Vehicle control device, control method, and vehicle control system

Abstract

To surely control travel of a vehicle even when remote control is difficult.SOLUTION: A vehicle control device stores a plurality of control applications for generating control information for achieving predetermined vehicle control, communicably connects to a remote control system capable of executing generation processing for generating control information, determines whether or not the remote control system can execute the generation processing for each type of the vehicle control, and stores determination results. When an execution opportunity of any vehicle control is detected or an execution cycle is reached, the vehicle control device determines whether or not the remote control system can execute the generation processing corresponding to the vehicle control based on determination results, and transmits an execution request of the generation processing to the remote control system when the remote control system can execute the generation processing. When the remote control system cannot execute the generation processing, the vehicle control device executes a control application corresponding to the vehicle control.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that controls a vehicle based on control information transmitted from a remote control device. [Background technology]

[0002] In the field of automobiles, electronic control devices that control sensors and actuators for managing the driving state of a vehicle are widely used. With the recent development of technologies such as autonomous driving and electrification of power, the functions required of electronic control devices are increasing, and there is a growing need for high functionality using remote control devices outside the vehicle.

[0003] For example, Patent Document 1 discloses a technique in which a remote instruction request is transmitted from an autonomous vehicle to a remote instruction device, and the traveling of the autonomous vehicle is controlled based on the remote instruction transmitted from the remote instruction device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-33612 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, when a delay occurs in communication between a remote instruction device and an autonomous vehicle, the autonomous vehicle rejects the remote instructions, thereby suppressing driving control of the autonomous vehicle based on inappropriate remote instructions.

[0006] However, if the remote control command is rejected, vehicle control based on vehicle information, including information about the outside world, will not be implemented, and the vehicle may not be able to respond to changes in the outside world, such as the surrounding road conditions.

[0007] An object of the present invention is to provide a technique for reliably controlling vehicle travel even in cases where remote control is difficult. [Means for solving the problem]

[0008] A representative example of the invention disclosed in this application is as follows. That is, a vehicle control device comprising a processor and a memory connected to the processor, the memory stores a plurality of control applications that generate control information for realizing a predetermined vehicle control, the vehicle control device is communicatively connected to a remote control system capable of executing a generation process that generates the control information, the processor acquires vehicle information including values ​​related to the state of a vehicle in which the vehicle control device is mounted, stores the vehicle information in the memory, transmits the vehicle information to the remote control system, determines for each type of vehicle control whether the remote control system can execute the generation process, stores the result of the determination in the memory, and when an execution trigger for any of the vehicle control is detected or an execution period for any of the vehicle control is reached, determines based on the result of the determination whether the remote control system can execute the generation process corresponding to the vehicle control, and when the remote control system can execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, sends a request to the remote control system to execute the generation process, and when the remote control system cannot execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, executes the control application corresponding to the vehicle control. Effect of the Invention

[0009] According to the present invention, even in a case where remote control is difficult, it is possible to reliably control the running of a vehicle. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of a configuration of a vehicle control system according to a first embodiment. [Diagram 2] FIG. 4 is a diagram illustrating an example of a data structure of vehicle control management information according to the first embodiment. [Diagram 3] 13 is a diagram illustrating an example of a data structure of remote processing time information according to the first embodiment; [Figure 4] 4 is a flowchart illustrating an example of a process executed by an ECU according to the first embodiment. [Diagram 5] 4 is a flowchart illustrating an example of a process executed by an ECU according to the first embodiment. [Figure 6] 4 is a flowchart illustrating an example of a process executed by an ECU according to the first embodiment. [Figure 7] 4 is a flowchart illustrating an example of a remote control process executed by the remote control device according to the first embodiment. [Figure 8] 4 is a flowchart illustrating an example of a remote control determination process executed by an ECU according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not to be interpreted as being limited to the description of the embodiment shown below. It will be easily understood by those skilled in the art that the specific configuration can be changed without departing from the concept or purpose of the present invention.

[0012] In the configurations of the invention described below, the same or similar configurations or functions are given the same reference numerals, and duplicated explanations are omitted. EXAMPLES

[0013] FIG. 1 is a diagram illustrating an example of a configuration of a vehicle control system according to a first embodiment.

