Composite systems and mobile units

Abstract

In a composite system comprising multiple systems that utilize inertial forces, the present invention provides a composite system in which each system can appropriately handle inertial forces. [Solution] The composite system 100 comprises a first system 1 and a second system 2. The first system 1 performs a first process based on inertial force. The second system 2 performs a second process based on inertial force. The first system 1 includes an inertial sensor 12 and a first processing unit 111. The inertial sensor 12 detects inertial force and outputs a detection signal corresponding to the inertial force. The first processing unit 111 performs a first process using the detection signal. The second system 2 includes a second processing unit 211. The second processing unit 211 performs a second process based on the detection signal and individual information 121 of the inertial sensor 12. The individual information 121 of the inertial sensor 12 is held on an external server 4.

Description

Technical Field

[0001] The present disclosure relates to a composite system and a moving body, and particularly to a composite system and a moving body that perform processing based on inertial force.

Background Art

[0002] Patent Document 1 discloses a navigation device used in a vehicle (moving body). The navigation device disclosed in Patent Document 1 includes a position detector including a geomagnetic sensor and a GPS receiver, and detects the position of the vehicle using the position detector. Further, the navigation device of Patent Document 1 receives sensor signals from an acceleration sensor of a vehicle body attitude control system and an acceleration sensor of an airbag system mounted on the vehicle, and autonomously detects the position of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when a single inertial sensor is shared among a plurality of systems that use inertial force, the detection signal output by the inertial sensor may not be the information itself indicating the inertial force required by the system.

[0005] An object of the present disclosure is to provide a composite system and a moving body including a plurality of systems that use inertial force, in which any system can appropriately process inertial force.

Means for Solving the Problems

[0006] A composite system according to one aspect of the present disclosure comprises a first system and a second system. The first system performs a first process based on an inertial force. The second system performs a second process based on the inertial force. The first system includes an inertial sensor and a first processing unit. The inertial sensor detects the inertial force and outputs a detection signal corresponding to the inertial force. The first processing unit performs the first process using the detection signal. The second system includes a second processing unit. The second processing unit performs the second process based on the detection signal and individual information of the inertial sensor. The individual information of the inertial sensor is held on an external server.

[0007] A composite system according to another aspect of the present disclosure comprises an inertial sensor, a first system, and a second system. The inertial sensor detects an inertial force and outputs a detection signal. The first system performs a first process based on the inertial force. The second system performs a second process based on the inertial force. The first system includes a first processing unit. The first processing unit is capable of performing the first process based on the detection signal and individual information of the inertial sensor. The individual information of the inertial sensor is held on an external server. The second system includes a second processing unit. The second processing unit is capable of performing the second process based on the detection signal and the individual information of the inertial sensor.

[0008] A mobile body according to one aspect of the present disclosure comprises the composite system, a first operating unit, and a second operating unit. The first operating unit is controlled by the first processing of the first system. The second operating unit is controlled by the second processing of the second system. [Effects of the Invention]

[0009] According to one aspect of this disclosure, both the composite system and the mobile body are capable of appropriately handling inertial forces. [Brief explanation of the drawing]

[0010] [Figure 1]Figure 1 is a block diagram of the composite system according to Embodiment 1. [Figure 2] Figure 2 is a schematic diagram of a mobile body equipped with the same composite system as described above. [Figure 3] Figure 3 is a flowchart illustrating the operation of the first system in the aforementioned composite system. [Figure 4] Figure 4 is a flowchart illustrating the operation of the second system in the aforementioned composite system. [Figure 5] Figure 5 is a block diagram of the composite system according to Embodiment 2. [Figure 6] Figure 6 is a flowchart illustrating the operation of the second system in the aforementioned composite system. [Figure 7] Figure 7 is a block diagram of the composite system according to Embodiment 3. [Modes for carrying out the invention]

[0011] The composite system and mobile body according to the embodiments will be described in detail below with reference to the drawings. However, the figures described in the following embodiments are schematic diagrams, and the ratios of the size and thickness of each component do not necessarily reflect the actual dimensional ratios. Furthermore, the configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0012] (Embodiment 1) (1) Integrated systems The composite system 100 is used in a mobile device 200 (see Figure 2). Figure 1 is a block diagram showing the logical configuration of the composite system 100 according to Embodiment 1. The composite system 100 according to Embodiment 1 comprises a first system 1 and a second system 2. The first system 1 and the second system 2 are connected by a first communication channel NW1. The first communication channel NW1 is, for example, a linear bus conforming to the CAN (Controller Area Network) standard. Note that the first communication channel NW1 is not limited to a linear bus conforming to the CAN standard, and may be, for example, Ethernet®. The mobile device 200 further comprises a first operating unit 31 controlled by the first system 1 and a second operating unit 32 controlled by the second system 2.

