Information processor, information processing program, and information processing method

Abstract

To prevent a sudden change in actual acceleration of a vehicle when an arbitration result is switched.SOLUTION: A motion manager 45 of an information processor acquires an instruction value FD corresponding to an amount ACC of accelerator operation. The motion manager 45 acquires a requested acceleration ru. The motion manager 45 calculates an instruction value Fu by correcting the requested acceleration ru. The motion manager 45 selects one of the instruction value FD and the instruction value Fu as an arbitration result. The motion manager 45 outputs the arbitration result to a power train control unit 23 for controlling a power train device 71. When the instruction value FD is selected as the arbitration result, the motion manager 45 calculates the instruction value Fu as a value closer to the selected instruction value FD than the instruction value Fu acquired when the selected instruction value FD is acquired.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information processing program, and an information processing method.

Background Art

[0002] The vehicle of Patent Document 1 includes an information processing apparatus, a driving support apparatus, a control apparatus, and an engine. The engine is a driving source of the vehicle. The information processing apparatus receives a required driving force for performing driving support from the driving support apparatus. Further, the information processing apparatus receives, separately from the required driving force from the driving support apparatus, a required driving force corresponding to the operation amount of an accelerator pedal by a driver of the vehicle. Subsequently, the information processing apparatus selects, as a mediation result, any one of the received plurality of required driving forces. Further, the information processing apparatus outputs the mediation result to the control apparatus. The control apparatus calculates a control amount of the engine according to the mediation result. Then, the control apparatus controls the engine according to the calculated control amount.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a vehicle such as that of Patent Document 1, the required driving force selected by the information processing apparatus as the mediation result may switch from any one of the plurality of required driving forces to another one. At this time, if there is a difference in the magnitudes of the two required driving forces before and after the switching, the control amount of the engine calculated by the control apparatus may change abruptly. As a result, in a vehicle such as that of Patent Document 1, there is a possibility that the actual acceleration of the vehicle may change abruptly due to the switching of the mediation result.

Means for Solving the Problems

[0005] An information processing apparatus for solving the above problems is capable of acquiring a first required acceleration which is one of the required accelerations of a vehicle, acquiring a second required acceleration which is a required acceleration different from the first required acceleration, calculating a second corrected acceleration by correcting the second required acceleration, selecting either the first required acceleration or the second corrected acceleration as a mediation result, and outputting the mediation result to a control device for controlling an actuator of the vehicle. When calculating the second corrected acceleration, if the first required acceleration is selected as the mediation result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was obtained.

[0006] An information processing program for solving the above problems enables an information processing apparatus to acquire a first required acceleration which is one of the required accelerations of a vehicle, acquire a second required acceleration which is a required acceleration different from the first required acceleration, calculate a second corrected acceleration by correcting the second required acceleration, select either the first required acceleration or the second corrected acceleration as a mediation result, and output the mediation result to a control device for controlling an actuator of the vehicle. When calculating the second corrected acceleration, if the first required acceleration is selected as the mediation result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was obtained.

[0007] An information processing method for solving the above problems includes: an information processing apparatus obtaining a first required acceleration that is one of the required accelerations of a vehicle; obtaining a second required acceleration that is a required acceleration different from the first required acceleration; calculating a second corrected acceleration by correcting the second required acceleration; selecting either the first required acceleration or the second corrected acceleration as a mediation result; and outputting the mediation result to a control device for controlling an actuator of the vehicle. When calculating the second corrected acceleration, if the first required acceleration is selected as the mediation result, the second corrected acceleration is calculated to be a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was obtained.

Advantages of the Invention

[0008] In the above configuration, for example, when the first required acceleration is selected as the mediation result, a control amount corresponding to the first required acceleration is calculated by the control device. Therefore, the actual acceleration changes according to the first required acceleration. And, for example, when the mediation result switches from the first required acceleration to the second corrected acceleration, a control amount corresponding to the second corrected acceleration is calculated by the control device. Here, the second corrected acceleration when the first required acceleration was selected as the mediation result is calculated so that the absolute value of the difference between the first required acceleration and the second corrected acceleration becomes small. Therefore, for example, compared with a configuration in which the second corrected acceleration is maintained at a constant value when the first required acceleration is selected as the mediation result, a rapid change in the control amount when the mediation result switches from the first required acceleration to the second corrected acceleration is suppressed. Thereby, a rapid change in the actual acceleration of the vehicle can be suppressed.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

MODE FOR CARRYING OUT THE INVENTION

[0010] <Schematic Configuration of Vehicle> Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 5. First, the schematic configuration of the vehicle 100 will be described.

[0011] As shown in FIG. 1, the vehicle 100 includes a power train device 71, a steering device 72, and a brake device 73. In the present embodiment, each of the power train device 71, the steering device 72, and the brake device 73 is an actuator of the vehicle 100.

[0012] The power train device 71 includes an engine, a motor generator, a transmission, and the like. The engine can apply a driving force to the driving wheels of the vehicle 100 via the transmission. Also, the motor generator can apply a driving force to the driving wheels of the vehicle 100 via the transmission.

[0013] An example of the steering device 72 is a rack & pinion type electric power steering device. The steering device 72 can change the direction of the steered wheels of the vehicle 100 by controlling a rack and a pinion (not shown).