[0014] The vehicle control system 1 includes a vehicle 10, a remote control device 20 installed outside the vehicle 10, and a communication path 30.

[0015] The vehicle 10 includes a sensor 13, an ECU 11, an actuator 14, and a TCU (Telematics Control Unit) 12.

[0016] The sensor 13 is, for example, a wheel speed sensor, an acceleration sensor, a gyro sensor, an accelerator sensor, a brake sensor, a steering angle sensor, a camera, a radar, a LiDAR, etc., and measures data related to the running state of the vehicle and the external environment. The TCU 12 controls communication between the ECU 11 and the outside. The actuator 14 controls the vehicle based on control information for realizing a predetermined vehicle control.

[0017] The ECU 11 (vehicle control device) includes a processor 111 that executes arithmetic processing, and a memory 112 that stores arithmetic results, measurement results, and the like. The memory 112 stores a plurality of control applications, vehicle control management information 200, and remote processing time information 300. Note that the control applications are programs, and there is a control application for each type of vehicle control. The ECU 11 loads the program of the control application stored in the memory 112 by the processor 111, and executes the control application corresponding to the type of vehicle control, thereby generating control information based on vehicle information including the measurement results acquired from the sensor 13. The vehicle information includes, for example, vehicle speed, vehicle acceleration, steering angle, current position, vehicle-mounted camera image, surrounding object information, and the like. The control information includes, for example, vehicle speed, vehicle acceleration, steering angle, and the like, which are target values ​​of vehicle control (control signals for the actuator 14).

[0018] The remote control device 20 includes a processor 21 that executes arithmetic processing, a memory 22 that stores the results of the calculations and various data, and a network interface 23 that controls communication with the outside. The remote control device 20 is capable of executing a generation process that generates control information. When the remote control device 20 has abundant calculation resources compared to the ECU 11 or can use vehicle information of other vehicles 10, the remote control device 20 can execute advanced arithmetic processing and generate control information that can realize more accurate vehicle control.

[0019] The functions of the remote control device 20 may be realized using a virtual computer generated from cloud computing resources. Also, the remote control device 20 may be realized using a system configured from multiple computers.

[0020] FIG. 2 is a diagram illustrating an example of a data structure of the vehicle control management information 200 according to the first embodiment.

[0021] The vehicle control management information 200 stores entries including an ID 201, a control type 202, an execution period 203, a deadline time 204, a remote control time 205, a worst case execution time 206, and a remote control flag 207. There is one entry for one vehicle control type.

[0022] The ID 201 is a field for storing the ID of the entry. The control type 202 is a field for storing a value indicating the type of vehicle control.

[0023] The execution period 203 is a field that stores the execution period of the vehicle control. The deadline time 204 is a field that stores the time (deadline time) when the vehicle control should be completed. The remote control time 205 is a field that stores the deadline (remote control time) for receiving the processing result from the remote control device 20 that executes the generation processing of the control information. The worst execution time 206 is a field that stores the maximum value of the calculation time when the ECU 11 executes the control application.

[0024] The remote control flag 207 is a field that stores a flag indicating whether or not the execution of the generation process can be requested from the remote control device 20. For example, if the execution of the generation process cannot be requested from the remote control device 20, "0" is stored, and if the execution of the generation process can be requested from the remote control device 20, "1" is stored.

[0025] For example, vehicle control with ID 201 "1" is a control of the vehicle's travel trajectory, and is used in automatic driving and advanced driving assistance systems. This vehicle control is executed every 1000 milliseconds, with a deadline of 800 milliseconds, and it is necessary to obtain the calculation result, i.e., the travel trajectory target value, within 800 milliseconds from the start of the generation process. In addition, when the remote control device 20 executes the generation process, it is necessary to receive the calculation result (remote control information) within 400 milliseconds from sending a remote control request.

[0026] The present invention is not limited to vehicle control that is executed periodically. Vehicle control that is executed in response to the occurrence of an event may be used. In this case, a field for storing a start condition may be provided instead of the execution period.