[0013] Each of the first system 1 and the second system 2 performs processing based on inertial force. Here, inertial force refers to the inertial force applied to the moving body 200 equipped with the composite system 100. Systems that perform processing based on inertial force include, for example, an ADAS (Advanced Driver-Assistance Systems) ECU (Electronic Control Unit), an airbag control unit (ACU), a brake ECU, and a navigation system.

[0014] The first system 1 performs a first process based on inertial force. The first system 1 includes a control unit 11 and an inertial sensor 12. The control unit 11 and the inertial sensor 12 are connected, for example, by a first communication channel NW1.

[0015] The control unit 11 performs a first process based on the inertial force detected by the inertial sensor 12. The first process includes calculation processing based on the inertial force and control of the first operating unit 31 based on the calculation processing. The first system 1 is, for example, an ADAS ECU. The first operating unit 31 controls, for example, electric power steering and electric powertrain. The first process includes estimation of the speed and attitude of the moving body 200 and driving assistance based on the estimated speed and attitude of the moving body 200.

[0016] The control unit 11 includes a first processing unit 111. The first processing unit 111 performs a first process using the detection signal output by the inertial sensor 12. That is, the first system 1 includes the first processing unit 111. The first processing unit 111 estimates the speed and attitude of the moving body 200 based on the detection signal and issues a command to the first operation unit 31.

[0017] Here, the first process performed by the first processing unit 111 is optimized in advance based on the individual information 121 of the inertial sensor 12. The individual information 121 of the inertial sensor 12 is data indicating the relationship between the detection signal of the inertial sensor 12 and the inertial force applied to the inertial sensor 12. The individual information 121 of the inertial sensor 12 includes, for example, the sensitivity characteristics, offset value, temperature characteristics of the sensitivity characteristics or offset value of the inertial sensor 12. The individual information 121 of the inertial sensor 12 is generated by the manufacturer of the inertial sensor 12 and is stored in the sensor information server 4. The first process performed by the first processing unit 111 includes an algorithm for converting the detection signal of the inertial sensor 12 into the acceleration and angular velocity of the moving body 200, which is created in advance based on the individual information 121 of the inertial sensor 12. The first processing unit 111, for example, converts the detection signal of the inertial sensor 12 into the acceleration and angular velocity of the moving body 200, and controls the first operation unit 31 based on the acceleration and angular velocity of the moving body 200. The acceleration and angular velocity of the moving body 200 correspond to the first signal of the present disclosure. Here, when the first processing unit 111 converts the detection signal of the inertial sensor 12 into the acceleration and angular velocity of the moving body 200, not only correction is simply performed using the individual information 121 of the inertial sensor 12, but also filter processing, averaging processing, etc. may be performed so as to be suitable for the first process.

[0018] Further, the first processing unit 111 may control the first operation unit 31, for example, directly based on the detection signal of the inertial sensor 12. The manufacturer of the first system 1, for example, acquires the individual information 121 of the inertial sensor 12 from the sensor information server 4, and optimizes the first processing for the inertial sensor 12 based on the individual information 121 of the inertial sensor 12 during the manufacture of the first system 1. "Optimizing the first processing for the inertial sensor 12" means, for example, aiming at speeding up and labor-saving of the calculation for the detection signal of the inertial sensor 12 within the range where the arithmetic processing based on the inertial force is realized.

[0019] The inertial sensor 12 is an inertial sensor that detects an inertial force and outputs a detection signal corresponding to the inertial force. The inertial sensor 12 is, for example, a six-axis sensor including three angular velocity sensors and three acceleration sensors. Each of the three angular velocity sensors is a uniaxial angular velocity sensor that detects the angular velocity around the detection axis. The detection axes of the three angular velocity sensors are orthogonal to each other. Each of the three acceleration sensors is a uniaxial acceleration sensor that detects the acceleration along the detection axis. The detection axes of the three acceleration sensors are orthogonal to each other. Each of the three angular velocity sensors and the three acceleration sensors is, for example, a MEMS (Micro Electro Mechanical Systems) gyro sensor.

