Vehicle control system

Abstract

We will improve the technology for recording vehicle data. [Solution] The vehicle control device 13 includes a processor that performs the following processes: acquiring wheel speed data for each wheel of the vehicle; recording wheel speed data relating to any of the wheels; calculating the difference between the wheel speed data of a certain wheel and the wheel speed data based on the recorded data; and recording the minimum difference data, which is the smallest difference in data amount.

Description

Technical Field

[0001] This disclosure relates to a vehicle control device.

Background Art

[0002] Conventionally, techniques for recording vehicle data have been known. For example, Patent Document 1 discloses a vehicle data recording device that records each data with a set optimal data length.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique of Patent Document 1, in order to reduce the recording capacity of data, conversion of the data to be recorded into other data, etc. has not been considered. Thus, there has been room for improvement in the technique for recording vehicle data.

[0005] In view of such circumstances, an object of this disclosure is to improve the technique for recording vehicle data including the rotational speed of wheels (hereinafter also referred to as "wheel speed").

Means for Solving the Problems

[0006] A vehicle control device according to an embodiment of this disclosure is a vehicle control device capable of recording wheel speed data of a vehicle, and includes acquiring wheel speed data of each wheel of the vehicle, recording wheel speed data related to any one of the wheels, calculating a difference between the wheel speed data of a certain wheel and the wheel speed data based on the recorded data, and recording the minimum difference data having the smallest data amount among the differences, and includes a processor that executes a process including these.

Effects of the Invention

[0007] According to one embodiment of this disclosure, the technology for recording vehicle data is improved. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the schematic configuration of the system according to this embodiment. [Figure 2] This is a flowchart showing the operation of the vehicle control system. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will now be described. Referring to Figure 1, the overview and configuration of System 1 according to this embodiment will be described. System 1 according to this embodiment comprises a vehicle 10 and an information processing device 20. An example of a diagram of Vehicle 10 is shown adjacent to the block of Vehicle 10.

[0010] Vehicle 10 is any type and classification of automobile. Types of vehicle 10 include, for example, gasoline vehicles, diesel vehicles, HV (Hybrid Vehicle), PHV (Plug-in Hybrid Vehicle), EV (Electric Vehicle), or FCV (Fuel Cell Vehicle). Vehicle 10 includes automobiles with any level of automated driving. Classifications of vehicle 10 include, for example, passenger cars, trucks, or buses. Vehicle 10 includes vehicles specifically for MaaS (Mobility as a Service). Vehicle 10 is any automobile with any number of wheels. Vehicle 10 includes four-wheeled vehicles, six-wheeled vehicles, eight-wheeled vehicles, etc.

[0011] The information processing device 20 is a server device installed, for example, in a data center. The vehicle 10 and the information processing device 20 are connected via a network 2, such as the Internet, to enable communication. Although Figure 1 shows one vehicle 10 and one information processing device 20, System 1 may consist of multiple vehicles 10 or information processing devices 20.

[0012] First, an overview of the vehicle data recording technology according to this embodiment will be described, and details will be described later. The vehicle data recording technology according to this embodiment is performed by the control device 13 of the vehicle 10. Initially, the control device 13 acquires wheel speed data for each wheel of the vehicle 10 (for example, A to D). Wheel speed data is data that indicates the wheel speed of each individual wheel. The control device 13 records the wheel speed data for one of the wheels (for example, wheel A). The control device 13 calculates the difference (for example, AB) between the wheel speed data of a certain wheel (for example, wheel B) and the wheel speed data based on the recorded data. The control device 13 records the minimum difference data, which is the smallest difference in data amount.

[0013] Thus, according to this embodiment, the control device 13 can compress the amount of data to be recorded by recording wheel speed data for one of the wheels and the smallest difference data for the remaining wheels, thereby reducing the amount of data to be recorded. Therefore, the vehicle data recording technology is improved in that the capacity required to record the wheel speed data for each wheel can be reduced.