[0027] The vehicle control management information 200 does not have to be data in a table format, but may be data in an XML format or a CSV format, for example.

[0028] FIG. 3 is a diagram illustrating an example of a data structure of the remote processing time information 300 according to the first embodiment.

[0029] The remote processing time information 300 stores entries including an ID 301, a control type 302, a remote processing time (99%) 303, a remote processing time (99.9%) 304, a remote processing time (99.99%) 305, and a remote processing time (99.999%) 306. There is one entry for one vehicle control type.

[0030] The ID 301 is a field for storing the ID of the entry. The control type 302 is a field for storing a value indicating the type of vehicle control.

[0031] Remote processing time (99%) 303, remote processing time (99.9%) 304, remote processing time (99.99%) 305, and remote processing time (99.999%) 306 are fields that store the time (remote processing time) until the remote control device 20 completes the generation process.

[0032] The remote control device 20 can update the remote processing time information 300 by recording the processing time of the generation process and executing statistical processing using the history.

[0033] The remote processing time depends on the load and communication state of the remote control device 20, and varies. Therefore, the remote processing time is managed for each statistical reliability. For example, it shows that the generation process corresponding to the control of the travel trajectory is completed within 10 milliseconds with a reliability (probability) of 99%, and is completed within 500 milliseconds with a reliability (probability) of 99.999%.

[0034] The remote processing time information 300 does not have to be data in a table format, but may be data in an XML or CSV format, for example.

[0035] 4, 5, and 6 are flowcharts illustrating an example of processing executed by the ECU 11 according to the first embodiment.

[0036] 4 is a flowchart showing the vehicle information acquisition process. After the engine is started, the ECU 11 starts the process described below.

[0037] In step S101, the ECU 11 acquires vehicle information such as vehicle speed, vehicle acceleration, steering angle, current position, vehicle-mounted camera image, and surrounding object information from the sensor 13 at a predetermined timing. The vehicle information may be acquired when an opportunity to execute vehicle control is detected or periodically. Note that the present invention is not limited to the timing of acquiring the vehicle information.

[0038] In step S102, the ECU 11 stores the acquired vehicle information in the memory 112.

[0039] In step S103, the ECU 11 transmits the vehicle information to the remote control device 20. The ECU 11 may transmit the vehicle information when the amount of data is greater than a threshold or when a certain period of time has elapsed. The ECU 11 may also obtain and transmit vehicle information required for the generation process when transmitting a remote control request.

[0040] When the remote control device 20 receives the vehicle information, it stores the vehicle information in the memory 22 in association with the identification information of the vehicle 10 .

[0041] 5 is a flowchart showing a remote control determination process for determining whether or not the remote control is available. After starting the engine, the ECU 11 starts the processes for each vehicle control, which will be described below.

[0042] In step S111, the ECU 11 executes a remote control determination process for the target vehicle control. The remote control determination process will be described in detail later. The process result is reflected in the remote control flag 207.

[0043] The remote control determination process is executed periodically or when an opportunity to execute vehicle control is detected. When the remote control determination process is executed periodically, an execution cycle may be set for each type of vehicle control. This can reduce discrepancies with the execution cycle of vehicle control.

[0044] 6 is a flowchart showing a vehicle control process. When the ECU 11 detects an opportunity to execute any vehicle control or when a predetermined execution period is reached, the ECU 11 executes the process described below.

[0045] In step S121, the ECU 11 determines whether or not remote control is available for vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached.

[0046] Specifically, the ECU 11 refers to the vehicle control management information 200 and determines whether the remote control flag 207 of the entry corresponding to the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached is "1." If the remote control flag 207 is "1," the ECU 11 determines that the remote control is available for the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached.

[0047] If it is determined that remote control cannot be used for the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached, in step S122, the ECU 11 reads vehicle information required for generating control information from the memory 112. Here, the vehicle information that is read is the vehicle information acquired before or at the time when the execution trigger is detected, or the vehicle information that is acquired before or at the time when the predetermined execution period is reached. Note that the vehicle information that is acquired within a certain period after the execution trigger is detected may also be read.

