MANAGEMENT DEVICE, CONTROL METHOD, STORAGE MEDIUM AND VEHICLE

Abstract

A management device (10) installed in a vehicle, the management device (10) comprising: an acceptance unit (11) that accepts, from a plurality of advanced driver assistance system (ADAS) applications, a plurality of kinematic plans comprising first information that is information representing a lateral movement of the vehicle; a decision unit (12) which makes a decision on the kinematic plans; a first output unit (13) that distributes a movement request to at least one of a plurality of actuator systems based on a result of the decision made by the decision unit; and a second output unit (14) that outputs second information used to generate the first information to at least one of the ADAS applications, the second information comprising at least one of the following information: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention

[0001] The present disclosure relates to a vehicle-mounted management device, a control method, a storage medium, and a vehicle. 2. Description of the state of the art

[0002] In recent years, a variety of applications implementing driver assistance functions (autonomous driving, automatic parking, advanced driver assistance, etc.) have been implemented in vehicles. When more than one application is installed, in some cases, a multitude of requests may be generated for an actuator system (e.g., a steering device) installed in the vehicle.

[0003] For example, US 2020 / 0 070 849 A discloses a vehicle control system as a type of management device. The vehicle control system includes a receiver as part of a request arbitration unit that receives requests from execution units. The execution units execute advanced driver assistance applications (ADAS). Furthermore, the vehicle control system includes a decision unit that decides on request information based on a plurality of data sets received from the receiver. Furthermore, a first output unit is provided by request generation units that output instruction information to actuators based on the decision result of the decision unit. A second output unit is provided by the arbitration result output unit, which outputs result information including the arbitration result of the decision unit to the execution units.

[0004] JP 2020 - 32 894 A and JP 2020 - 32 893 A disclose a control device (management device) that accepts a plurality of requests issued from a plurality of applications to an actuator system, decides on the accepted requests, and issues a request to drive the actuator system based on decision results. SUMMARY OF THE INVENTION

[0005] Vehicle movement control requests issued to the management device by an advanced driver assistance system (ADAS) application implementing the advanced driver assistance function contain information indicating the vehicle's movement in a transverse direction. However, how information representing the vehicle's transverse movement can be generated in ADAS applications has not been studied in detail.

[0006] The present disclosure has been made in view of the above problems, and an object thereof is to provide a management device or the like that outputs information necessary for generating information representing the lateral direction movement of a vehicle to ADAS applications.

[0007] One aspect of the present disclosure relates to a management device installed in a vehicle. The management device includes: an acceptance unit that accepts, from a plurality of advanced driver assistance system (ADAS) applications, a plurality of kinematic maps containing first information that is information representing a lateral direction movement of the vehicle; a decision unit that makes a decision on the kinematic maps; a first output unit that distributes a movement request to at least one of a plurality of actuator systems based on a result of the decision made by the decision unit; and a second output unit that outputs second information used to generate the first information to at least one of the ADAS applications.The second information includes at least one of the following information: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle.

[0008] One aspect of the present disclosure relates to a vehicle in which the above-described management device is installed.

[0009] One aspect of the present disclosure relates to a control method executed by a computer of a management device installed in a vehicle. The computer includes a processor and a memory. The control method includes: accepting a plurality of kinematic maps containing first information, which is information representing a lateral direction motion of the vehicle, from a plurality of ADAS applications; making a decision on the kinematic maps; distributing a motion request based on a result of the decision to at least one of a plurality of actuator systems; and outputting second information used to generate the first information to at least one of the ADAS applications.The second information includes at least one of the following information: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle.

[0010] One aspect of the present disclosure relates to a non-transitory computer-readable storage medium that stores a program. When executed by a computer of a management device installed in a vehicle, the program causes the computer to: accept, from a plurality of ADAS applications, a plurality of kinematic plans containing first information that is information representing a lateral movement of the vehicle; make a decision on the kinematic plans; distribute a movement request to at least one of a plurality of actuator systems based on a result of the decision; and output second information used to generate the first information to at least one of the ADAS applications.The second information includes at least one of the following information: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle.