[0020] The inertial sensor 12 outputs a detection signal corresponding to the inertial force to the control unit 11 and the second system 2 via the first communication path NW1. The detection signal includes sensor data indicating the inertial force and identification information of the inertial sensor 12. The identification information of the inertial sensor 12 is information for identifying the inertial sensor 12, and includes, for example, information indicating the manufacturer of the inertial sensor 12, a model number, and a manufacturing number. Further, the identification information of the inertial sensor 12 may include information for acquiring the individual information 121 of the inertial sensor 12, for example, a URI (Uniform Resource Identification).

[0021] The second system 2 performs a second process based on the inertial force. The second system 2 includes a control unit 21 and a communication unit 22. The control unit 21 is, for example, connected to the first communication path NW1.

[0022] The control unit 21 performs a second process based on the inertial force detected by the inertial sensor 12. The second system 2 is, for example, an airbag control unit. The second operating unit 32 is, for example, an inflator for inflating an airbag. The second process includes detecting the acceleration applied to the moving body 200 and operating the airbag based on the acceleration applied to the moving body 200.

[0023] The control unit 21 includes a second processing unit 211. The second processing unit 211 performs a second processing based on the detection signal output by the inertial sensor 12 and the individual information 121 of the inertial sensor 12 acquired by the communication unit 22. In other words, the second system 2 includes a second processing unit 211.

[0024] The second processing unit 211 calculates the acceleration applied to the moving body 200 using, for example, the detection signal of the inertial sensor 12 and the individual information 121 of the inertial sensor 12. The second processing unit 211 corrects the detection signal of the inertial sensor 12 based on the individual information 121 of the inertial sensor 12. The second processing unit 211 converts the detection signal of the inertial sensor 12 into the acceleration of the moving body 200 using, for example, the sensitivity characteristics and offset value of the inertial sensor 12. The second processing unit 211 also obtains the temperature of the inertial sensor 12 from, for example, a temperature sensor (not shown), and converts the detection signal of the inertial sensor 12 into the acceleration of the moving body 200 based on the temperature characteristics of the sensitivity characteristics and offset value of the inertial sensor 12. The second processing unit 211 controls the second operating unit 32 based on the acceleration and operates the airbag at the appropriate timing. The acceleration of the moving body 200 corresponds to the second signal of this disclosure. Here, the second processing unit 211 may, for example, when converting the detection signal from the inertial sensor 12 into the acceleration of the moving body 200, not only perform correction using the individual information 121 of the inertial sensor 12, but also perform filtering, averaging, and the like to make it suitable for the second processing.

[0025] The communication unit 22 is a network interface for acquiring individual information 121 of the inertial sensor 12. The individual information 121 of the inertial sensor 12 is held, for example, in the sensor information server 4. The sensor information server 4 corresponds to the external server in this disclosure. That is, the second processing unit 211 performs second processing based on the individual information 121 held in the sensor information server 4. Specifically, the second processing unit 211 acquires identification information of the inertial sensor 12 from the inertial sensor 12 and acquires the individual information 121 of the inertial sensor 12 from the sensor information server 4 via the communication unit 22. The sensor information server 4 and the second system 2 are connected via the second communication channel NW2. The second communication channel NW2 includes, for example, the Internet and public communication networks that can connect to the Internet. The communication unit 22 is, for example, a communication module that supports fifth-generation mobile communication systems (5G NR) and fourth-generation mobile communication systems (4G).

[0026] Control Units 11 and 21 include a computer system. The computer system primarily consists of a processor and memory as hardware. The functions of Control Unit 11 or Control Unit 21 in this disclosure are realized by the processor executing a program recorded in the computer system's memory. The program may be pre-recorded in the computer system's memory, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. The processor of the computer system consists of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits referred to here, such as ICs or LSIs, are named differently depending on the degree of integration and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integrations), or ULSIs (Ultra Large Scale Integrations). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of the LSI, or logic devices that allow for the reconfiguration of junction relationships or circuit compartments within the LSI, can also be used as processors. Multiple electronic circuits may be integrated onto a single chip or distributed across multiple chips. Multiple chips may be integrated onto a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0027] (2) Operation The operation of the first system 1 and the operation of the second system 2 of the composite system 100 according to Embodiment 1 will be described below.

[0028] As shown in Figure 3, the control unit 11 of the first system 1 acquires a detection signal from the inertial sensor 12 (step ST11).

[0029] Next, the first processing unit 111 of the first system 1 performs a first process based on the detection signal (step ST12). This controls the first operating unit 31 by the first system 1.

[0030] The first system 1 repeats steps ST11 and ST12 described above. This ensures that the first operating unit 31 operates appropriately when there is a change in the acceleration or angular velocity applied to the moving body 200.

[0031] Furthermore, as shown in Figure 4, the control unit 21 of the second system 2 acquires a detection signal from the inertial sensor 12 (step ST21).