[0014] The brake device 73 is a so-called mechanical brake device that mechanically brakes the wheels of the vehicle 100. In the present embodiment, an example of the brake device 73 is a disc brake.

[0015] As shown in FIG. 1, the vehicle 100 includes a central ECU 10, a power train ECU 20, a steering ECU 30, a brake ECU 40, and an advanced driver assistance ECU 50. The vehicle 100 also includes a first external bus 61, a second external bus 62, a third external bus 63, and a fourth external bus 64. Note that "ECU" is an abbreviation for Electronic Control Unit.

[0016] The central ECU 10 controls the entire vehicle 100. The central ECU 10 includes an execution device 11 and a storage device 12. An example of the execution device 11 is a CPU. The storage device 12 includes a ROM that can only be read, a volatile RAM that can be read and written, and a non-volatile storage that can be read and written. The storage device 12 stores various programs and various data in advance. The execution device 11 realizes various processes by executing the programs stored in the storage device 12.

[0017] The power train ECU 20 can communicate with the central ECU 10 via the first external bus 61. The power train ECU 20 controls the power train device 71 by outputting a control signal to the power train device 71. The power train ECU 20 includes an execution device 21 and a storage device 22. An example of the execution device 21 is a CPU. The storage device 22 includes a ROM, a RAM, and a storage. The storage device 22 stores various programs and various data in advance. Specifically, the storage device 22 stores a power train application 23A in advance as one of various programs. The power train application 23A is application software for controlling the power train device 71. The execution device 21 realizes the function as a power train control unit 23 described later by executing the power train application 23A stored in the storage device 22. In the present embodiment, the power train ECU 20 is a control device for controlling the power train device 71.

[0018] The steering ECU 30 can communicate with the central ECU 10 via the second external bus 62. The steering ECU 30 controls the steering device 72 by outputting a control signal to the steering device 72. The steering ECU 30 includes an execution device 31 and a storage device 32. An example of the execution device 31 is a CPU. The storage device 32 includes a ROM, a RAM, and a storage. The storage device 32 stores various programs and various data in advance. Specifically, the storage device 32 stores a steering application 33A in advance as one of the various programs. The steering application 33A is application software for controlling the steering device 72. The execution device 31 realizes the function as a steering control unit 33, which will be described later, by executing the steering application 33A stored in the storage device 32. In the present embodiment, the steering ECU 30 is a control device for controlling the steering device 72.

[0019] The brake ECU 40 can communicate with the central ECU 10 via the third external bus 63. The brake ECU 40 controls the brake device 73 by outputting a control signal to the brake device 73. The brake ECU 40 includes an execution device 41 and a storage device 42. An example of the execution device 41 is a CPU. The storage device 42 includes a ROM, a RAM, and a storage. The storage device 42 stores various programs and various data in advance. Specifically, the storage device 42 stores a brake application 43A in advance as one of the various programs. The brake application 43A is application software for controlling the brake device 73. Further, the storage device 42 stores a motion manager application 45A in advance as one of the various programs. The motion manager application 45A is application software for mediating a plurality of motion requests. The execution device 41 realizes the function as a brake control unit 43, which will be described later, by executing the brake application 43A stored in the storage device 42. Also, the execution device 41 realizes the function as a motion manager 45, which will be described later, by executing the motion manager application 45A stored in the storage device 42. In the present embodiment, the brake ECU 40 is an information processing device. Also, the motion manager application 45A is an information processing program. That is, the execution device 41 of the brake ECU 40 executes various processes in the information processing method by executing the motion manager application 45A. Further, the brake ECU 40 is a control device for controlling the brake device 73.

[0020] The Advanced Driving Support ECU 50 can communicate with the Central ECU 10 via the fourth external bus 64. The Advanced Driving Support ECU 50 executes various driving supports. The Advanced Driving Support ECU 50 includes an execution device 51 and a storage device 52. An example of the execution device 51 is a CPU. The storage device 52 includes a ROM, a RAM, and a storage. The storage device 52 stores various programs and various data in advance. The various programs include a first support application 56A and a second support application 57A. An example of the first support application 56A is application software for limiting the upper limit value of the speed of the vehicle 100, so-called speed limiter. In other words, an example of the first support application 56A is application software for limiting the upper limit value of the acceleration of the vehicle 100. An example of the second support application 57A is application software for following the vehicle while maintaining a constant inter-vehicle distance from a preceding vehicle traveling ahead of the vehicle 100, so-called ACC (Adaptive Cruise Control). In other words, an example of the second support application 57A is application software for limiting the lower limit value of the acceleration of the vehicle 100. The execution device 51 realizes the function as the first support unit 56 described later by executing the first support application 56A stored in the storage device 52. Further, the execution device 51 realizes the function as the second support unit 57 described later by executing the second support application 57A stored in the storage device 52.