[0014] Next, the configurations of the vehicle 10 and the information processing device 20 will be described in detail. As shown in Figure 1, the vehicle 10 includes an ECU (Electronic Control Unit) 11, a wheel speed sensor 12, and a control device 13. The ECU 11, the wheel speed sensor 12, and the control device 13 are communicated together via an in-vehicle network such as a CAN (Controller Area Network) or a dedicated line. The ECU 11 is a control unit that controls various devices mounted on the vehicle 10. Based on the control of the control device 13, the ECU 11 transmits the wheel speed data of each wheel of the vehicle 10, measured by the wheel speed sensor 12, to the control device 13 as a CAN signal. The wheel speed sensor 12 may include, but is not limited to, a coil, a permanent magnet, and a pulse generator that rotates with the wheel, and may have any configuration. The wheel speed sensor 12 may be mounted on the vehicle 10 so as to be able to measure the wheel speed of each wheel of the vehicle 10. Based on the control of the control device 13, the wheel speed sensor 12 measures the wheel speed of each wheel of the vehicle 10. The wheel speed sensor 12 outputs wheel speed data related to the measured wheel speed to the ECU 11 based on the control of the control device 13. The control device 13 may be part of the ECU 11. The control device 13 includes a communication unit 14, a positioning unit 15, a storage unit 16, and a control unit 17. The communication unit 14 may be configured to include at least one communication module that can be connected to the network 2. The communication module is, for example, a communication module that supports mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation). The communication unit 14 may be configured to include in-vehicle communication equipment such as a DCM (Data Communication Module). The positioning unit 15 acquires the location information of the vehicle 10 based on the control of the control unit 17. The positioning unit 15 outputs the acquired location information of the vehicle 10 to the control unit 17 based on the control of the control unit 17. The positioning unit 15 may be configured to include a GPS (Global Positioning System) receiving module. The storage unit 16 may be configured to include at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or at least two combinations thereof.The storage unit 16 may function as a main memory, auxiliary memory, or cache memory. The storage unit 16 stores data used for the operation of the control device 13 and data obtained by the operation of the control device 13. For example, the storage unit 16 stores wheel speed data, minimum difference data, wheel information related to the minimum difference data, etc. The control unit 17 may be configured to include at least one processor, at least one dedicated circuit, or a combination thereof. The processor is a general-purpose processor such as a CPU (central processing unit) or GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The control unit 17 can execute processes related to the operation of the control device 13 while controlling each part of the control device 13.

[0015] The information processing device 20 comprises a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 may be configured to include at least one communication module that can be connected to the network 2. The communication module is, for example, a communication module that complies with standards such as wired LAN (Local Area Network) or wireless LAN. The communication unit 31 can be connected to the network 2 via the wired LAN or wireless LAN by the communication module. The storage unit 22 may be configured to include at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or at least two combinations thereof, similar to the configuration of the storage unit 16. The storage unit 22 may function as a main memory, an auxiliary memory, or a cache memory. The storage unit 22 stores data used for the operation of the information processing device 20 and data obtained by the operation of the information processing device 20. The storage unit 22 stores, for example, wheel speed data, minimum difference data, wheel information related to the minimum difference data, etc. The information stored in the memory unit 22 may be acquired, for example, from an external server via the network 2 by the control unit 23 and the communication unit 21. The information stored in the memory unit 22 may be updated as appropriate. The control unit 23 may be configured to include at least one processor, at least one dedicated circuit, or a combination thereof, similar to the configuration of the control unit 17. The control unit 23 can execute processes related to the operation of the information processing device 20 while controlling each part of the information processing device 20.

[0016] The functions of the control device 13 or information processing device 20 of the vehicle 10 are realized by executing a program according to this embodiment on a processor corresponding to the control unit 17 or control unit 23. In other words, the functions of the control device 13 or information processing device 20 are realized by software. The program causes the computer to function as the control device 13 or information processing device 20 by having the computer execute the operations of the control device 13 or information processing device 20. That is, the computer functions as the control device 13 or information processing device 20 by executing the operations of the control device 13 or information processing device 20 according to the program. In this embodiment, the program can be recorded on a recording medium that can be read by a computer. The program can be distributed, for example, by selling, transferring, or lending a portable recording medium such as a DVD on which the program is recorded. Alternatively, the program can be distributed by storing the program on the storage of an external server and transmitting the program from the external server to another computer.

[0017] Referring to Figure 2, the operation of the control device 13 according to this embodiment will be described. First, the control unit 17 of the control device 13 acquires wheel speed data for each wheel of the vehicle 10 (S100). The control unit 17 simultaneously acquires wheel speed data for each wheel at a given time. The control unit 17 acquires wheel speed data for each wheel of the vehicle 10. For example, if the vehicle 10 is a four-wheeled vehicle with wheels A to D, the control unit 17 acquires wheel speed data for each of wheels A to D. The control unit 17 receives the wheel speed data for each wheel measured by the wheel speed sensor 12 as a CAN signal from the ECU 11.

[0018] The control unit 17 records wheel speed data relating to one of the wheels (S200). The control unit 17 stores one of the wheel speed data for each wheel acquired in S100 (for example, the wheel speed data first received from the ECU 11) in the storage unit 16. For example, if the vehicle 10 is a four-wheeled vehicle having wheels A to D, the control unit 17 records the wheel speed data for wheel A. By recording the wheel speed data relating to one of the wheels, the control unit 17 can reconstruct the wheel speed data relating to the other wheels (for example, wheels B to D) from the minimum difference data described later. The control unit 17 transmits the wheel speed data stored in the storage unit 16 (including wheel speed data or minimum difference data; the same applies hereinafter) to the information processing device 20 via the communication unit 14. The transmission process may be performed step by step as described below, or it may be transmitted in batches at predetermined intervals. The control unit 23 of the information processing device 20 stores the wheel speed data received via the communication unit 21 in the storage unit 22.

