Exercise manager and information processing method

Abstract

The system provides a motion manager that prevents the vehicle from losing its ability to maintain a stop by prompting the driver to perform driving actions. [Solution] The motion manager comprises a reception unit, an instruction output unit, and a notification output unit. The reception unit receives a stop-hold request as one of the motion requests from the application software, which is to maintain the vehicle's stopped state. The instruction output unit, upon confirmation that the reception unit has received the stop-hold request, outputs an instruction signal to the hydraulic brake mounted on the vehicle to turn on the hydraulic brake. When the reception unit receives the stop-hold request, if the vehicle does not meet predetermined conditions for maintaining its stop state when the hydraulic brake is turned off, the notification output unit outputs a notification signal MS to the notification device mounted on the vehicle to notify the driver that driver operation is required.

Description

Technical Field

[0001] The present disclosure relates to a motion manager and an information processing method.

Background Art

[0002] The vehicle described in Patent Document 1 includes a motion manager and a hydraulic brake. The motion manager receives, as one of motion requests from application software, a stop holding request for holding a stopped state of the vehicle. The motion manager outputs an instruction signal for turning on the hydraulic brake to the hydraulic brake, on condition that the stop holding request has been received.

Prior Art Literature

Patent Literature

[0003]

Patent Literature 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] A motion manager as described in Patent Document 1 may be unable to hold the stopped state of the vehicle when the hydraulic brake changes from an on state to an off state.

Means for Solving the Problem

[0005] A motion manager that solves the above problems includes: a reception unit that receives a stop-hold request to maintain the vehicle's stopped state as one of the motion requests from the application software; an instruction output unit that, on the condition that the reception unit has received the stop-hold request, outputs an instruction signal to the hydraulic brake mounted on the vehicle to turn on the hydraulic brake; and a notification output unit that, when the reception unit has received the stop-hold request and the hydraulic brake is turned off, the vehicle does not meet predetermined conditions for maintaining its stop state, and the notification device mounted on the vehicle outputs a notification signal to the notification device to notify the driver that driving operations by the driver of the vehicle are required.

[0006] An information processing method for solving the above problems is an information processing method executed by a computer mounted on a vehicle, which includes: receiving a stop-hold request as one of the motion requests from application software to maintain the stopped state of the vehicle;, on the condition that the stop-hold request has been received, outputting an instruction signal to the hydraulic brake to turn on the hydraulic brake; and, when the stop-hold request has been received, if the hydraulic brake turns off, the predetermined conditions for the vehicle to maintain its stop are not met, notifying the driver that driving operations by the driver of the vehicle are required. [Effects of the Invention]

[0007] The above-described motion manager and information processing method, upon receiving a stop-hold request, outputs a notification signal to the notification device if the vehicle does not meet the specified conditions. This allows the driver to recognize that driving action is required. As a result, prompting the driver to take action can prevent the vehicle from losing its ability to maintain a stop. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing a vehicle according to one embodiment. [Figure 2]Figure 2 is a functional block diagram showing the basic configuration of the motion manager installed in the vehicle of the same embodiment. [Figure 3] Figure 3 is a flowchart showing the series of processes performed when the exercise manager of this embodiment receives a stop / hold request. [Figure 4] Figure 4 is a flowchart showing the stop-and-hold control performed by the motion manager in the same embodiment. [Figure 5] Figure 5 is a flowchart showing the driver operation change control performed by the motion manager in the same embodiment. [Modes for carrying out the invention]

[0009] <Outline of the vehicle configuration> An embodiment of the exercise manager and information processing method will be described below with reference to the drawings.

[0010] As shown in Figure 1, the vehicle 100 is equipped with an actuator system 80. The actuator system 80 includes a powertrain device 81, a steering device 82, and a brake system 83.

[0011] The powertrain system 81 includes an engine and a transmission, etc. The engine can provide driving force to the drive wheels of the vehicle 100 via the transmission. An example of a steering system 82 is a rack and pinion type electric steering system. The steering system 82 can change the direction of the steering wheels of the vehicle 100 by controlling a rack and pinion (not shown).