[0021] As shown in FIG. 1, the vehicle 100 includes an acceleration sensor 81, an accelerator operation amount sensor 86, a steering angle sensor 87, and a brake operation amount sensor 88. The acceleration sensor 81 is a so-called three-axis sensor. That is, the acceleration sensor 81 can detect the longitudinal acceleration g x , the lateral acceleration g y , and the vertical acceleration g z . The longitudinal acceleration g x is the acceleration along the longitudinal axis of the vehicle 100. The lateral acceleration g y is the acceleration along the lateral axis of the vehicle 100. The vertical acceleration g zis the acceleration along the vertical axis of the vehicle 100. Here, the front-rear, left-right, and up-down directions are the directions as viewed from the driver's seat of the vehicle 100.

[0022] The accelerator operation amount sensor 86 detects an accelerator operation amount ACC which is the operation amount of the accelerator pedal operated by the driver. The steering angle sensor 87 detects a steering angle RA which is the angular position of the steering shaft operated by the driver. The brake operation amount sensor 88 detects a brake operation amount BRA which is the operation amount of the brake pedal operated by the driver.

[0023] The power train ECU 20 acquires a signal indicating the accelerator operation amount ACC from the accelerator operation amount sensor 86. The steering ECU 30 acquires a signal indicating the steering angle RA from the steering angle sensor 87. The brake ECU 40 acquires a signal indicating the longitudinal acceleration g x the lateral acceleration g y and the vertical acceleration g z from the acceleration sensor 81. The brake ECU 40 acquires a signal indicating the brake operation amount BRA from the brake operation amount sensor 88. Note that the brake ECU 40 can acquire various values including the accelerator operation amount ACC and the steering angle RA via the central ECU 10.

[0024] <Peripheral Configuration of the Motion Manager> Next, with reference to FIG. 2, the peripheral configuration of the motion manager 45 will be described. As shown in FIG. 2, the motion manager 45 can communicate with a first support unit 56 and a second support unit 57. Also, the motion manager 45 can communicate with a power train control unit 23, a steering control unit 33, and a brake control unit 43. Further, the motion manager 45 can acquire the longitudinal acceleration g x etc. In the present embodiment, the longitudinal acceleration g xis an example of the actual acceleration of the vehicle 100. Further, the motion manager 45 can acquire the accelerator operation amount ACC, the steering angle RA, and the brake operation amount BRA via the power train control unit 23, the steering control unit 33, and the brake control unit 43. Note that the power train control unit 23 calculates the control amount of the power train device 71. Then, the power train control unit 23 controls the power train device 71 by outputting a control signal corresponding to the calculated control amount to the power train device 71. Similarly to the above, the steering control unit 33 controls the steering device 72. Also, similarly, the brake control unit 43 controls the brake device 73.

[0025] <Coordination control> Next, with reference to FIG. 3, the coordination control executed by the motion manager 45 will be described. Hereinafter, as an example of the coordination control, the coordination control when controlling the power train device 71 will be described. In the coordination control, the motion manager 45 receives a plurality of motion requests and controls the vehicle 100 by coordinating these requests. Here, the motion requests are the required acceleration r u from the first support unit 56, the required acceleration r l from the second support unit 57, and the accelerator operation amount ACC. Note that the required acceleration r u is the required value of the acceleration along the front and rear axes of the vehicle 100. Also, the required acceleration r l is the required value of the acceleration along the front and rear axes of the vehicle 100. Note that the required acceleration r u and the required acceleration r l are both examples of the second required acceleration. In the present embodiment, as part of the coordination control, the motion manager 45 executes feedback control based on the difference between the required acceleration r u and the longitudinal and lateral acceleration g x and the integral value of the difference, so-called PI control. Also, as part of the coordination control, the motion manager 45 executes feedback control based on the difference between the required acceleration r l and the longitudinal and lateral acceleration g x and the integral value of the difference, so-called PI control.

[0026] As shown in FIG. 3, the motion manager 45 includes various arithmetic units and the like as functional blocks. Specifically, the motion manager 45 includes a first arithmetic unit 46A to a sixth arithmetic unit 46F. The motion manager 45 includes a first multiplier 47A to a fourth multiplier 47D. The motion manager 45 includes an integrator 48A and a converter 48B. The motion manager 45 includes a first arbiter 49A and a second arbiter 49B.

[0027] The first arithmetic unit 46A acquires the required acceleration r from the first support unit 56. u As described above, the required acceleration r is the required value of the acceleration along the longitudinal axis of the vehicle 100. Also, the first arithmetic unit 46A acquires the longitudinal acceleration g. u And then, the first arithmetic unit 46A subtracts the longitudinal acceleration g from the required acceleration r. x The first arithmetic unit 46A acquires the required acceleration r. u From the required acceleration r x Subtract the longitudinal acceleration g.

[0028] The first multiplier 47A acquires the value calculated by the first arithmetic unit 46A. Then, the first multiplier 47A calculates, as the first intermediate value FB, the value obtained by multiplying the value calculated by the first arithmetic unit 46A by a predetermined coefficient P. Here, the coefficient P is a value predetermined by experiments, simulations, etc. Note that the coefficient P is a positive value. Pu And calculates it as the first intermediate value FB. Here, the coefficient P is a value determined in advance by experiments and simulations. The coefficient P is a positive value.