[0011] According to the present disclosure, the management device outputs the second information required to generate the first information representing the lateral movement of the vehicle to the ADAS application, and accordingly, the ADAS application can easily generate the first information representing the lateral movement of the vehicle based on this second information. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Features, advantages and technical and industrial significance of exemplary embodiments of the invention will now be described with reference to the accompanying drawings, in which like reference numerals designate like elements, and wherein: Fig. 1 is a block diagram showing a schematic configuration of a system according to an embodiment of the present disclosure; Fig. 2 a functional block diagram of a Fig. 1; Fig. 3 is a diagram illustrating an equation of motion for a two-wheel model; and Fig. 4 is a diagram illustrating a relationship between curvature and acceleration. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0013] In a vehicle system according to the present disclosure, a management device outputs information necessary for generating a steering angle, curvature, etc., representing a lateral movement of a vehicle to an ADAS application. Accordingly, the ADAS application can easily generate the steering angle, curvature, etc., representing the lateral movement of the vehicle based on the information acquired by the management device.

[0014] An embodiment of the present disclosure will be described in detail below with reference to the drawings. EmbodimentConfiguration

[0015] Fig. 1 is a schematic diagram showing a configuration example of a system installed in a vehicle according to an embodiment of the present disclosure. Fig. The vehicle system 1 shown in Figure 1 comprises a management device 10, a driver assistance system 20 and a plurality of actuator systems 31 to 33. The configurations made available to the vehicle system 1 are communicatively connected via an internal vehicle network, such as a controller area network (CAN) or Ethernet (registered trademark).

[0016] The driver assistance system 20 is a configuration for implementing various functions for assisting the driving of the vehicle, including at least the drive control and braking control of the vehicle, by executing one or more of the installed applications 21 to 23. Examples of the applications 21 to 23 installed in the driver assistance system 20 include an autonomous driving application that implements autonomous driving functions, an automatic parking application that implements automatic parking functions, an ADAS application that implements advanced driver assistance functions, and so on. Examples of the ADAS application are applications that implement collision avoidance support functions (Pre-Crash Safety (PCS), etc.), applications that implement leading vehicle following functions (Adaptive Cruise Control (ACC), etc.).) to drive while maintaining a predetermined distance from the vehicle in front, applications that implement lane keeping assistance functions (Lane Keeping Assist (LKA), Lane Tracing Assist (LTA), etc.) to stay in the lane in which the vehicle is currently traveling, applications that implement collision damage mitigation braking functions (Automated Emergency Braking (AEB), etc.) to automatically apply the brakes to reduce damage in the event of a collision, and applications that implement lane departure warning functions (Lane Departure Warning (LDW), Lane Departure Alert (LDA), etc.) to warn a driver about deviation from the lane in which the vehicle is currently traveling.

[0017] Each application 21 to 23 of the driver assistance system 20 outputs a kinematic map request, which guarantees the functionality (marketability) of the application alone, to the management device 10 as an application request based on vehicle information (detection sensor information, etc.) acquired (input) from various types of sensors, etc. not shown here. This kinematic map includes requests for acceleration and deceleration in a longitudinal direction, etc., as information representing the movement of the vehicle in the longitudinal direction. In addition, the kinematic map includes requests for steering angle and curvature (or radius of curvature), etc., as information representing the movement of the vehicle in the lateral direction (hereinafter referred to as "first information").Information representing the lateral movement of the vehicle is information representing the movement of the vehicle in a direction intersecting the longitudinal direction of the vehicle on a plane orthogonal to a height direction of the vehicle. Each application 21 to 23 can also output, along with the kinematic map, identification information (application ID) to the management device 10 that can uniquely identify the respective application. The application ID is uniquely set for each application in advance.

[0018] The driver assistance system 20 is implemented by a computer, e.g., an electronic control unit (ECU), including a processor, e.g., a central processing unit (CPU), a memory, and an input / output interface. Note that the number of ECUs that the driver assistance system 20 includes or consists of, and the number of applications installed in the ECUs, are not particularly limited. Also, a separate ECU may be provided for each application in the driver assistance system 20. For example, the driver assistance system 20 may include or consist of an autonomous driving ECU in which the autonomous driving application is installed, an automatic parking ECU in which the automatic parking application is installed, and an ADAS ECU in which the advanced driver assistance application is installed.Also, a plurality of ADAS applications may be installed in a plurality of ECUs, such as an ECU in which an ADAS application realizing an ACC function is installed, an ECU in which an ADAS application realizing an LKA function is installed, and an ECU in which an ADAS application realizing an AEB function is installed.