[0032] Next, the control unit 21 of the second system 2 determines whether or not it has acquired the individual information 121 of the inertial sensor 12 based on the identification information of the inertial sensor 12 included in the detection signal acquired in step ST21 (step ST22). If the control unit 21 has not acquired the individual information 121 of the inertial sensor 12, it acquires the individual information 121 of the inertial sensor 12 from the sensor information server 4 via the communication unit 22 (step ST23).

[0033] After step ST23, or if it is determined in step ST22 that individual information 121 of the inertial sensor 12 has been acquired, the second processing unit 211 of the control unit 21 performs a second process based on the detection signal and the individual information 121 of the inertial sensor 12 (step ST24). As a result, the second operating unit 32 is controlled by the second system 2.

[0034] The second system 2 repeatedly executes steps ST21 to ST24 described above. This ensures that the second operating unit 32 operates appropriately when there is a change in the acceleration or angular velocity applied to the moving body 200.

[0035] (3) Mobile The mobile unit 200 is, for example, a four-wheeled hybrid vehicle in which an engine and a drive battery are mounted on the vehicle body. However, the mobile unit 200 is not limited to a hybrid vehicle; it may also be an electric vehicle or a non-electric vehicle. Furthermore, the mobile unit 200 may also be a motorcycle or a railway vehicle.

[0036] As shown in Figure 2, the mobile unit 200 comprises a first system 1, a second system 2, a first operating unit 31, and a second operating unit 32.

[0037] The first operating unit 31 is an operating unit controlled by the first processing of the first system 1. The first operating unit 31 is, for example, a zone ECU controlled by the ADAS ECU, which is the first system 1.

[0038] The second operating unit 32 is an operating unit controlled by the second processing of the second system 2. The second operating unit 32 is, for example, an inflator controlled by the ACU, which is the second system 2.

[0039] (4) Effects The composite system 100 according to Embodiment 1 comprises a first system 1 and a second system 2. The first system 1 performs a first process based on inertial force. The second system 2 performs a second process based on inertial force. The first system 1 includes an inertial sensor 12 and a first processing unit 111. The inertial sensor 12 detects inertial force and outputs a detection signal corresponding to the inertial force. The first processing unit 111 performs a first process using the detection signal. The second system 2 includes a second processing unit 211. The second processing unit 211 performs a second process based on the detection signal and individual information 121 of the inertial sensor 12. The individual information 121 of the inertial sensor 12 is held in the sensor information server 4. With the above configuration, in the composite system 100 according to Embodiment 1, both the first system 1 and the second system 2 can appropriately process inertial force.

[0040] Furthermore, the composite system 100 according to Embodiment 1 further includes a communication unit 22. The communication unit 22 is configured to communicate with a sensor information server 4. The second processing unit 211 acquires identification information of the inertial sensor 12 from the inertial sensor 12. The second processing unit 211 acquires individual information 121 of the inertial sensor 12 from the sensor information server 4 via the communication unit 22. With the above configuration, the composite system 100 according to Embodiment 1 facilitates the acquisition of individual information 121 of the inertial sensor 12 by the second system 2.

[0041] Furthermore, in the composite system 100 according to Embodiment 1, the first processing unit 111 converts the detection signal into a first signal using the individual information 121 of the inertial sensor 12. The first processing unit 111 performs the first processing using the first signal. With the above configuration, the composite system 100 according to Embodiment 1 makes it possible to improve the accuracy of the first processing by the first system 1.

[0042] Furthermore, in the composite system 100 according to Embodiment 1, the second processing unit 211 converts the detection signal into a second signal using the individual information 121 of the inertial sensor 12. The second processing unit 211 performs a second processing using the second signal. With the above configuration, the composite system 100 according to Embodiment 1 makes it possible to improve the accuracy of the second processing by the second system 2.

[0043] Furthermore, in the composite system 100 according to Embodiment 1, the individual information 121 of the inertial sensor 12 is data showing the relationship between the detection signal and the inertial force applied to the inertial sensor 12. With the above configuration, in the composite system 100 according to Embodiment 1, the second system 2 can appropriately perform the second processing based on the inertial force.

[0044] The mobile body 200 according to Embodiment 1 comprises a composite system 100, a first operating unit 31, and a second operating unit 32. The first operating unit 31 is controlled by a first process of the first system 1. The second operating unit 32 is controlled by a second process of the second system 2. With the above configuration, in the mobile body 200 according to Embodiment 1, both the first system 1 and the second system 2 can appropriately handle inertial forces.