[0029] The second arithmetic unit 46B acquires the required acceleration r from the second support unit 57. l As described above, the required acceleration r is the required value of the acceleration along the longitudinal axis of the vehicle 100. Also, the second arithmetic unit 46B acquires the longitudinal acceleration g. l And then, the second arithmetic unit 46B subtracts the longitudinal acceleration g from the required acceleration r. x The second arithmetic unit 46B acquires the required acceleration r. l From the required acceleration r x Subtract the longitudinal acceleration g.

[0030] The second multiplier 47B acquires the value calculated by the second arithmetic unit 46B. Then, the second multiplier 47B calculates, as the second intermediate value FB, the value obtained by multiplying the value calculated by the second arithmetic unit 46B by a predetermined coefficient P. PlIt is calculated as such. Note that the coefficient P used by the second multiplier 47B is the same as the coefficient P used by the first multiplier 47A.

[0031] The third calculator 46C acquires the value calculated by the first calculator 46A. Also, the third calculator 46C acquires the adjustment value AV, which is the value calculated by the fourth multiplier 47D. Then, the third calculator 46C subtracts the adjustment value AV calculated by the fourth multiplier 47D from the value calculated by the first calculator 46A. That is, the third calculator 46C subtracts the adjustment value AV from the difference between the required acceleration r u and the longitudinal acceleration g x Note that the fourth multiplier 47D will be described later.

[0032] The integrator 48A acquires the value calculated by the third calculator 46C. Then, the integrator 48A integrates the value calculated by the third calculator 46C. That is, the integrator 48A calculates the integral value based on the two values acquired by the third calculator 46C.

[0033] The third multiplier 47C acquires the value calculated by the integrator 48A. The third multiplier 47C multiplies the value calculated by the integrator 48A by a predetermined coefficient I, and calculates the result as the third intermediate value FB Iu Here, the coefficient I is a value predetermined through experiments, simulations, etc. Note that the coefficient I is a positive value.

[0034] The fourth calculator 46D acquires the first intermediate value FB Pu Also, the fourth calculator 46D acquires the third intermediate value FB Iu Then, the fourth calculator 46D adds the first intermediate value FB Pu and the third intermediate value FB Iu and calculates the sum as the instruction value F u Therefore, the motion manager 45 calculates the instruction value F u by correcting the required acceleration r u In this embodiment, the instruction value F u is an example of the second correction acceleration. And in the PI control, the motion manager 45 calculates the adjustment value AV as described later, and corrects the required acceleration ru and the longitudinal acceleration g x Based on the integrated value obtained by integrating the value obtained by subtracting the adjustment value AV from the difference between them, feedback control is performed to obtain the instruction value F, which is the second correction acceleration u is calculated.

[0035] The fifth calculator 46E acquires the second intermediate value FB Pl Also, the fifth calculator 46E acquires the third intermediate value FB Iu And the fifth calculator 46E adds the second intermediate value FB Pl and the third intermediate value FB Iu and calculates the result as the instruction value F l Therefore, the motion manager 45 calculates the instruction value F l by correcting the required acceleration r l In this embodiment, the instruction value F l is an example of the second correction acceleration.

[0036] The converter 48B acquires the accelerator operation amount ACC. The converter 48B calculates the instruction value F D corresponding to the accelerator operation amount ACC. That is, the converter 48B calculates the instruction value F D corresponding to the accelerator operation amount ACC, thereby acquiring the instruction value F D In this embodiment, the larger the accelerator operation amount ACC, the larger the value of the instruction value F D calculated by the converter 48B. Therefore, the instruction value F D has a positive correlation with the accelerator operation amount ACC. Here, the instruction value F D is a value in the same dimension as the instruction value F u and the instruction value F l In other words, the instruction value F D indicates the required value of the acceleration along the longitudinal axis of the vehicle 100. Note that the instruction value F D is an example of the first required acceleration.

[0037] The first arbiter 49A acquires the instruction value F l Also, the first arbiter 49A acquires the instruction value F D And the first arbiter 49A acquires the instruction value Fl and the indicated value F D select the largest value among them.

[0038] The second arbiter 49B acquires the indicated value F u In addition, the second arbiter 49B acquires the value selected by the first arbiter 49A. Then, the second arbiter 49B selects the smallest value among the indicated value F u and the value selected by the first arbiter 49A. Therefore, the first arbiter 49A and the second arbiter 49B select any one of the indicated value F u the indicated value F l and the indicated value F D as the arbitration result. Further, the second arbiter 49B outputs the arbitration result to the power train control unit 23. At this time, the power train control unit 23 calculates the control amount of the power train device 71 according to the arbitration result from the second arbiter 49B. Then, the power train control unit 23 outputs a control signal corresponding to the calculated control amount to the power train device 71. As a result, by controlling the power train device 71, the longitudinal acceleration g x which is the actual acceleration of the vehicle 100 can change.

[0039] The sixth arithmetic unit 46F acquires the indicated value F u In addition, the sixth arithmetic unit 46F acquires the arbitration result of the second arbiter 49B. In other words, the sixth arithmetic unit 46F acquires the value selected by the second arbiter 49B as the arbitration result. Then, the sixth arithmetic unit 46F subtracts the value selected as the arbitration result from the indicated value F u .