[0019] The control unit 17 calculates the difference between the wheel speed data of a certain wheel and the wheel speed data based on recorded data (S300). The wheel speed data of a certain wheel is any of the data acquired by the control unit 17 in S100, excluding the data recorded in S200. For example, if the vehicle 10 is a four-wheeled vehicle with wheels A to D, and the control unit 17 recorded the wheel speed data of wheel A in S200, then the certain wheel is any of wheels B to D. The control unit 17 performs this step and the subsequent S400 for each of the wheel speed data of wheels B to D. For example, the control unit 17 may perform the difference calculation process in the order in which the wheel speed data is received. The recorded data is data related to wheel speed that the control unit 17 has already recorded and which is stored in the storage unit 16. For example, if the control unit 17 processes the wheel speed data of wheel B (i.e., the second wheel) in this step after recording the wheel speed data of wheel A in S200, the stored data is the wheel speed data of wheel A. In this case, the control unit 17 calculates the difference (AB) between the wheel speed data of wheel B and the wheel speed data of wheel A. On the other hand, when the control unit 17 processes the wheel speed data of wheels C and D (i.e., the third and subsequent wheels), the recorded data in the storage unit 16 includes the wheel speed data recorded by the control unit 17 in S200 and the minimum difference data recorded by the control unit 17 in S400, as described later. In this case, for example, in order to process the wheel speed data of wheel C, the control unit 17 calculates the difference (AC) between the wheel speed data of wheel C and the wheel speed data of wheel A, and the difference (BC) between the wheel speed data of wheel C and the wheel speed data of wheel B. If there are multiple recorded data sets, the control unit 17 calculates the difference between the wheel speed data based on each recorded data set and the wheel speed data of a certain wheel. If the recorded data is minimum difference data, the control unit 17 recovers the wheel speed data from the minimum difference data and then calculates the difference between that and the wheel speed data of a certain wheel. In the example described above, the control unit 17 reconstructs the wheel speed data of wheel B from the minimum difference data already recorded as information about wheel B and uses it for calculations.

[0020] The control unit 17 records the minimum difference data with the smallest data volume among the differences (S400). The control unit 17 stores the minimum difference data in the storage unit 16. For example, when the vehicle 10 is a four-wheel vehicle having wheels A to D, the control unit 17 processes the wheel speed data of the third wheel C and records the one with the smaller data volume between the difference (A - C) and the difference (B - C). Also, for example, when processing the wheel speed data of the fourth wheel D, the control unit 17 records the minimum difference data with the smallest data volume among the differences (A - D), the difference (B - D), and the difference (C - D).

[0021] The control unit 17 determines whether the recording for all the wheels has been completed (S500). If the recording for all the wheels has not been completed, the control unit 17 executes S300 again. The control unit 17 repeats S300 and S400 until the recording of the wheel speed data or the alternative minimum difference data is completed for all the wheels for which the wheel speed data was acquired in S100.

[0022] When the control unit 17 has completed the recording for all wheels, it determines whether a predetermined period has elapsed (S600). If the predetermined period has elapsed, the process returns to S100. In other words, the control unit 17 executes S100 at each predetermined period. The predetermined period is, for example, 100 ms (milliseconds). The predetermined period may be any other time interval. In the first period (the first cycle), as described above, after S100, the control unit 17 executes S200. When the control unit 17 executes S100 again after S600 (after the second cycle and later), it does not execute S200 following S100. After the second cycle and later, the process proceeds from S100 to S300. After the second cycle and later, the recorded data in S300 may include the wheel speed data and the minimum difference data that the control unit 17 recorded in the previous cycle. The control unit 17 records the data related to all wheels in each cycle. Therefore, the recorded data in S300 may include the data of the same wheel as a certain wheel in the previous cycle. In other words, after the second cycle and later, the recorded data may include the data related to the past wheel speed of a certain wheel. For example, when the control unit 17 processes the wheel speed data of the second wheel B in the second cycle, the recorded data may include the wheel speed data of wheels A to D in the first cycle. In this case, the control unit 17 calculates the difference (A'-B) between the wheel speed data of wheel B in the second cycle and the wheel speed data of wheel A (denoted as A' to distinguish the cycles) in the first cycle in S300. Similarly, the control unit 17 calculates the differences (B'-B), (C'-B), (D'-B), and the difference (A-B) between the wheel speed data of wheel A in the second cycle. The control unit 17 records the one with the smallest data volume among the calculated differences.