[0045] (Embodiment 2) The composite system 100a according to Embodiment 2 differs from the composite system 100 according to Embodiment 1 (see Figure 1) in that the second system 2a further optimizes the second process.

[0046] (1) Composition The composite system 100a according to Embodiment 2 includes a second system 2a instead of the second system 2 (see Figure 1), as shown in Figure 5.

[0047] The second system 2a performs a second process based on inertial force. The second system 2a includes a control unit 21a and a communication unit 22a. The control unit 21a is connected, for example, to a first communication channel NW1. The communication unit 22a can communicate with a second processing management server 5 via a second communication channel NW2. The second processing management server 5 corresponds to the second server of this disclosure. The second processing management server 5 is, for example, a server managed by the manufacturer of the second system 2a, and manages the algorithm for the second process of the second system 2a, and updates the algorithm for the second process of the second system 2a via OTA (On the Air).

[0048] The control unit 21a performs a second process based on the inertial force detected by the inertial sensor 12. The control unit 21a includes a second processing unit 211a that performs the second process.

[0049] The second processing unit 211a performs a second processing using, for example, the detection signal from the inertial sensor 12 and the individual information 121 of the inertial sensor 12.

[0050] Furthermore, the second processing unit 211a optimizes the second processing using the individual information 121 of the inertial sensor 12. For example, based on the individual information 121 of the inertial sensor 12, the second processing unit 211a optimizes the second processing by removing unnecessary calculations from the calculation process that generates operation instructions to the first operation unit 31 from the detection signal of the inertial sensor 12, and by replacing redundant calculations with simpler calculations. It optimizes the algorithm to the individual information 121 of the inertial sensor 12. The second processing unit 211a transmits the optimized algorithm for the second processing to the second processing management server 5. Alternatively, the second processing unit 211a may transmit the individual information 121 of the inertial sensor 12 and the combination of the detection signal of the inertial sensor 12 and the operation instructions to the first operation unit 31 to the second processing management server 5. The second processing management server 5 generates the algorithm for the second processing and transmits it to the second processing unit 211a.

[0051] (2) Operation The operation of the second system 2a, part of the composite system 100a according to Embodiment 2, will now be described. Note that for operations of the second system 2a that are the same as those of the second system 2 (see Figure 4), the same step numbers will be used.

[0052] As shown in Figure 6, the control unit 21a of the second system 2a acquires a detection signal from the inertial sensor 12 (step ST21).

[0053] Next, the control unit 21a of the second system 2a determines whether or not it has acquired the individual information 121 of the inertial sensor 12 based on the identification information of the inertial sensor 12 included in the detection signal acquired in step ST21 (step ST22). If the control unit 21a has not acquired the individual information 121 of the inertial sensor 12, it acquires the individual information 121 of the inertial sensor 12 from the sensor information server 4 via the communication unit 22 (step ST23).

[0054] After step ST23, or if it is determined in step ST22 that individual information 121 of the inertial sensor 12 has been acquired, the second processing unit 211a of the control unit 21a performs a second process based on the detection signal and the individual information 121 of the inertial sensor 12 (step ST24). As a result, the second operating unit 32 is controlled by the second system 2.

[0055] After step ST24, the second processing unit 211a of the control unit 21a optimizes the second processing using the individual information 121 of the inertial sensor 12 (step ST25). For example, the second processing unit 211a optimizes the algorithm that generates operation instructions to the first operation unit 31 from the detection signal of the inertial sensor 12 based on the individual information 121 of the inertial sensor 12. The second processing unit 211a transmits the optimized algorithm for the second processing to the second processing management server 5. Note that the second processing unit 211a of the control unit 21a does not necessarily perform step ST25 after step ST24, but may perform step ST25 after repeating step ST24 a predetermined number of times.

[0056] The second system 2a repeatedly executes steps ST21 to ST25 described above. This ensures that the second operating unit 32 operates appropriately when there is a change in the acceleration or angular velocity applied to the moving body 200.

[0057] (3) Effects In the composite system 100a according to Embodiment 2, the communication unit 22a can communicate with a second processing management server 5 that is different from the sensor information server 4. The second processing unit 211a optimizes the second processing for the inertial sensor 12 based on the individual information 121 of the inertial sensor 12. The second processing unit 211a transmits the algorithm of the second processing after optimization to the second processing management server 5. With the above configuration, the composite system 100a according to Embodiment 2 can improve the efficiency of the second processing.