[0040] The fourth multiplier 47D acquires the value calculated by the sixth arithmetic unit 46F. Then, the fourth multiplier 47D divides the value calculated by the sixth arithmetic unit 46F by a predetermined coefficient P to calculate an adjustment value AV. That is, the adjustment value AV is the indicated value F which is the second correction acceleration uIt is a value obtained by dividing the difference in the mediation result by a predetermined coefficient P. Note that the coefficient P used by the fourth multiplier 47D is the same as the coefficient P used by the first multiplier 47A and the second multiplier 47B. As described above, the adjustment value AV calculated by the fourth multiplier 47D is acquired by the third arithmetic unit 46C.

[0041] <Operation by arbitration control> Next, with reference to FIG. 3, the operation by arbitration control will be described. First, the case where the indicated value F u is selected as the arbitration result will be described. In this case, the indicated value F u is represented by the following formula (1).

[0042]

Equation

[0043] As in the above formula (1), when the indicated value F u is selected as the arbitration result, the indicated value F u is the same as the value calculated by general PI control. That is, the indicated value F u is the same as the value calculated by feedback control based on the difference between the required acceleration r u and the front and rear accelerations g x and the integral value of the difference.

[0044] Also, when the indicated value F u is selected as the arbitration result as described above, the indicated value F l is represented by the following formula (2).

[0045]

Equation

[0046] Here, the second term of the indicated value F l in formula (2) is the same as the second term of the indicated value F u in formula (1). Next, the indicated value F lA case where u is selected will be described. In this case, the indicated value F

[0047]

Number

[0048] Also, as described above, when the indicated value F l is selected as the mediation result, the indicated value F l is represented by the following formula (4).

[0049]

Number

[0050] As in the above formula (4), when the indicated value F l is selected as the mediation result, the indicated value F l is the same as the value calculated by general PI control. That is, the indicated value F l is the same as the value calculated by feedback control based on the difference between the required acceleration r l and the longitudinal and lateral accelerations g x and the integral value of the difference. Also, the second term of the indicated value F l in formula (4) is the same as the second term of the indicated value F u in formula (3).

[0051] Furthermore, a case where the indicated value F D is selected as the mediation result will be described. In this case, the indicated value F u is represented by the following formula (5).

[0052]

Number

[0053] Also, as described above, when the indicated value F D is selected as the mediation result, the indicated value F l is represented by the following formula (6).

[0054] [Number]

[0055] Here, as shown in FIG. 3, the indicated value F u is the sum of the first intermediate value FB Pu and the third intermediate value FB Iu . Also, the indicated value F l is the sum of the second intermediate value FB Pl and the third intermediate value FB Iu . And, the second and third terms of the indicated value F u in Equation (5) correspond to the third intermediate value FB Iu . Furthermore, the second and third terms of the indicated value F l in Equation (6) correspond to the third intermediate value FB Iu . Therefore, the second and third terms of the indicated value F u in Equation (5) are the same as the second and third terms of the indicated value F l in Equation (6). And, focusing on the second and third terms of the indicated value F u in Equation (5), that is, the third intermediate value FB Iu , it is expressed by the following Equation (7).

[0056] [Number]

[0057] And, differentiating both sides of Equation (7) with respect to time t, the following Equation (8) is derived.

[0058] [Number]

[0059] The above Equation (8) is a differential equation with respect to time t. Here, let the value of the third intermediate value FB Iu at time t be FB Iu (t), and the third intermediate value FB IuSet the initial value, which is the value of, to FB Iu (0). Then, by solving the differential equation of the above formula (8), the following formula (9) is derived.

[0060] [Number]

[0061] As in the above formula (9), the third intermediate value FB at time t Iu The value of FB Iu (t) is determined depending only on the initial value FB Iu (0) and the command value F D . In other words, the third intermediate value FB at time t Iu The value of FB Iu (t) is determined regardless of the required acceleration r u , the required acceleration r l , and the longitudinal and lateral accelerations g x .

[0062] Therefore, when the command value F D is selected as the arbitration result, the second and third terms of the command value F u in formula (5), that is, the third intermediate value FB Iu is suppressed from fluctuating like the integral value calculated by general PI control. And the command value F u is calculated so that the absolute value of the difference between the command value F u and the command value F D becomes small. In other words, when the command value F D is selected as the arbitration result, the motion manager 45 calculates the command value F D to be closer to the selected command value F u than the command value F u obtained when the selected command value F D is obtained. At this time, the command value F D corresponds to the first required acceleration. Also, the required acceleration r u corresponds to the second required acceleration. Furthermore, the command value F u corresponds to the second correction acceleration.

[0063] Similar to the above, when the indicated value F is selected as the mediation result D in the formula (6), the second and third terms of the indicated value F l i.e., the third intermediate value FB Iu is suppressed from fluctuating like the integral value calculated by general PI control. And the indicated value F l is calculated such that the absolute value of the difference between the indicated value F l and the indicated value F D becomes small. In other words, when the indicated value F is selected as the mediation result, the motion manager 45, when obtaining the selected indicated value F D calculates the indicated value F D to be a value closer to the selected indicated value F l than the indicated value F l obtained when the selected indicated value F D was obtained. At this time, the indicated value F D corresponds to the first required acceleration. Also, the required acceleration r l corresponds to the second required acceleration. Further, the indicated value F l corresponds to the second correction acceleration.