[0023] As described above, the control device 13 acquires the wheel speed data of each wheel of the vehicle 10. The control device 13 records the wheel speed data related to any one of the wheels. The control device 13 calculates the difference between the wheel speed data of a certain wheel and the wheel speed data based on the recorded data. The control device 13 records the minimum difference data with the smallest data volume among the differences.

[0024] With this configuration, the control device 13 can compress the amount of data to be recorded by recording wheel speed data for one of the wheels and the smallest difference data for the remaining wheels. In this way, the capacity required to record the measured wheel speed data for each wheel can be reduced, thus improving vehicle data recording technology.

[0025] These processes can be summarized as follows: The wheel speed data for wheels A, B, C, and D at a certain time are designated as A, B, C, and D, respectively. Subsequently, the vehicle 10 travels, and the wheel speed data for wheels A, B, C, and D after a predetermined time (for example, 100 ms) has elapsed are designated as A', B', C', and D', respectively. The control device 13 performs the following processes (1) to (8) in order to record the data at a certain time and after the predetermined time has elapsed. (1) Record A (2) Record (AB) (3) Calculate (AC) and (BC), and record the one with the smaller data size. (4) Calculate (AD), (BD), and (CD), and record the one with the smallest data size. (5) Calculate (A-A'), (B-A'), (C-A'), and (D-A'), and record the one with the smallest data size. (6) Calculate (A-B'), (B-B'), (C-B'), (D-B'), and (A'-B'), and record the one with the smallest data size. (7) Calculate (A-C'), (B-C'), (C-C'), (D-C'), (A'-C'), (B'-C'), and record the one with the smallest data size. (8) Calculate (A-D'), (B-D'), (C-D'), (D-D'), (A'-D'), (B'-D')(C'-D'), and record the one with the smallest data size.

[0026] Here, the control unit 17 may further include recording information about the wheel related to the minimum difference data. The information about the wheel related to the minimum difference data may be information indicating which wheel and which cycle the recorded data used to calculate the difference with the wheel speed data of a certain wheel in the minimum difference data belongs to. By recording which wheel and which cycle the difference is from, the control unit 17 can restore the original wheel speed data.

[0027] Furthermore, at least one of the minimum difference data and the wheel information related to the minimum difference data may be recorded as variable-length coded data. The variable-length coded data may be data encoded using the Golomb coding method (Exp-Golomb coding), etc. By recording the minimum difference data and the wheel information related to the minimum difference data as variable-length coded data, the capacity required for data recording can be compressed. In addition, the control unit 17 may determine whether or not the vehicle 10 is slipping. The control unit 17 may record the minimum difference data when the vehicle 10 is not slipping. When the vehicle 10 is traveling straight without slipping, the difference in wheel speed of each wheel is small. Therefore, by recording the minimum difference data when the vehicle 10 is not slipping, the effect of data compression can be further enhanced. Furthermore, the acquisition of wheel speed data for each wheel may be performed at predetermined intervals. By acquiring wheel speed data for each wheel at predetermined intervals, the control unit 17 can comprehensively collect information on the vehicle 10 while it is running.

[0028] While this disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art may make various modifications and alterations based on this disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of this disclosure. For example, the functions, etc., included in each component or step can be rearranged in a logically consistent manner, and multiple components or steps can be combined into one or divided into two.

[0029] For example, in the embodiment described above, it is also possible to have an embodiment in which the configuration and operation of the vehicle 10 or the information processing device 20 are distributed among multiple computers that can communicate with each other. [Explanation of Symbols]

[0030] 1: System, 2: Network, 10: Vehicle, 11: ECU, 12: Wheel speed sensor, 13: Control device, 14: Communication unit, 15: Positioning unit, 16: Memory unit, 17: Control unit, 20: Information processing device, 21: Communication unit, 22: Memory unit, 23: Control unit

Claims

1. A vehicle control device capable of recording vehicle wheel speed data, To acquire wheel speed data for each wheel of the aforementioned vehicle, Record the wheel speed data relating to any of the aforementioned wheels. Calculating the difference between the wheel speed data of a certain wheel and the wheel speed data based on recorded data, and Record the minimum difference data, which has the smallest data size among the aforementioned differences. A vehicle control device equipped with a processor that performs processing including the following.

2. A vehicle control device according to claim 1, wherein the processing further includes: A vehicle control device that includes recording wheel information related to the minimum difference data.

3. A vehicle control device according to claim 2, A vehicle control device, comprising recording at least one of the minimum difference data and the wheel information relating to the minimum difference data as variable-length coded data.

4. The vehicle control device according to claim 3, wherein the processor further Determine whether the vehicle is slipping or not. A vehicle control device that records the minimum difference data when the vehicle is not slipping.

5. A vehicle control device according to claim 4, A vehicle control device, which includes acquiring wheel speed data for each of the aforementioned wheels at predetermined intervals.

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