[0048] In step S123, the ECU 11 generates control information by executing a control application using the read vehicle information. The control information includes control target values ​​such as speed and steering angle. In addition to the latest vehicle information, past vehicle information and past control information may be used to generate the control information.

[0049] In step S127, the ECU 11 saves the control information in the memory 112. Here, the control information generated by the ECU 11 is stored in the memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information. For example, the actuator 14 is controlled based on a control target value. Thereafter, the ECU 11 ends the vehicle control process.

[0050] If it is determined in step S121 that remote control can be used for the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached, in step S124, the ECU 11 transmits a remote control request to the remote control device 20 via the TCU 12. The remote control request includes information indicating the type of vehicle control. At this time, the ECU 11 may transmit vehicle information again. Alternatively, the ECU 11 may transmit past control information.

[0051] After transmitting the remote control request, the ECU 11 starts timer monitoring. In step S125, the ECU 11 determines whether or not the timeout time of the remote control has elapsed. Specifically, the ECU 11 determines whether or not the elapsed time from the start of timer monitoring is shorter than the remote time limit.

[0052] If the timeout period for remote control has not elapsed, in step S126, the ECU 11 determines whether or not remote control information has been received. Here, the remote control information is control information generated by the remote control device 20. The ECU 11 may execute a process for checking the consistency of the remote control information. If the remote control information is inconsistent, the ECU 11 determines that the remote control information has not been received.

[0053] If the remote control information has not been received, the ECU 11 returns to step S125 and continues monitoring the timer.

[0054] When the remote control information is received, in step S127, the ECU 11 saves the control information in the memory 112. Here, the remote control information generated by the remote control device 20 is stored in the memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information.

[0055] If the timeout period for remote control has elapsed in step S125, then in step S122, the ECU 11 reads vehicle information from the memory 112. In step S123, the ECU 11 generates control information by executing a control application using the read vehicle information. In step S127, the ECU 11 stores the generated control information in the memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information.

[0056] In this way, the computational load of the ECU 11 can be reduced by having the remote control device 20 execute the generation process. If the control information cannot be received within the timeout period due to a communication abnormality or an abnormality in the remote control device 20, the ECU 11 executes a control application by itself, generates control information, and performs vehicle control based on the control information. This ensures reliable vehicle control. Furthermore, if the remote control device 20 has abundant computational resources compared to the ECU 11 or can use vehicle information of other vehicles 10, it can execute advanced computational processing. This generates control information that can realize highly accurate vehicle control.

[0057] Since the ECU 11 stores the vehicle information in the memory 112, when the process of generating the control information is switched from the remote control device 20 to the ECU 11, the ECU 11 can obtain the vehicle information required to generate the control information. This reduces the sampling jitter required for real-time performance and improves reliability.

[0058] FIG. 7 is a flowchart illustrating an example of a remote control process executed by the remote control device 20 according to the first embodiment.

[0059] After being started up or upon receiving an execution instruction, the remote control device 20 starts monitoring for a remote control request.

[0060] In step S201, the remote control device 20 determines whether or not a remote control request has been received.

[0061] If no remote control request has been received, the remote control device 20 continues to monitor for remote control requests.

[0062] When a remote control request is received, the remote control device 20 reads the vehicle information received from the vehicle 10 from the memory 22 in step S202.

[0063] In step S203, the remote control device 20 generates control information (remote control information) using the read vehicle information.

[0064] In step S204, the remote control device 20 transmits the control information to the vehicle 10. After that, the remote control device 20 continues to monitor for remote control requests.

[0065] FIG. 8 is a flowchart illustrating an example of a remote control determination process executed by the ECU 11 according to the first embodiment.

[0066] Here, it is assumed that the reliability of the remote processing time is specified in advance in the ECU 11.

[0067] In step S11101, the ECU 11 determines whether or not the remote control device 20 is in a state in which remote control can be executed. Specifically, the following process is executed.

[0068] (S11101-1) The ECU 11 judges whether or not the communication state of the communication path 30 is good. If the communication state of the communication path 30 is not good, the ECU 11 judges that the remote control device 20 is not in a state in which remote control can be executed.