[0064] <Actions of this embodiment> First, a comparative example will be described. Here, it is assumed that the motion manager 45 receives the required acceleration r l from the second support unit 57 and the accelerator operation amount ACC from the driver of the vehicle 100. And as shown by the dashed line in Fig. 5(a), after time t11, the required acceleration r l obtained by converting the accelerator operation amount ACC into a value in the same dimension as the required acceleration r D becomes larger than the required acceleration r l . Then, as shown by the dashed line in Fig. 5(b), the indicated value F D calculated from the accelerator operation amount ACC is larger than the indicated value F l calculated from the required acceleration r l . Therefore, as shown by the solid line in Fig. 5(b), the motion manager 45, the indicated value F calculated from the accelerator operation amount ACC Dis selected as the mediation result Z. As a result, as shown by the solid line in Fig. 5(a), the longitudinal acceleration g which is the actual acceleration of the vehicle 100 x approaches the required acceleration r indicated by the accelerator operation amount ACC D . At this time, in the comparative example, when the indicated value F D is selected as the mediation result Z, the feedback control based on the difference between the required acceleration r l and the longitudinal acceleration g x , that is, the execution of the so-called PI control is stopped. As a result, as shown by the two-dot chain line in Fig. 5(b), the indicated value F l calculated from the required acceleration r l is maintained at a constant value.

[0065] Then, as shown by the one-dot chain line in Fig. 5(a), at the time t12 after the time t11, the required acceleration r l obtained by converting the accelerator operation amount ACC into a value in the same dimension as the required acceleration r D becomes smaller than the required acceleration r l . Then, as shown by the one-dot chain line in Fig. 5(b), the indicated value F D calculated from the accelerator operation amount ACC is smaller than the indicated value F l calculated from the required acceleration r l . Therefore, as shown by the solid line in Fig. 5(b), the motion manager 45 selects the indicated value F l calculated from the required acceleration r l as the mediation result Z. At this time, in the comparative example, when the indicated value F l is selected as the mediation result Z, the feedback control based on the difference between the required acceleration r l and the longitudinal acceleration g x , that is, the execution of the so-called PI control is restarted. Here, before the time t12, the period during which the absolute value of the difference between the required acceleration r l and the longitudinal acceleration g x is large continues. Therefore, the required acceleration r l and the longitudinal acceleration g xDue to the continuous period with a large absolute value of the difference, the integral value in PI control becomes excessively large. Then, even if the required acceleration r l does not change, as shown by the dashed-dotted line in Fig. 5(b), the commanded value F l rapidly decreases. As a result, as shown by the solid line in Fig. 5(a), the longitudinal acceleration g x , which is the actual acceleration of the vehicle 100, also rapidly decreases.

[0066] Next, this embodiment will be described. Similar to the above, as shown by the dashed line in Fig. 4(a), after time t11, the required acceleration r l obtained by converting the accelerator operation amount ACC into a value in the same dimension as the required acceleration r D becomes larger than the required acceleration r l . Then, as shown by the dashed line in Fig. 4(b), the commanded value F D calculated from the accelerator operation amount ACC is larger than the commanded value F l calculated from the required acceleration r l . Therefore, as shown by the solid line in Fig. 4(b), the motion manager 45 selects the commanded value F D calculated from the accelerator operation amount ACC as the arbitration result Z. As a result, as shown by the solid line in Fig. 4(a), the longitudinal acceleration g x , which is the actual acceleration of the vehicle 100, approaches the required acceleration r D indicated by the accelerator operation amount ACC. At this time, when the commanded value F D is selected as the arbitration result, the motion manager 45 calculates the commanded value F D to be a value closer to the selected commanded value F l than the commanded value F l obtained when the selected commanded value F D was acquired. Therefore, for example, compared with the configuration in which the commanded value F D is selected as the arbitration result and the commanded value F l is maintained at a constant value as in the comparative example, as shown by the dashed-dotted line in Fig. 4(b), the absolute value of the difference between the commanded value F D and the commanded value F l becomes smaller.

[0067] Then, as indicated by the dashed line in FIG. 4(a), at time t12 after time t11, the required acceleration r obtained by converting the accelerator operation amount ACC into a value of the same dimension as l the required acceleration r D becomes smaller than the required acceleration r l . Then, as indicated by the dashed line in FIG. 4(b), the indicated value F calculated from the accelerator operation amount ACC D becomes smaller than the indicated value F l calculated from the required acceleration r. Therefore, as indicated by the solid line in FIG. 4(b), the motion manager 45 selects the indicated value F l calculated from the required acceleration r l as the arbitration result Z. Here, before time t12, since the absolute value of the difference between the indicated value F l and the indicated value F D is relatively small, the integral value in the PI control is also relatively small. Therefore, for example, compared to the configuration in which the indicated value F l is selected as the arbitration result Z as in the comparative example, when the arbitration result Z switches from the indicated value F D to the indicated value F l at time t12, the abrupt change in the indicated value F D is suppressed. l is suppressed. l

[0068] <Effects of the Present Embodiment> (1) According to the present embodiment, as indicated by the two-dot chain line in FIG. 4(b), since the abrupt change in the indicated value F l at time t12 is suppressed, the abrupt change in the control amount of the power train device 71 calculated by the power train control unit 23 is suppressed. As a result, even when the arbitration result Z switches from the indicated value F D to the indicated value F l at time t12, as indicated by the solid line in FIG. 4(a), the abrupt change in the longitudinal acceleration g x , which is the actual acceleration of the vehicle 100, can be suppressed.