[0012] The brake system 83 generates braking force for the vehicle 100. The brake system 83 includes a hydraulic brake 83A and a parking brake 83B. The hydraulic brake 83A is a device that controls the braking force of the vehicle 100 by adjusting the hydraulic pressure.

[0013] An example of a hydraulic brake 83A is a disc brake. The parking brake 83B is a device that uses an electric motor to press the pads against the disc rotor, thereby maintaining the vehicle 100 in a stopped state; it is a so-called electric parking brake.

[0014] Vehicle 100 is equipped with a meter display device 84. The meter display device 84 is located between the driver's seat and the windshield of vehicle 100. The meter display device 84 is positioned so that it can be seen by the driver when the driver of vehicle 100 is seated in the driver's seat. The meter display device 84 displays the vehicle's speed, fuel level, various warning lights, etc., to the driver. The meter display device 84 is an example of a notification device.

[0015] As shown in Figure 1, the vehicle 100 is equipped with a central ECU 10, a powertrain ECU 20, a steering ECU 30, a brake ECU 40, an advanced driver assistance ECU 50, and a meter ECU 60.

[0016] Vehicle 100 is equipped with a first external bus 71, a second external bus 72, a third external bus 73, and a fourth external bus 74. "ECU" is an abbreviation for Electronic Control Unit.

[0017] The central ECU 10 controls the entire vehicle 100. The central ECU 10 includes a CPU 11 and a storage device 12. The storage device 12 pre-stores various programs and data. The storage device 12 includes ROM, RAM, and storage. The CPU 11 performs various processes by executing the programs stored in the storage device 12.

[0018] The powertrain ECU 20 can communicate with the central ECU 10 via the first external bus 71. The powertrain ECU 20 controls the powertrain device 81 by outputting control signals to the powertrain device 81.

[0019] The powertrain ECU 20 includes a CPU 21 and a storage device 22. The storage device 22 stores various programs and various data in advance. The storage device 20 stores a powertrain application 23A in advance as one of the various programs. The powertrain application 23A is application software for controlling the powertrain device 81. Note that the storage device 22 includes a ROM, a RAM, and a storage. The CPU 21 implements a function as a powertrain control unit 23, which will be described later, by executing the powertrain application 23A stored in the storage device 22.

[0020] The steering ECU 30 is capable of communicating with the central ECU 10 via a second external bus 72. The steering ECU 30 controls the steering device 82 by outputting a control signal to the steering device 82.

[0021] The steering ECU 30 includes a CPU 31 and a storage device 32. The storage device 32 stores various programs and various data in advance. 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 82. Note that the storage device 32 includes a ROM, a RAM, and a storage. The CPU 31 implements a function as a steering control unit 33, which will be described later, by executing the steering application 33A stored in the storage device 32.

[0022] The brake ECU 40 is capable of communicating with the central ECU 10 via a third external bus 73. The brake ECU 40 controls the brake system 83 by outputting a control signal to the brake system 83.

[0023] The brake ECU 40 includes a CPU 41 and a storage device 42. The storage device 42 pre-stores various programs and various data. One of the programs pre-stored in the storage device 42 is the brake application 43A. The brake application 43A is application software for controlling the brake system 83. The storage device 42 also pre-stores one of the programs pre-stored is the motion manager application 44A. The motion manager application 44A is application software for mediating multiple motion requests. The storage device 42 also includes ROM, RAM, and storage.

[0024] The CPU 41 implements the function of a brake control unit 43, described later, by executing the brake application 43A stored in the memory device 42. The CPU 41 implements the function of a motion manager 44, described later, by executing the motion manager application 44A stored in the memory device 42. In other words, the CPU 41 performs various processes in the information processing method by executing the motion manager application 44A stored in the memory device 42. The brake ECU 40 is an example of a computer mounted on the vehicle 100.

[0025] The advanced driver assistance ECU 50 can communicate with the central ECU 10 via the fourth external bus 74. The advanced driver assistance ECU 50 performs various types of driver assistance. The advanced driver assistance ECU 50 includes a CPU 51 and a storage device 52. The storage device 52 pre-stores various programs and various data. The various programs include a first assistance application 56A, a second assistance application 57A, and a third assistance application 58A.