[0019] The actuator systems 31 to 33 are components of an implementation system for implementing kinematic plan requests issued by each of the applications 21 to 23 of the driver assistance system 20. An example of the actuator systems 31 to 33 is an electric power steering (EPS) system, which includes a steering actuator (an EPS motor, etc.) capable of generating torque to assist steering by a steering wheel on a steering shaft, and which implements part or all of the kinematic plan requests by controlling the actuations of this steering actuator. Another example of the actuator systems 31 to 33 is an electronic braking system (EBS) system, which includes a brake actuator (hydraulic brakes, etc.) capable of generating a braking force in the vehicle, and which implements part or all of the kinematic plan requests by controlling the actuations of this brake actuator.Another example of actuator systems 31 to 33 is a powertrain system that includes a powertrain actuator (engine, transmission, etc.) capable of generating a braking / driving force in the vehicle, and that implements some or all of the kinematic plan requests by controlling actuations of this powertrain actuator. Note that the number of actuator systems installed in the vehicle is not limited to the three shown in [figure 1]. Fig. 1 is limited.

[0020] The management device 10 determines control contents related to the movement of the vehicle based on kinematic plan requests accepted by the applications 21 to 23 of the driver assistance system 20 and, based on the determined control contents, issues requests to at least one of the actuator systems 31 to 33 as needed. In other words, the management device 10 distributes movement requests to one or more of the actuator systems 31 to 33.

[0021] The management device 10 controls the movement of the vehicle by acting as an ADAS management device (MGR), as a vehicle MGR or the like involved in the so-called vehicle movement, or by acting as a part of the ADAS MGR or the vehicle MGR. Fig. 2 shows an example of a functional block diagram of the management device 10. The Fig. The management device 10 shown in Figure 2 comprises an acceptance unit 11, a decision unit 12, a first output unit 13, a second output unit 14 and a storage unit 15.

[0022] The acceptance unit 11 accepts one or more kinematic plan requests issued by the applications 21 to 23 of the driver assistance system 20. Kinematic plans in the present embodiment include the steering angle or curvature (or radius of curvature) as initial information representing the lateral motion of the vehicle output by the ADAS application. Kinematic plan requests accepted by the acceptance unit 11 are output to the decision unit 12.

[0023] The decision unit 12 makes a decision regarding the one or more kinematic plan requests that were accepted from the applications 21 to 23 of the driver assistance system 20 by the acceptance unit 11. Examples of a process for this decision include a method in which a kinematic plan is selected from the kinematic plans based on a predetermined selection criterion (e.g., minimum selection). As a further decision process, a new kinematic plan can be defined based on the kinematic plans. If only one kinematic plan request is present, this kinematic plan is adopted as the decision result.

[0024] The first output unit 13 outputs a motion request based on the decision result of the kinematic plan requests at the decision unit 12 to at least one of the actuator systems 31 to 33. This motion request is a physical quantity requesting a movement of the vehicle to implement the decided kinematic plan and is a physical quantity suitable for the actuator system to which the output is to be made. This physical quantity is converted as needed. If the actuator system for which the output is to be made is, for example, the EPS system, the steering angle of the wheels (the steering angle of the steering system) is output as the motion request.

[0025] The second output unit 14 outputs to at least one of the applications 21 to 23 information and data (hereinafter referred to as "second information") used to generate the first information representing the transverse motion of the vehicle to be incorporated into kinematic maps by the applications 21 to 23 of the driver assistance system 20. The second information includes, for example, at least one of information about vehicle specifications (constants) such as the distance from the vehicle's center of gravity to the front wheels, the distance from the vehicle's center of gravity to the rear wheels, a cornering stiffness generated at the front tires, and a cornering stiffness generated at the rear tires, as well as information about the state (variables) of the vehicle, such as the mass of the vehicle (the vehicle's traveling speed), the slip angle (or body slip angle) of the vehicle's center of gravity (and the yaw rate).Information about the vehicle's specifications (constants) is stored in the storage unit 15 and will be described later. Information about the vehicle's status (variables) can be obtained from various types of vehicle equipment not shown in the figure.