[0058] (Embodiment 3) The composite system 100b according to Embodiment 3 differs from the composite system 100 according to Embodiment 1 (see Figure 1) in that the inertial sensor 12b is located outside the first system 1b.

[0059] (1) Composition The composite system 100b according to Embodiment 3 comprises an inertial sensor 12b, a first system 1b, a second system 2b, and a communication unit 22b.

[0060] The inertial sensor 12b is an inertial sensor that detects inertial force and outputs a detection signal corresponding to the inertial force. The inertial sensor 12b is a 6-axis sensor that includes, for example, three angular velocity sensors and three acceleration sensors.

[0061] The inertial sensor 12b outputs a detection signal corresponding to the inertial force to the first system 1b and the second system 2b via the first communication channel NW1. The detection signal includes sensor data indicating the inertial force and identification information of the inertial sensor 12b.

[0062] The first system 1b performs a first process based on inertial force. The first system 1b includes a control unit 11b.

[0063] The control unit 11b performs a first process based on the inertial force detected by the inertial sensor 12b.

[0064] The control unit 11b includes a first processing unit 111b. The first processing unit 111b is configured to perform first processing using the detection signal output by the inertial sensor 12b and the individual information 121b of the inertial sensor 12b. Similar to the second processing unit 211 of the composite system 100 according to Embodiment 1, the first processing unit 111b acquires identification information from the inertial sensor 12b and acquires the individual information 121b of the inertial sensor 12b from the sensor information server 4 via the communication unit 22b. The first processing unit 111b estimates the speed and attitude of the moving body 200 based on the detection signal and issues commands to the first operation unit 31. In other words, in the composite system 100b according to Embodiment 3, the first system 1b also operates similarly to the second system 2 of the composite system 100 according to Embodiment 1.

[0065] The second system 2b performs a second process based on the inertial force. The second system 2b includes a control unit 21b, which is connected, for example, to a first communication channel NW1.

[0066] The control unit 21b includes a second processing unit 211b. The second processing unit 211b is configured to perform a second processing based on the detection signal output by the inertial sensor 12b and the individual information 121b of the inertial sensor 12b. The second processing unit 211b acquires identification information from the inertial sensor 12b and acquires the individual information 121b of the inertial sensor 12b from the sensor information server 4 via the communication unit 22b. The second processing unit 211b estimates the acceleration applied to the moving body 200 based on the detection signal and issues a command to the second operation unit 32.

[0067] The communication unit 22b is a network interface for acquiring individual information 121b of the inertial sensor 12b. The individual information 121b of the inertial sensor 12b is held, for example, in the sensor information server 4. The sensor information server 4 and the composite system 100b are connected via a second communication channel NW2. The second communication channel NW2 includes, for example, the Internet and public communication networks that can connect to the Internet. The communication unit 22b is a communication module that supports, for example, fifth-generation mobile communication systems (5G NR) and fourth-generation mobile communication systems (4G).

[0068] (2) Effects The composite system 100b according to Embodiment 3 comprises an inertial sensor 12b, a first system 1b, and a second system 2b. The inertial sensor 12b detects inertial force and outputs a detection signal. The first system 1b performs a first process based on the inertial force. The second system 2b performs a second process based on the inertial force. The first system 1b includes a first processing unit 111b. The first processing unit 111b is capable of performing a first process based on the detection signal and individual information 121 of the inertial sensor 12. The individual information 121 of the inertial sensor 12 is held in the sensor information server 4. The second system 2b includes a second processing unit 211b. The second processing unit 211b is capable of performing a second process based on the detection signal and individual information 121 of the inertial sensor 12. With the above configuration, in the composite system 100b according to Embodiment 3, both the first system 1b and the second system 2b can appropriately process the inertial force.

[0069] Furthermore, the composite system 100b according to Embodiment 3 further includes a communication unit 22b. The communication unit 22b is configured to communicate with a sensor information server 4. The first processing unit 111b and the second processing unit 211b acquire identification information of the inertial sensor 12b from the inertial sensor 12b. The first processing unit 111b and the second processing unit 211b acquire individual information 121b of the inertial sensor 12b from the sensor information server 4 via the communication unit 22b. With the above configuration, in the composite system 100b according to Embodiment 3, it is easy to acquire individual information 121 of the inertial sensor 12 by the first system 1b and the second system 2b.

[0070] Furthermore, in the composite system 100b according to Embodiment 3, the first processing unit 111b converts the detection signal into a first signal using the individual information 121b of the inertial sensor 12b. The first processing unit 111b performs the first processing using the first signal. With the above configuration, the composite system 100b according to Embodiment 3 makes it possible to improve the accuracy of the first processing by the first system 1b.