[0026] An example of the first support application 56A is application software for collision mitigation braking, also known as AEB (Autonomous Emergency Braking), which automatically applies the brakes to reduce the damage in the event of a collision with vehicle 100. An example of the second support application 57A is application software for lane keeping assist, also known as LKA (Lane Keeping Assist), which helps vehicle 100 stay in the lane it is traveling in. An example of the third support application 58A is application software for adaptive cruise control (ACC), which maintains a constant distance from the vehicle in front of vehicle 100.

[0027] In this embodiment, the first support application 56A, the second support application 57A, and the third support application 58A are application software that realizes the driving assistance functions of the vehicle 100. The storage device 52 includes ROM, RAM, and storage.

[0028] The CPU 51 realizes the function of the first support unit 56, as described later, by executing the first support application 56A stored in the storage device 52. The CPU 51 also realizes the function of the second support unit 57, as described later, by executing the second support application 57A stored in the storage device 52. The CPU 51 also realizes the function of the third support unit 58, as described later, by executing the third support application 58A stored in the storage device 52.

[0029] The meter ECU 60 can communicate with the central ECU 10 via the fifth external bus 75. The meter ECU 60 controls the display of the meter display device 84 by outputting control signals to the meter display device 84.

[0030] The meter ECU 60 includes a CPU 61 and a storage device 62. The storage device 62 pre-stores various programs and various data. The storage device 62 pre-stores the meter application 63A as one of the various programs. The meter application 63A is application software for controlling the display of the meter display device 84. The storage device 62 also includes ROM, RAM, and storage. The CPU 61 executes the meter application 63A stored in the storage device 62 to realize the function of the meter control unit 63, which will be described later.

[0031] Vehicle 100 is equipped with an acceleration sensor 91, a seat belt switch 92, and a door sensor 93. The acceleration sensor 91 is a so-called three-axis sensor. That is, the acceleration sensor 91 can detect longitudinal acceleration GX, lateral acceleration GY, and vertical acceleration GZ. The longitudinal acceleration GX is the acceleration along the longitudinal axis of vehicle 100. The lateral acceleration GY is the acceleration along the lateral axis of vehicle 100. The vertical acceleration GZ is the acceleration along the vertical axis of vehicle 100.

[0032] The seat belt switch 92 detects a seat belt wearing signal SW indicating the wearing status of the driver's seat belt in the vehicle 100. In this embodiment, when the seat belt is worn, the seat belt wearing signal SW is an ON signal. When the seat belt is not worn, the seat belt wearing signal SW is an OFF signal.

[0033] The door sensor 93 detects an open / close signal SD indicating the open / closed state of the driver's side front door of the vehicle 100. In this embodiment, when the driver's side front door is open, the open / close signal SD is an ON signal. When the driver's side front door is closed, the open / close signal SD is an OFF signal.

[0034] The brake ECU 40 acquires various signals from the acceleration sensor 91, the seat belt switch 92, and the door sensor 93. In addition, at predetermined control cycles, the brake ECU 40 calculates the road surface gradient, which is the gradient of the road surface on which the vehicle 100 is located, based on the longitudinal acceleration GX, lateral acceleration GY, and vertical acceleration GZ.

[0035] Although not shown in the diagram, vehicle 100 is equipped with an accelerator pedal and a brake pedal. When each pedal is operated, an operation signal is input to the respective ECU, including the brake ECU 40.

[0036] <Functional Configuration of the Exercise Manager> Next, the functional configuration of the motion manager 44 will be described with reference to Figure 2. As shown in Figure 2, the motion manager 44 can communicate with the first support unit 56, the second support unit 57, and the third support unit 58. The motion manager 44 can also communicate with the powertrain control unit 23, the steering control unit 33, and the brake control unit 43.

[0037] The first support unit 56, the second support unit 57, and the third support unit 58 output motion requests to the motion manager 44 when executing various types of control. At this time, the first support unit 56, the second support unit 57, and the third support unit 58 continue to output motion requests, for example, from when various types of control become necessary until those controls are no longer necessary. The motion requests include acceleration request values ​​for controlling the longitudinal acceleration of the vehicle 100, stop-hold request RS for maintaining the stopped state of the vehicle 100, and limit request RL for limiting the driving force of the vehicle 100.