[0069] (S11101-2) When the communication state of the communication path 30 is good, the ECU 11 judges whether or not the load on the remote control device 20 is light. For example, it is judged whether or not the usage rate of the processor 21 is smaller than a threshold value. When the load on the remote control device 20 is heavy, the ECU 11 judges that the remote control device 20 is not in a state in which remote control can be executed.

[0070] (S11101-3) When the load on the remote control device 20 is light, the ECU 11 determines that the remote control device 20 is in a state in which it can execute remote control.

[0071] If the remote control device 20 is not in a state in which remote control can be executed, in step S11107, the ECU 11 determines that remote control is unavailable. At this time, the ECU 11 refers to the vehicle control management information 200 and sets the remote control flag 207 of the entry corresponding to the vehicle control to "0". Then, the ECU 11 ends the remote control determination process.

[0072] When the remote control device 20 is in a state in which remote control can be executed, in step S11102, the ECU 11 acquires the remote processing time from the remote processing time information 300. Specifically, the ECU 11 searches for an entry corresponding to the vehicle control, and acquires a value of a field corresponding to the reliability of the entry.

[0073] In step S11103, the ECU 11 determines whether the remote processing time is less than the remote processing time limit.

[0074] If the remote processing time is equal to or longer than the remote control time limit, the ECU 11 determines in step S11107 that the remote control is not available, and then ends the remote control determination process.

[0075] If the remote processing time is shorter than the remote time limit, in step S11104, the deadline time is obtained from the vehicle control management information 200. Specifically, the ECU 11 obtains the value of the deadline time 204 of the entry of the vehicle control management information 200 corresponding to the vehicle control.

[0076] In step S11105, the ECU 11 determines whether the generation process will be completed within the deadline.

[0077] Specifically, after transmitting a remote control request to the remote control device 20, the ECU 11 determines whether or not a predicted end time of the execution of the control application corresponding to the vehicle control due to a timeout is shorter than a deadline time. The predicted end time is calculated, for example, by using the formula (1).

[0078] Remote time limit + worst execution time...(1)

[0079] Note that the time obtained by adding a margin to the value of formula (1) may be used. The margin can be set arbitrarily.

[0080] If the generation process is not completed within the deadline time, the ECU 11 determines in step S11107 that remote control is unavailable, and then ends the remote control determination process.

[0081] If the generation process is completed within the deadline time, in step S11106, the ECU 11 determines that remote control is available. At this time, the ECU 11 refers to the vehicle control management information 200 and sets the remote control flag 207 of the entry corresponding to the vehicle control to "1". Then, the ECU 11 ends the remote control determination process.

[0082] If there is no need to monitor the reception of control information after the transmission of a remote control request, the processes in steps S11104 and S11105 can be omitted.

[0083] If the execution time of the generation process by the remote control device 20 is equal to or longer than the remote time limit by the determination process of step S11103, the ECU 11 can be controlled to execute the control application. If the communication state or the operating state of the remote control device 20 is normal, the execution time of the generation process is shorter than the remote time limit, and if the communication state or the operating state of the remote control device 20 is abnormal, the execution time of the generation process is equal to or longer than the remote time limit. Therefore, the execution subject that generates the control information can be switched depending on the communication state or the operating state of the remote control device 20. This allows the ECU 11 to reliably control the running of the vehicle even when remote control by the remote control device 20 is difficult.

[0084] By the determination process of step S11105, remote control is used only when the ECU 11 can execute the control application after transmitting the remote control request. This ensures reliable execution of vehicle control. In this determination, the worst execution time reflecting the processing performance of the ECU 11 is used, so that it is possible to realize a determination of whether remote control is possible that reflects the processing performance of the ECU 11.

[0085] The present invention is not limited to the above-mentioned embodiment, but includes various modified examples. For example, the above-mentioned embodiment has been described in detail to easily explain the present invention, and the present invention is not necessarily limited to those including all of the configurations described. In addition, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.