[0071] Furthermore, in the composite system 100b according to Embodiment 3, the individual information 121b of the inertial sensor 12b is data showing the relationship between the detection signal and the inertial force applied to the inertial sensor 12b. With the above configuration, in the composite system 100b according to Embodiment 3, the first system 1b and the second system 2b can appropriately perform the first or second processing based on the inertial force.

[0072] The mobile body 200 according to Embodiment 3 comprises a composite system 100b, a first operating unit 31, and a second operating unit 32. The first operating unit 31 is controlled by a first process of the first system 1b. The second operating unit 32 is controlled by a second process of the second system 2b. With the above configuration, in the mobile body 200 according to Embodiment 3, both the first system 1b and the second system 2b can appropriately handle inertial forces.

[0073] (Other modifications according to the embodiment) (1) In the composite system 100b according to Embodiment 3, both the first system 1b and the second system 2b acquire individual information 121b of the inertial sensor 12b from the sensor information server 4 via the communication unit 22b, but each of the first system 1b and the second system 2b may include a communication device capable of communicating with the sensor information server 4.

[0074] (2) In the composite system 100b according to Embodiment 3, at least one of the first processing unit 111b and the second processing unit 211b may optimize the first or second processing, similar to the second processing unit 211a in the composite system 100a according to Embodiment 2.

[0075] (Aspect) A composite system (100; 100a) according to the first embodiment comprises a first system (1) and a second system (2; 2a). The first system (1) performs a first process based on inertial force. The second system (2; 2a) performs a second process based on inertial force. The first system (1) includes an inertial sensor (12) and a first processing unit (111). The inertial sensor (12) detects inertial force and outputs a detection signal corresponding to the inertial force. The first processing unit (111) performs a first process using the detection signal. The second system (2; 2a) includes a second processing unit (211; 211a). The second processing unit (211; 211a) performs a second process based on the detection signal and individual information (121) of the inertial sensor (12) held on an external server.

[0076] According to the composite system (100;100a) described above, inertial forces can be appropriately handled in both the first system (1) and the second system (2;2a).

[0077] The composite system (100;100a) according to the second embodiment further comprises a communication unit (22;22a) in the first embodiment. The communication unit (22;22a) is configured to communicate with an external server (4). The second processing unit (211;211a) acquires identification information of the inertial sensor (12) from the inertial sensor (12). The second processing unit (211;211a) acquires individual information (121) of the inertial sensor (12) from the external server (4) via the communication unit (22;22a).

[0078] According to the composite system (100;100a) described above, it becomes easier to acquire individual information (121) of the inertial sensor (12) in the second system (2;2a).

[0079] In the composite system (100a) according to the third embodiment, in the second embodiment, the communication unit (22a) is capable of communicating with a second server (5) which is different from the first server, which is an external server (4). The second processing unit (211a) optimizes the second processing for the inertial sensor (12) based on the individual information (121) of the inertial sensor (12). The second processing unit (211a) transmits the algorithm of the second processing after optimization to the second server (5).

[0080] According to the composite system (100a) described above, it becomes possible to improve the efficiency of the second process.

[0081] The composite system (100b) according to the fourth embodiment comprises an inertial sensor (12b), a first system (1b), and a second system (2b). The inertial sensor (12b) detects inertial force and outputs a detection signal. The second system (2b) performs a second processing based on the inertial force. The first system (1b) performs a first processing based on the inertial force. The first system (1b) includes a first processing unit (111b). The first processing unit (111b) is capable of performing a first processing based on the detection signal and individual information (121) of the inertial sensor (12). The individual information (121) of the inertial sensor (12) is held on an external server (4). The second system (2b) includes a second processing unit (211b). The second processing unit (211b) is capable of performing a second processing based on the detection signal and individual information (121) of the inertial sensor (12).

[0082] According to the composite system (100b) described above, inertial forces can be appropriately handled in both the first system (1b) and the second system (2b).

[0083] The composite system (100b) according to the fifth embodiment further comprises a communication unit (22b) in the fourth embodiment. The communication unit (22b) is configured to communicate with an external server (4). At least one of the first processing unit (111b) and the second processing unit (211b) acquires identification information of the inertial sensor (12b) from the inertial sensor (12b). At least one of the first processing unit (111b) and the second processing unit (211b) acquires individual information (121b) of the inertial sensor (12b) from the external server (4) via the communication unit (22b).

[0084] According to the composite system (100b) described above, it becomes easier to acquire individual information 121 of the inertial sensor 12 by the first system (1b) or the second system (2b).