[0038] The exercise manager 44 comprises a reception unit 45, a mediation unit 46, a judgment unit 47, an instruction output unit 48, and a notification output unit 49. The reception unit 45 receives exercise requests from the first support unit 56, the second support unit 57, and the third support unit 58.

[0039] In this embodiment, receiving motion requests from the first support unit 56, the second support unit 57, and the third support unit 58 is equivalent to receiving motion requests from application software. That is, the receiving unit 45 receives a stop-hold request RS as one of the motion requests from the application software. The receiving unit 45 inputs the received motion request to the arbitration unit 46.

[0040] The mediation unit 46 mediates multiple motion requests received by the reception unit 45. For example, when the reception unit 45 receives acceleration requests from each support unit, the mediation unit 46 selects the smallest acceleration request as the mediation result. When the reception unit 45 receives a stop-hold request RS from any support unit, the mediation unit 46 selects the stop-hold request RS as the mediation result, regardless of other motion requests.

[0041] The determination unit 47 makes various decisions based on the arbitration result arbitrated by the arbitration unit 46. These decisions include whether to start stop-hold control or start driver operation change control when the arbitration result is a stop-hold request RS. Details of the various decisions made by the determination unit 47 will be described later.

[0042] The instruction output unit 48 outputs an instruction signal to the actuator system 80 for an operation request to control the actuator system 80, based on the arbitration result arbitrated by the arbitration unit 46 and the determination result determined by the determination unit 47.

[0043] For example, when controlling the powertrain device 81, the instruction output unit 48 outputs an instruction signal requesting operation to the powertrain control unit 23. The powertrain control unit 23 then outputs a control signal to the powertrain device 81 based on the instruction signal requesting operation. In this way, the instruction signal output by the instruction output unit 48 is received by the control unit corresponding to the actuator to be controlled. Subsequently, the actuator is controlled by the control unit.

[0044] The notification output unit 49 outputs a notification signal MS to the meter display device 84 based on the arbitration result arbitrated by the arbitration unit 46 and the determination result determined by the determination unit 47. The notification signal MS is a signal that notifies the driver that driver operation is required from the meter display device 84 by controlling the display of the meter display device 84.

[0045] The notification output unit 49 outputs a notification signal MS to the meter control unit 63. Based on the notification signal MS, the meter control unit 63 controls the meter display device 84 to display an image indicating that driver operation is required. In other words, the notification output unit 49 outputs the notification signal MS to the meter display device 84 via the meter control unit 63.

[0046] <Handling of cases where mediation results in a request for suspension> When the arbitration result mediated by the arbitration unit 46 is a stop-hold request RS, the motion manager 44 initiates a series of processes related to whether to start stop-hold control or start driver operation change control. The motion manager 44 then performs the series of processes shown in Figure 3, with each of the determination unit 47, instruction output unit 48, and notification output unit 49 performing their respective processes.

[0047] As shown in Figure 3, when the instruction output unit 48 receives a stop-hold request RS as a mediation result from the mediation unit 46, the instruction output unit 48 first performs the process in step S11. In step S11, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A via the brake control unit 43 to turn on the hydraulic brake 83A.

[0048] When the arbitration result of the arbitration unit 46 is a stop-hold request RS, the reception unit 45 has already received the stop-hold request RS. In other words, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A to turn on the hydraulic brake 83A, provided that the reception unit 45 has received the stop-hold request RS.

[0049] In other words, in this embodiment, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A to turn on the hydraulic brake 83A, provided that the receiving unit 45 has received the stop-hold request RS and the arbitration result of the arbitration unit 46 is the stop-hold request RS.

[0050] In step S11, when the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A to turn on the hydraulic brake 83A, the motion manager 44 proceeds to step S12.

[0051] In step S12, the determination unit 47 determines whether the vehicle 100 satisfies the specified condition RC when the reception unit 45 receives the stop-hold request RS. The specified condition RC is determined in advance through tests and simulations as the conditions necessary for the vehicle 100 to maintain a stop when the hydraulic brake 83A is turned off.

