and a condition for execution of the second diagnosis processing includes a condition that the vehicle is in an automatic driving process without a person and a condition that a second time, which is predetermined, has elapsed from a time point of execution of the last second diagnosis processing, In a case where either of the computer and the vehicle control system executes the diagnosis processing, the one transmits a predetermined signal to the other, the other executes the diagnosis processing of the other within a predetermined period from the execution of the diagnosis processing of the one when the predetermined signal is received from the one even in a case where it is determined that the condition for execution of the diagnosis processing is not established, and the predetermined signal is information indicating a case where the diagnosis processing is executed.

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