[0069] (2) As described above, before time t12, the instruction value F calculated from the accelerator operation amount ACC is selected as the mediation result Z. D At this time, the required acceleration r l and the longitudinal acceleration g x continue for a period during which the absolute value of the difference therebetween is large. Therefore, if feedback control based simply on the integral value of the difference between the required acceleration r l and the longitudinal acceleration g x is performed, the integral value of the feedback control tends to become excessively large due to the continuation of the above period. As a result, the instruction value F l calculated from the required acceleration r l changes excessively, so that the absolute value of the difference between the instruction value F l and the instruction value F D may become excessively large.

[0070] In this regard, according to the present embodiment, when the instruction value F D is selected as the mediation result, the motion manager 45 calculates the instruction value F D to be closer to the selected instruction value F l than the instruction value F l obtained when the instruction value F D is obtained. Therefore, an excessive increase in the absolute value of the difference between the instruction value F l and the instruction value F D is suppressed. Therefore, it is particularly suitable to use the present technology for a configuration that performs feedback control.

[0071] (3) Generally, the accelerator operation amount ACC tends to fluctuate. Therefore, due to the fluctuation of the accelerator operation amount ACC, the absolute value of the difference between the instruction value F D calculated from the accelerator operation amount ACC and the instruction value F l calculated from the required acceleration r l tends to become large. As a result, when the mediation result Z switches from the instruction value F D to the instruction value F l at time t12, the instruction value F D and the instruction value F lThe absolute value of the difference from may be excessively large.

[0072] In this regard, according to the present embodiment, when the arbitration result is such that the indicated value F D is selected, when the selected indicated value F D is obtained, the indicated value F l is calculated as a value closer to the selected indicated value F l than the indicated value F D obtained at that time. Therefore, when the arbitration result Z switches from the indicated value F D to the indicated value F l at time t12, the absolute value of the difference between the indicated value F D and the indicated value F l is unlikely to be excessively large. Therefore, it is particularly suitable to use the present technology when the indicated value F D calculated from the accelerator operation amount ACC is selected as the arbitration result.

[0073] (4) In the present embodiment, the fourth arithmetic unit 46D acquires the third intermediate value FB Iu calculated by the third multiplier 47C. Further, the fourth arithmetic unit 46D calculates the value obtained by adding the first intermediate value FB Pu and the third intermediate value FB Iu as the indicated value F u . Then, similar to the fourth arithmetic unit 46D, the fifth arithmetic unit 46E acquires the third intermediate value FB Iu calculated by the third multiplier 47C. Further, the fifth arithmetic unit 46E calculates the value obtained by adding the second intermediate value FB Pl and the third intermediate value FB Iu as the indicated value F l . In other words, in PI control, the motion manager 45 performs feedback control based on the integrated value of the value obtained by subtracting the adjustment value AV from the difference between the required acceleration r u and the longitudinal and lateral accelerations g x , so that in addition to calculating the indicated value F u which is the second correction acceleration, the indicated value F l which is the second correction accelerationCalculate this. As a result, the motion manager 45 has the same configuration as above, separately from the sixth arithmetic unit 46F, the fourth multiplier 47D, the third arithmetic unit 46C, the integrator 48A, and the third multiplier 47C, for the instruction value F which is the second correction acceleration l There is no need to provide it only for calculating. As a result, the configuration of the motion manager 45 can be simplified. As described in the section on the operation by the arbitration control, even if there are not two sets of the configurations such as the sixth arithmetic unit 46F, the instruction value F which is the second correction acceleration can be calculated in the same manner as when there are two sets of the configurations such as the sixth arithmetic unit 46F. l can be calculated.

[0074] <Modification Example> This embodiment can be implemented with the following modifications. This embodiment and the following modification examples can be implemented in combination with each other within a technically non - conflicting range.

[0075] ·In the above embodiment, the arbitration control may be changed. For example, the way of arbitration performed by the first arbiter 49A and the second arbiter 49B may be changed. As a specific example, the first arbiter 49A and the second arbiter 49B may select the largest value among the instruction value F u , the instruction value F l , and the instruction value F D as the arbitration result. Also, as a specific example, the first arbiter 49A and the second arbiter 49B may select the smallest value among the instruction value F u , the instruction value F l , and the instruction value F D as the arbitration result. Further, as a specific example, the first arbiter 49A and the second arbiter 49B may select the arbitration result after converting the instruction value F u , the instruction value F l , and the instruction value F D into values in another dimension. An example of values in another dimension is the driving force. Also, as a specific example, instead of the first arbiter 49A and the second arbiter 49B, one arbiter may perform the arbitration.