[0052] The specified condition RC includes the fact that the road surface gradient on which the vehicle 100 is located is less than a predetermined specified gradient. The specified gradient is predetermined by testing and simulation as the maximum gradient on which the vehicle 100 can maintain a stop when the parking brake 83B is engaged.

[0053] The specified condition RC includes the fact that no operation for the driver to exit the vehicle 100 has been performed. For example, operations for the driver include the driver's side front door changing from a closed state to an open state, and the driver's seat belt changing from an unfastened state to a fastened state. In this embodiment, the specified condition RC also includes the fact that the fastening signal SW has not switched from an ON signal to an OFF signal, and the opening / closing signal SD has not switched from an ON signal to an OFF signal.

[0054] When the determination unit 47 determines that the vehicle 100 satisfies the specified condition RC (S12: YES), the motion manager 44 proceeds to step S13. In step S13, the motion manager 44 starts stop-hold control. Details of the stop-hold control will be described later. After that, the motion manager 44 terminates this series of processes.

[0055] On the other hand, if the determination unit 47 determines that the vehicle 100 does not meet the specified condition RC (S12: NO), the motion manager 44 proceeds to step S14. In step S14, the motion manager 44 starts driver operation change control. Details of the driver operation change control will be described later. After that, the motion manager 44 terminates this series of processes.

[0056] <Stop and hold control> As shown in Figure 4, when the exercise manager 44 starts stop-hold control, the exercise manager 44 first performs the process in step S21. The determination unit 47, instruction output unit 48, and notification output unit 49 each perform their respective processes, causing the exercise manager 44 to perform the series of processes shown in Figure 4.

[0057] In step S21, the determination unit 47 determines whether or not predetermined preconditions are met. Here, an example of a precondition is that the hydraulic brake 83A is in the ON state and the parking brake 83B is in the OFF state.

[0058] When the determination unit 47 determines that the preconditions are not met (S21: NO), the motion manager 44 terminates the current stop-hold control. On the other hand, when the determination unit 47 determines that the preconditions are met (S21: YES), the motion manager 44 proceeds to step S22.

[0059] In step S22, the determination unit 47 determines whether the conditions for continuing to stop, which are predetermined as conditions for allowing the vehicle 100 to continue to stop, are met. An example of a condition for continuing to stop is that the road surface gradient is less than a predetermined specified gradient. Therefore, for example, the conditions for continuing to stop are met when the vehicle 100 is located on a level road surface or on a gently sloping road surface.

[0060] When the determination unit 47 determines that the conditions for continuing to stop are met (S22: YES), the motion manager 44 proceeds to step S23. In step S23, the determination unit 47 determines whether or not the predetermined switching conditions for allowing the switching of the parking brake 83B from the off state to the on state are met.

[0061] The switching condition is that no operation for the driver to exit the vehicle 100 has been performed. For example, the switching condition is that the mounting signal SW has not switched from an ON signal to an OFF signal, and the opening / closing signal SD has not switched from an ON signal to an OFF signal.

[0062] If the determination unit 47 determines that the switching conditions are not met (S23: NO), the motion manager 44 terminates the current stop-hold control. On the other hand, if the determination unit 47 determines that the switching condition is met (S23: YES), the motion manager 44 proceeds to step S24. In step S24, the instruction output unit 48 starts outputting an instruction signal to the parking brake 83B via the brake control unit 43 to turn on the parking brake 83B. After that, the motion manager 44 proceeds to step S25.

[0063] In step S25, the determination unit 47 determines whether the switching of the parking brake 83B from the off state to the on state is complete. For example, the determination unit 47 determines whether the switching of the parking brake 83B from the off state to the on state is complete based on a status signal, which is a signal indicating the state of the parking brake 83B output from the parking brake 83B.

[0064] The status signals include a signal indicating that the parking brake 83B is in the ON state, a signal indicating that the parking brake 83B is in the OFF state, and a signal indicating that the state of the parking brake 83B is in transition.

[0065] Therefore, the determination unit 47 determines that the switching of the parking brake 83B from the off state to the on state is complete when it receives a signal indicating that the parking brake 83B is in the on state as a status signal.