[0086] In addition, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. In addition, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in hardware by, for example, designing a part or all of them as an integrated circuit. In addition, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as a program, table, file, etc. that realizes each function can be stored in a built-in memory of the processor, an external flash memory, a recording device such as an SSD (Solid State Drive), etc. [Explanation of symbols]

[0087] 1 Vehicle Control System 10 Vehicles 20 Remote control device 30 Communication Paths 11 ECU 12 TCU 13 Sensors 14 Actuator 111 Processor 112 Memory 21 Processors 22 Memory 23 Network Interface 200 Vehicle Control Management Information 300 Remote Processing Time Information

Claims

1. A vehicle control device comprising a processor and a memory connected to the processor, the memory stores a plurality of control applications that generate control information for implementing a predetermined vehicle control; the vehicle control device is communicably connected to a remote control system capable of executing a generation process for generating the control information; The processor, acquiring vehicle information including values ​​related to a state of a vehicle in which the vehicle control device is installed, and storing the vehicle information in the memory; Transmitting the vehicle information to the remote control system; determining whether the remote control system can execute the generation process for each type of vehicle control, and storing a result of the determination in the memory; when detecting an execution trigger of any of the vehicle controls or when an execution period of any of the vehicle controls is reached, determining whether or not the remote control system can execute the generation process corresponding to the vehicle control based on a result of the determination; When the remote control system is capable of executing the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, a request to execute the generation process is transmitted to the remote control system; A vehicle control device characterized in that, when the remote control system is unable to execute the generation process corresponding to a vehicle control for which an execution trigger has been detected or an execution period has been reached, the control system executes the control application corresponding to the vehicle control.

2. The vehicle control device according to claim 1, A vehicle control device characterized in that, after sending the execution request to the remote control system, if the processor cannot receive the control information from the remote control system within a certain period of time, the processor executes the control application corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached.

3. The vehicle control device according to claim 2, The vehicle control device is characterized in that the processor acquires the vehicle information used by the control application from the memory.

4. The vehicle control device according to claim 1, the memory stores information for managing a time limit of the generation process for each type of vehicle control; The processor, determining whether the remote control system is in a state capable of executing the generation process; If the remote control system is not in a state in which the generation process can be executed, the remote control system determines that the generation process cannot be executed; If the remote control system is in a state capable of executing the generation process, a processing time for the generation process is identified; determining whether the processing time is greater than the time limit; If the processing time is greater than the time limit, the remote control system determines that the generation process cannot be performed; The vehicle control device is characterized in that, when the processing time is equal to or less than the time limit, it is determined that the remote control system is capable of executing the generation process.

5. The vehicle control device according to claim 1, the memory stores information for managing, for each type of vehicle control, a deadline indicating a time by which the vehicle control should be completed and a time limit for the generation process in association with each other; The processor, determining whether the remote control system is in a state capable of executing the generation process; If the remote control system is not in a state in which the generation process can be executed, the remote control system determines that the generation process cannot be executed; If the remote control system is in a state capable of executing the generation process, a processing time for the generation process is identified; determining whether the processing time is greater than the time limit; If the processing time is greater than the time limit, the remote control system determines that the generation process cannot be performed; if the processing time is equal to or less than the time limit, after the execution request is transmitted, determine whether or not a predicted completion time required for generating the control information when the control application corresponding to the vehicle control is executed is greater than the deadline; If the predicted completion time is greater than the deadline time, the remote control system determines that the generation process cannot be executed; The vehicle control device is characterized in that, when the predicted end time is equal to or shorter than the deadline time, it is determined that the remote control system is capable of executing the generation process.

6. The vehicle control device according to claim 1, The vehicle control device, characterized in that the processor determines whether the remote control system can execute the generation process at different execution cycles for each type of vehicle control.