[0085] In the composite system (100;100a;100b) according to the sixth embodiment, in any of the first to fifth embodiments, the first processing unit (111;111b) converts the detection signal into a first signal using individual information (121;121b) of the inertial sensor (12;12b). The first processing unit (111;111b) performs first processing using the first signal.

[0086] According to the composite system (100;100a;100b) described above, it is possible to improve the accuracy of the first processing by the first system (1;1b).

[0087] In the composite system (100;100a;100b) according to the seventh embodiment, in the sixth embodiment, the second processing unit (211;211a;211b) converts the detection signal into a second signal using individual information (121;121b) of the inertial sensor (12;12b). The second processing unit (211;211a;211b) performs a second processing using the second signal.

[0088] According to the composite system (100;100a;100b) described above, it is possible to improve the accuracy of the second processing by the second system (2;2b).

[0089] In the composite system (100;100a;100b) according to the eighth embodiment, in any of the first to fifth embodiments, the individual information (121;121b) of the inertial sensor (12;12b) is data showing the relationship between the detection signal and the inertial force applied to the inertial sensor (12;12b).

[0090] According to the composite system (100;100a;100b) described above, the first system (1b) and the second system (2;2a;2b) can appropriately perform the first or second processing based on inertial force.

[0091] The mobile body (200) according to the ninth embodiment comprises a composite system (100; 100a; 100b) according to any of the first to eighth embodiments, a first operating unit (31), and a second operating unit (32). The first operating unit (31) is controlled by a first process of the first system (1; 1b). The second operating unit (32) is controlled by a second process of the second system (2; 2a; 2b).

[0092] According to the moving body (200) in the above embodiment, both the first system (1;1b) and the second system (2;2a;2b) can appropriately handle inertial forces. [Explanation of symbols]

[0093] 100, 100a, 100b combined system 1, 1b First System 111, 111b First Processing Unit 12, 12b Inertial Sensor 121, 121b Individual information 2, 2a, 2b Second System 211, 211a, 211b Second Processing Unit 22, 22a, 22b Communication Department 4. Sensor information server (external server, first server) 5. Second Processing Management Server (Second Server) 200 Mobile Units 31 1st operating part 32 Second operating part

Claims

1. A first system that performs a first process based on inertial force, The system comprises a second system that performs a second process based on the aforementioned inertial force, The first system is An inertial sensor that detects the inertial force and outputs a detection signal corresponding to the inertial force, The first processing unit includes a first processing unit that performs the first processing using the detection signal, The second system is The second processing unit includes a second processing unit that performs the second processing based on the detection signal and individual information of the inertial sensor held on an external server. A complex system.

2. The system further includes a communication unit configured to communicate with the aforementioned external server, The second processing unit is, Identification information of the inertial sensor is obtained from the inertial sensor, The individual information of the inertial sensor is obtained from the external server via the communication unit. The composite system according to claim 1.

3. The communication unit is capable of communicating with a second server, which is different from the first server, which is an external server. The second processing unit is, Based on the individual information of the inertial sensor, the second processing for the inertial sensor is optimized. The algorithm for the second process after the optimization is transmitted to the second server. The composite system according to claim 2.

4. An inertial sensor that detects inertial force and outputs a detection signal, A first system that performs a first process based on the aforementioned inertial force, The system comprises a second system that performs a second process based on the aforementioned inertial force, The first system is The system includes a first processing unit capable of performing the first processing based on the detection signal and individual information of the inertial sensor held on an external server, The second system is The second processing unit includes a second processing unit capable of performing the second processing based on the detection signal and the individual information of the inertial sensor. A complex system.

5. The system further includes a communication unit configured to communicate with the aforementioned external server, At least one of the first processing unit and the second processing unit is Identification information of the inertial sensor is obtained from the inertial sensor, The individual information of the inertial sensor is obtained from the external server via the communication unit. The composite system according to claim 4.

6. The first processing unit is, Using the individual information of the inertial sensor, the detection signal is converted into a first signal. The first signal is used to perform the first processing. The composite system according to claim 1 or 4.

7. The second processing unit is, Using the individual information of the inertial sensor, the detection signal is converted into a second signal. The second process is performed using the second signal. The composite system according to claim 6.

8. The individual information of the inertial sensor is data showing the relationship between the detection signal and the inertial force applied to the inertial sensor. The composite system according to claim 1 or 4.

9. A composite system according to any one of claims 1 to 5, A first operating unit controlled by the first processing of the first system, The system comprises a second operating unit controlled by the second processing of the second system. A mobile object.

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