[0066] If the determination unit 47 determines that the switching of the parking brake 83B from the off state to the on state has not been completed (S25: NO), the motion manager 44 repeats the process of step S25.

[0067] On the other hand, if the determination unit 47 determines that the switching of the parking brake 83B from the off state to the on state is complete (S25: YES), the motion manager 44 proceeds to step S26.

[0068] In step S26, the instruction output unit 48 terminates outputting the instruction signal to turn on the parking brake 83B. After that, the motion manager 44 proceeds to step S27.

[0069] In step S27, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A via the brake control unit 43 to turn off the hydraulic brake 83A. After that, the motion manager 44 completes the series of processes related to the current stop-hold control.

[0070] On the other hand, if the determination unit 47 determines in step S22 above that the conditions for continuing to stop are not met (S22: NO), the exercise manager 44 proceeds to step S28.

[0071] In step S28, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A via the brake control unit 43 to turn off the hydraulic brake 83A. After that, the motion manager 44 completes the series of processes related to the current stop-and-hold control.

[0072] <Driver operation change control> As shown in Figure 5, when the motion manager 44 initiates a driver operation changeover, the motion manager 44 first performs the process in step S31. The determination unit 47, instruction output unit 48, and notification output unit 49 each perform their respective processes, causing the motion manager 44 to perform the series of processes shown in Figure 5.

[0073] In step S31, the notification output unit 49 outputs a notification signal MS to the meter display device 84 via the meter control unit 63. In other words, when the reception unit 45 receives a stop-hold request RS, the notification output unit 49 outputs a notification signal MS to the meter display device 84 if the vehicle 100 does not meet the specified condition RC.

[0074] As a result, the meter control unit 63 displays an image on the meter display device 84 indicating that driver operation is required. Subsequently, the motion manager 44 proceeds to step S32.

[0075] In step S32, the determination unit 47 determines whether or not there is a request to limit the driving force RL. Specifically, when the receiving unit 45 receives the stop-hold request RS, which is the mediation result, the determination unit 47 determines whether or not the receiving unit 45 has received the limit request RL along with the stop-hold request RS. That is, if the receiving unit 45 has received the limit request RL from the same support unit along with the stop-hold request RS, the determination unit 47 determines that there is a request to limit the driving force RL.

[0076] When the determination unit 47 determines that there is a request RL to limit the driving force (S32: YES), the motion manager 44 proceeds to step S33. In step S33, the instruction output unit 48 limits the driving force. Specifically, the instruction output unit 48 outputs an instruction signal to the powertrain device 81 via the powertrain control unit 23 indicating that the driving force should be limited.

[0077] Furthermore, as will be described later, this instruction signal is a signal to limit the driving force output by the powertrain device 81 even when the accelerator pedal is operated, unless an instruction signal to release it is transmitted.

[0078] In step S33, after the instruction output unit 48 outputs an instruction signal indicating that the driving force should be limited, the motion manager 44 proceeds to step S34. However, if the determination unit 47 determines in step S32 that there is no request RL to limit the driving force (S32: NO), the motion manager 44 proceeds to step S34 without performing the processing in step S33.

[0079] In step S34, the determination unit 47 determines whether or not the brake pedal of the vehicle 100 has been operated. If the brake pedal has been operated (S34: YES), the motion manager 44 proceeds to step S35.

[0080] In step S35, the determination unit 47 determines whether the motion manager 44 is limiting the driving force. Specifically, if the motion manager 44 is performing the process in step S33 in the current driving operation change control, the determination unit 47 determines that it is limiting the driving force. That is, if the instruction output unit 48 outputs an instruction signal indicating that it is limiting the driving force, the determination unit 47 determines that it is limiting the driving force.

[0081] When the motion manager 44 is limiting the driving force (S35: YES), the motion manager 44 proceeds to step S36. In step S36, the instruction output unit 48 outputs an instruction signal to release the limit on the driving force. After that, the motion manager 44 completes the series of processes related to the current driving operation change control.