[0076] ·For example, the motion manager 45 may execute arbitration control for other devices. As a specific example, the motion manager 45 may execute arbitration control for the brake device 73. In this case, the motion manager 45 may accept the brake operation amount BRA instead of the accelerator operation amount ACC. Also, as a specific example, the motion manager 45 may execute arbitration control for the steering device 72. In this case, the motion manager 45 may accept the steering angle RA instead of the accelerator operation amount ACC. Further, the motion manager 45 may accept a required value of the acceleration along the left - right axis of the vehicle 100 from the first support unit 56 or the like. Furthermore, the motion manager 45 x may obtain the lateral acceleration g y instead of the longitudinal acceleration g. That is, the present technology can also be applied to arbitration control for other accelerations.

[0077] ·For example, the types of the first required acceleration and the second required acceleration may be changed. As a specific example, the first required acceleration may be a required value of the acceleration from the application software. Also, as a specific example, the first required acceleration may be a required value of the driving force from the application software. That is, the first required acceleration can be changed as long as it has a positive correlation with the required acceleration of the vehicle 100. Note that the second required acceleration can be changed in the same manner as the first required acceleration.

[0078] ·For example, the feedback control executed by the motion manager 45 may be changed. As a specific example, the motion manager 45 may be provided with a configuration similar to the above for calculating the instruction value F l which is the second correction acceleration, separately from the sixth arithmetic unit 46F, the fourth multiplier 47D, the third arithmetic unit 46C, the integrator 48A, and the third multiplier 47C. Also, as a specific example, the motion manager 45 may execute so - called PID control instead of PI control.

[0079] ·For example, the motion manager 45 may omit feedback control. As a specific example, from the perspective of only suppressing a sudden change in the actual acceleration of the vehicle 100 when the mediation result switches, feedback control can be omitted.

[0080] ·In the above embodiment, the configuration of the vehicle 100 may be changed. For example, the ECU that realizes the function of the motion manager 45 may be other than the brake ECU 40. As a specific example, instead of the brake ECU 40, the execution device 11 of the central ECU 10 may execute the motion manager application 45A stored in the storage device 12 to realize the function of the motion manager 45. That is, the central ECU 10, the power train ECU 20, the steering ECU 30, the brake ECU 40, and the advanced driving assistance ECU 50 can be adopted as information processing devices.

Explanation of Reference Numerals

[0081] 10…Central ECU 20…Power train ECU 23…Power train control unit 30…Steering ECU 33…Steering control unit 40…Brake ECU 43…Brake control unit 45…Motion manager 45A…Motion manager application 46A…First arithmetic unit 46B…Second arithmetic unit 46C…Third arithmetic unit 46D…Fourth arithmetic unit 46E…Fifth arithmetic unit 46F…Sixth arithmetic unit 47A…First multiplier 47B…Second multiplier 47C…Third multiplier 47D…Fourth multiplier 48A…Integrator 48B…Converter 49A…First arbiter 49B…Second arbiter 50…Advanced driving assistance ECU 56…First support unit 57…Second support unit 71…Power train device 72…Steering device 73…Brake device 81…Acceleration sensor 86…Accelerator operation amount sensor 87…Steering angle sensor 88…Brake operation amount sensor 100…Vehicle

Claims

1. Obtaining a first required acceleration that is one of the required accelerations of the vehicle; Obtaining a second required acceleration that is the required acceleration different from the first required acceleration; Calculating a second corrected acceleration by correcting the second required acceleration; Selecting either the first required acceleration or the second corrected acceleration as a mediation result; Outputting the mediation result to a control device for controlling an actuator of the vehicle; being executable; When calculating the second corrected acceleration, if the first required acceleration is selected as the mediation result, the second corrected acceleration is calculated to be a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was obtained An information processing device.

2. being executable to obtain an actual acceleration of the vehicle; The control for calculating the second corrected acceleration is PI control based on the difference between the second required acceleration and the actual acceleration, In the PI control, an adjustment value obtained by dividing the difference between the second corrected acceleration and the mediation result by a predetermined coefficient is calculated, and feedback control is performed based on a value obtained by integrating a value obtained by subtracting the adjustment value from the difference between the second required acceleration and the actual acceleration The information processing device according to claim 1.

3. The first required acceleration is a value having a positive correlation with an operation amount of a pedal operated by a driver of the vehicle The information processing device according to claim 1.

4. Causing an information processing device to Obtain a first required acceleration that is one of the required accelerations of the vehicle; Obtain a second required acceleration that is the required acceleration different from the first required acceleration; Calculate a second corrected acceleration by correcting the second required acceleration; Select either the first required acceleration or the second corrected acceleration as a mediation result; Output the mediation result to a control device for controlling an actuator of the vehicle; be executable; When calculating the second corrected acceleration, if the first required acceleration is selected as the mediation result, cause the second corrected acceleration to be calculated to be a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was obtained An information processing program.

5. The information processing device Obtain a first required acceleration that is one of the required accelerations of the vehicle; Obtaining a second required acceleration, which is the required acceleration different from the first required acceleration; Calculating a second corrected acceleration by correcting the second required acceleration; Selecting either the first required acceleration or the second corrected acceleration as a mediation result; Outputting the mediation result to a control device for controlling an actuator of the vehicle; being executable; When calculating the second corrected acceleration, if the first required acceleration is selected as the mediation result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was obtained Information processing method.

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