7. A control method executed by a vehicle control device having a processor and a memory connected to the processor, the memory stores a plurality of control applications that generate control information for implementing a predetermined vehicle control; the vehicle control device is communicably connected to a remote control system capable of executing a generation process for generating the control information; The control method includes: A first step in which the processor acquires vehicle information including a value related to a state of a vehicle in which the vehicle control device is installed, and stores the vehicle information in the memory; a second step of the processor transmitting the vehicle information to the remote control system; a third step in which the processor determines whether the remote control system can execute the generation process for each type of vehicle control and stores a result of the determination in the memory; a fourth step in which, when an execution trigger of any of the vehicle controls is detected or when an execution period of any of the vehicle controls is reached, the processor determines, based on a result of the determination, whether or not the remote control system can execute the generation process corresponding to the vehicle control; a fifth step of transmitting a request for executing the generation process to the remote control system by the processor when the remote control system can execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached; a sixth step of executing the control application corresponding to the vehicle control when the remote control system cannot execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached; A control method comprising:

8. 8. The control method according to claim 7, The fifth step is characterized in that it includes a seventh step of executing the control application corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached if the processor cannot receive the control information from the remote control system within a certain period after sending the execution request to the remote control system.

9. 8. The control method according to claim 7, the memory stores information for managing, for each type of vehicle control, a deadline indicating a time by which the vehicle control should be completed and a time limit for the generation process in association with each other; The fourth step includes: determining by the processor whether the remote control system is in a state capable of executing the generation process; If the remote control system is not in a state capable of executing the generation process, the processor determines that the remote control system is not capable of executing the generation process; When the remote control system is in a state capable of executing the generation process, the processor specifies a processing time for the generation process; the processor determining whether the processing time is greater than the time limit; if the processing time is greater than the time limit, the processor determines that the remote control system cannot perform the generating process; if the processing time is equal to or less than the time limit, determining whether or not a predicted completion time required for generating the control information when the control application corresponding to the vehicle control is executed after the execution request is transmitted by the processor is greater than the deadline; if the predicted completion time is greater than the deadline time, the processor determines that the remote control system cannot perform the generation process; If the predicted completion time is less than or equal to the deadline, the processor determines that the remote control system is capable of executing the generation process.

10. A vehicle control system including a vehicle control device and a remote control system, The vehicle control device includes a processor and a memory connected to the processor. the memory stores a plurality of control applications that generate control information for implementing a predetermined vehicle control; The remote control system is capable of executing a generation process for generating the control information, The vehicle control device includes: acquiring vehicle information including values ​​related to a state of a vehicle in which the vehicle control device is installed, and storing the vehicle information in the memory; Transmitting the vehicle information to the remote control system; determining whether the remote control system can execute the generation process for each type of vehicle control, and storing a result of the determination in the memory; when detecting an execution trigger of any of the vehicle controls or when an execution period of any of the vehicle controls is reached, determining whether or not the remote control system can execute the generation process corresponding to the vehicle control based on a result of the determination; When the remote control system is capable of executing the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, a request to execute the generation process is transmitted to the remote control system; When the remote control system cannot execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, the control application corresponding to the vehicle control is executed; The remote control system includes: When the execution request is received, the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached is executed to generate the control information; A vehicle control system that transmits the control information to the vehicle control device.

11. 11. The vehicle control system of claim 10, The vehicle control system is characterized in that, if the vehicle control device cannot receive the control information from the remote control system within a certain period of time after sending the execution request to the remote control system, the vehicle control device executes the control application corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached.

12. 11. The vehicle control system of claim 10, the memory stores information for managing a deadline indicating a time by which the vehicle control should be completed and a time limit for the generation process in association with each other, for each type of the vehicle control; The vehicle control device includes: determining whether the remote control system is in a state capable of executing the generation process; If the remote control system is not in a state in which the generation process can be executed, the remote control system determines that the generation process cannot be executed; If the remote control system is in a state capable of executing the generation process, a processing time for the generation process is identified; determining whether the processing time is greater than the time limit; If the processing time is greater than the time limit, the remote control system determines that the generation process cannot be performed; if the processing time is equal to or less than the time limit, after the execution request is transmitted, determine whether or not a predicted completion time required for generating the control information when the control application corresponding to the vehicle control is executed is greater than the deadline; If the predicted completion time is greater than the deadline time, the remote control system determines that the generation process cannot be executed; A vehicle control system, comprising: a remote control system that determines that the generation process can be executed when the predicted end time is equal to or shorter than the deadline time.

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