[0082] On the other hand, when the motion manager 44 is not limiting the driving force (S35: NO), the motion manager 44 terminates the series of processes related to the current driving operation change control without performing the process in step S36.

[0083] By the way, if the brake pedal is not operated in step S34 (S34:NO), the motion manager 44 proceeds to step S37. In step S37, the determination unit 47 determines whether a specified time RT has elapsed since the instruction output unit 48 output the notification signal MS.

[0084] The prescribed time RT is predetermined as the time required for the driver to begin operating the vehicle 100. Specifically, the prescribed time RT is defined as the time required for the driver to operate the brake pedal, from the time the driver changes from wearing a seat belt to not wearing one, and from the time the driver's side front door changes from closed to open.

[0085] If the prescribed time RT has not elapsed (S37: NO), the exercise manager 44 returns to step S34. On the other hand, if the prescribed time RT has elapsed (S37: YES), the exercise manager 44 proceeds to step S38.

[0086] In step S38, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A via the brake control unit 43 to turn off the hydraulic brake 83A. After that, the motion manager 44 proceeds to step S35. In this way, the engine ECU, which is the computer running the motion manager application 44A, executes the information processing method.

[0087] <Operation of this embodiment> For example, suppose that the vehicle 100 implements ACC using the third support application 58A, and the receiving unit 45 receives a motion request from the third support unit 58. In this case, the arbitration unit 46 determines the motion request as the arbitration result, and the instruction output unit 48 outputs an instruction signal to the actuator system 80 to realize the motion request. The actuator system 80 is then controlled to realize the instruction signal.

[0088] In this case, assume that the reception unit 45 has received the stop-hold request RS. Based on this condition, the instruction output unit 48 outputs an instruction signal to the hydraulic brake 83A to turn on the hydraulic brake 83A.

[0089] Subsequently, if the vehicle 100 satisfies the specified condition RC, that is, if the parking brake 83B can maintain the vehicle 100's position and the driver does not exit the vehicle, the motion manager 44 performs stop-and-hold control.

[0090] On the other hand, if the vehicle 100 does not meet the specified condition RC, that is, if the parking brake 83B cannot maintain the vehicle 100's position, or if the driver is about to get out of the vehicle, the motion manager 44 performs driver operation change control.

[0091] When the motion manager 44 controls the driver's operation, the notification output unit 49 outputs a notification signal MS to the meter display device 84. As a result, the meter display device 84 displays an image indicating that the driver's operation is required.

[0092] <Effects of this embodiment> (1) The motion manager 44 includes a reception unit 45, an instruction output unit 48, and a notification output unit 49. The reception unit 45 receives a stop-hold request RS as one of the motion requests from the application software to maintain the stopped state of the vehicle 100. The instruction output unit 48, on the condition that the reception unit 45 has received the stop-hold request RS, outputs an instruction signal to the hydraulic brake 83A mounted on the vehicle 100 to turn on the hydraulic brake 83A. When the reception unit 45 has received the stop-hold request RS, if the vehicle 100 does not meet the predetermined specified condition RC for maintaining the stop state when the hydraulic brake 83A is turned off, the notification output unit 49 outputs a notification signal MS to the meter display device 84 mounted on the vehicle 100 to notify the driver that driving operations of the vehicle 100 are required.

[0093] When the motion manager 44 receives a stop-hold request RS, if the vehicle 100 does not meet the specified condition RC, it outputs a notification signal MS to the meter display device 84. This allows the driver to recognize that driving action is required. As a result, prompting the driver to take driving action can prevent the vehicle 100 from losing its ability to maintain a stop.

[0094] (2) The notification signal MS is a signal to indicate to the meter display device 84 that the driver needs to take action. The motion manager 44 can communicate to the driver that the driver needs to take action through visual means.

[0095] (3) The specified condition RC includes the fact that the gradient of the road surface on which the vehicle 100 is located is less than a predetermined specified gradient. According to the above configuration, if the specified condition RC is not met, for example, even if the parking brake 83B is functioning normally, the vehicle 100 may not be able to maintain a stop. Therefore, when the gradient of the road surface on which the vehicle 100 is located is greater than or equal to the specified gradient, prompting the driver to take driving action can prevent the vehicle 100 from losing its stop.