[0026] More specifically, when the first information assumed by the assumption unit 11 from the applications 21 to 23 is the steering angle, the second output unit 14 outputs the distances from the vehicle's center of gravity to the front and rear wheels, the cornering stiffness generated by the front and rear tires, the vehicle mass (vehicle speed), the slip angle (and yaw rate) as second information to the application that generates the first information. When the first information assumed by the assumption unit 11 from the applications 21 to 23 is the curvature or the radius of curvature, the second output unit 14 outputs the vehicle speed, the slip angle (and yaw rate) as second information to the application that generates the first information.

[0027] The storage unit 15 stores information about specifications (constants) of the vehicle, such as the distance from the center of gravity of the vehicle to the front wheels, the distance from the center of gravity of the vehicle to the rear wheels, the cornering stiffness generated by the front tires, and the cornering stiffness generated by the rear tires, which is the second information output from the second output unit 14 to the applications 21 to 23.

[0028] Note that the configuration of the management device 10, the driver assistance system 20, and the actuator systems 31 to 33 installed in the vehicle described above are exemplary and can be added, replaced, changed, omitted, etc. as needed. Also, the functions of various pieces of equipment can be realized by integrating their functions into one piece of equipment or by dividing their functions among a plurality of pieces of equipment, or the like, as needed. First information generation process

[0029] A method for generating the first information based on the second information, which is performed by the applications 21 to 23, will be described with further reference to the Fig. 3 and Fig. 4 described. (1) First example

[0030] In a first example, a method for generating the steering angle as first information is described. Fig. 3 is a diagram describing an equation of motion for a two-wheel model.

[0031] Assuming that the cornering force acts in the y-axis direction when a vehicle with a mass m travels at a constant speed V, the vehicle's equation of motion is expressed by the following formula [1] in terms of the slip angle (or body slip angle) β of the vehicle's center of gravity and the vehicle's yaw rate γ. In formula [1], I represents the moment of inertia. If represents the distance between the vehicle's center of gravity and the front wheel. Ir represents the distance between the vehicle's center of gravity and the rear wheel. CFf represents the cornering force of the front wheel. CFr represents the cornering force of the rear wheel. formula 1 mV(β˙+γ)=2CFf+2CFrIγ˙=2lfCFf−2lrCFr}

[0032] Substituting the linear cornering force model according to the following formula [2] into the above formula [1], the following formula [3] is obtained. Kf represents the cornering stiffness generated at the front tire. Kr represents the cornering stiffness generated at the rear tire. Formula 2 CFf=−Kfβf, CFr=−Krβr Formula 3 mV(β˙+γ)=−2Kfβf−2KrβrIγ˙=−2lfKfβf+2lrKrβr} Furthermore, substituting the tire slip angle relationship according to the following formula [4] into the above formula [3] yields the following formula [5]. In these formulas, βf represents the slip angle of the front tire and βr represents the slip angle of the rear tire. Furthermore, δ represents the steering angle of the front wheel. Formula 4 βf=β+lfVγ−δ, βr=β−lrVγ Formula 5 mV(β˙+γ)=−2Kf(β+lfVγ−δ)−2Kr(β−lrVγ)Iγ˙=−2lfKf(β+lfVγ−δ)+2lrKr(β−lrVγ)} If you convert the above formula [5] with focus on the steering angle δ of the front wheel, you get the following formula [6]. Formula 6 mVβ˙+2(Kf+Kr)β+{mV+2V(lfKf−lrKr)}γ=2KfδIγ˙+2(lfKf−lrKr)β+2V(lf2Kf+lr2Kr)γ=2lfKfδ}

[0033] Thus, the applications 21 to 23 can easily generate the steering angle δ of the front wheel (first information) based on the distance If from the center of gravity of the vehicle to the front wheel, the distance Ir from the center of gravity of the vehicle to the rear wheel, the cornering stiffness Kf generated at the front wheel, the cornering stiffness Kr generated at the rear wheel, the mass m of the vehicle, the speed V, the slip angle β and the yaw rate γ obtained as second information from the management device 10. (2) Second example

[0034] A second example describes a method for generating the curvature as second information. Fig. Figure 4 is a diagram describing a relationship between curvature and acceleration.

[0035] In Fig. 4, the tangential velocity V can be expressed by the following formula [7] based on the radius of curvature ρ and the angular velocity ω. Formula 7 V=ρ ω

[0036] The above formula [7] can be modified as in the following formula [8] and the radius of curvature ρ and the curvature 1 / p, which is the inverse of the radius of curvature, can be expressed using the speed V of the vehicle and the slip angle of the center of gravity (or the slip angle of the vehicle body) β and the yaw rate γ of the vehicle. Formula 8 Vρ=ω=ξ˙=ϕ˙+β˙=γ+β˙

[0037] Accordingly, the acceleration in a normal direction can be obtained by the following formula [9]. Formula 9 V2ρ=V(γ+β˙)

[0038] Thus, the applications 21 to 23 can easily generate the curvature 1 / p or the radius of curvature ρ (first information) based on the vehicle speed V, the slip angle β and the yaw rate γ acquired by the management device 10 as second information. Processes and effects

[0039] As described above, in the vehicle system according to the embodiment of the present disclosure, the management device outputs information (second information) required to generate information (first information) representing the lateral movement of the vehicle to at least one of the ADAS applications. Accordingly, the ADAS application that acquires the second information can calculate information representing the lateral movement of the vehicle (steering angle, curvature, etc.) at the time of acquisition based on the specifications and condition of the vehicle as second information acquired by the management device through feedback, and correct the requested kinematic plan as needed based on the calculated values.

[0040] Furthermore, in the vehicle system according to the embodiment of the present disclosure, the management device maintains or generates the information (second information) required to generate the information (first information) representing the lateral movement of the vehicle. This can improve the accuracy of the second information. Also, the ADAS application does not need to predetermine and maintain information such as vehicle specifications, and accordingly, the application specifications can be simplified.

[0041] Furthermore, in the vehicle system according to the embodiment of the present disclosure, when the curvature or the radius of curvature is used as the information (first information) representing the lateral direction movement of the vehicle, less information (data) is required for calculation, and accordingly, a reduction in the processing load of the electronic control unit (ECU) in which the ADAS application is installed and a reduction in the communication load between the management device and the ADAS application can be realized.

[0042] While an embodiment of the technology according to the present disclosure has been described above, the present disclosure is not limited to a management device installed in a vehicle and can be understood to include an electronic control device, a system including an electronic control device and a management device, a control method executed by a management device including a processor and a memory and a storage device, a control program, a non-transitory computer-readable storage medium storing the control program, a vehicle including a management device, and so on.

[0043] The present disclosure is useful in a management device installed in a vehicle, and so on.

Claims

[1] A management device (10) installed in a vehicle, the management device (10) comprising: an acceptance unit (11) that accepts, from a plurality of advanced driver assistance system (ADAS) applications, a plurality of kinematic plans comprising first information that is information representing a lateral movement of the vehicle; a decision unit (12) which makes a decision on the kinematic plans; a first output unit (13) that distributes a movement request to at least one of a plurality of actuator systems based on a result of the decision made by the decision unit; and a second output unit (14) that outputs second information used to generate the first information to at least one of the ADAS applications, the second information comprising at least one of the following information: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle. [2] Management device (10) according to claim 1, wherein: the first information representing the lateral movement is a steering angle. [3] Management device (10) according to claim 1, wherein: the first information representing the transverse movement is a curvature or a radius of curvature; and the second output unit (14) outputs the slip angle as the second information. [4] A control method executed by a computer of a management device (10) having a processor and a memory and installed in a vehicle, the control method comprising the steps of: Accepting a plurality of kinematic plans from a plurality of ADAS applications comprising first information that is information representing the lateral motion of the vehicle; Making a decision on the kinematic plans; Distributing a motion request to at least one of a plurality of actuator systems based on a result of the decision; and Outputting second information used to generate the first information to at least one of the ADAS applications, the second information comprising at least one of the following: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle. [5] A non-transitory, computer-readable storage medium storing a program which, when executed by a computer of a management device (10) installed in a vehicle, causes the computer to: accepting from a plurality of ADAS applications a plurality of kinematic plans including first information that is information representing a transverse motion of the vehicle; to make a decision on the kinematic plans; to distribute a motion request based on a result of the decision to at least one of a plurality of actuator systems; and output second information used to generate the first information to at least one of the ADAS applications, the second information comprising at least one of the following: a distance from a center of gravity of the vehicle to a front wheel, a distance from the center of gravity of the vehicle to a rear wheel, a cornering stiffness generated at a tire, a mass of the vehicle, and a slip angle. [6] Vehicle in which the management device (10) according to one of claims 1 to 3 is installed.

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