[0096] (4) The specified condition RC includes the fact that no action has been taken for the driver to exit the vehicle 100. When the specified condition RC is not met, there is a high probability that the driver is in a situation where he should exit the vehicle 100. With the above configuration, by prompting the driver to perform driving operations, it is possible to prevent the vehicle 100 from losing its stop position due to the driver performing driving operations without exiting the vehicle.

[0097] (5) After the instruction output unit 48 has output an instruction signal to the hydraulic brake 83A to turn on the hydraulic brake 83A and a predetermined time RT has elapsed, it outputs an instruction signal to the hydraulic brake 83A to turn off the hydraulic brake 83A.

[0098] According to the above configuration, when the driver is not performing any driving operations, the vehicle 100 can be released from its stop, thereby further prompting the driver to take driving action. This allows the motion manager 44 to avoid a situation where the vehicle 100 remains unable to maintain a stop.

[0099] (6) The specified time RT is set in advance as the time required for the driver to start driving the vehicle 100. With the above configuration, the driver can be prompted to start driving by ensuring that the time required for the driver to start driving is secured before the vehicle 100 is released from its stop. This prevents the time during which the vehicle 100 cannot be kept stopped from becoming excessively long when the vehicle 100 is released from its stop.

[0100] (7) The receiving unit 45 receives a restriction request RL from the application software as one of the movement requests, which is to limit the driving force of the vehicle 100 when the accelerator pedal is operated. The instruction output unit 48 then outputs an instruction signal for the driving force limited in accordance with the restriction request RL to the powertrain device 81 of the vehicle 100.

[0101] By prompting the driver to perform driving operations, there is a risk that the driver may mistakenly press the accelerator pedal to cause sudden acceleration, also known as a mis-press. With the above configuration, the driving force is limited, which can suppress sudden acceleration caused by mis-press.

[0102] (8) When the brake pedal is operated, the instruction output unit 48 outputs an instruction signal to release the restriction of the driving force in accordance with the restriction request RL. With the above configuration, when the driver operates the brake pedal, it is possible to prevent the state in which the driving force is suppressed from continuing due to subsequent operation of the accelerator pedal.

[0103] <Example of changes> The above embodiment can be implemented with the following modifications. The above embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0104] The content of the stop-hold control is not limited to the examples of the above embodiment. For example, the stop-continuation condition in step S12 may be changed. For example, the stop-continuation condition may include other requirements in addition to, or instead of, that the road surface gradient is less than a predetermined specified gradient.

[0105] For example, the processing in step S12 may be omitted. In this case, if the exercise manager 44 made a positive determination in step S11, it may proceed to step S13. In this case, the processing in step S28 may be omitted.

[0106] For example, the switching condition in step S13 may be changed. The switching condition may include other requirements in addition to, or instead of, the driver of vehicle 100 attempting to alight. The switching condition may also include the opening / closing signal SD changing from the off state to the on state.

[0107] For example, the processing in step S13 may be omitted. In this case, if the exercise manager 44 made a positive determination in step S12, it may proceed to step S24.

[0108] The configuration of vehicle 100 is not limited to the examples of the above embodiments. For example, the ECU that implements the functions of the motion manager 44 may be something other than the brake ECU 40. Specifically, instead of the brake ECU 40, the CPU 11 of the central ECU 10 may implement the functions of the motion manager 44 by executing the motion manager application 44A stored in the storage device 12. In other words, in the above embodiment, the central ECU 10, powertrain ECU 20, steering ECU 30, brake ECU 40, advanced driver assistance ECU 50, and meter ECU 60 can implement the functions of the motion manager 44.

[0109] The notification device is not limited to the meter display device 84. For example, the notification device may be an in-vehicle display that constitutes a car navigation system. The notification signal MS does not have to be a signal for displaying an image on the display indicating that the driver needs to take action. For example, the notification device may be a speaker. In this case, the notification signal MS may be a signal for notifying the speaker of a sound indicating that the driver needs to take action.

[0110] The specified condition RC does not necessarily include the road surface gradient, which is the gradient of the road surface on which the vehicle 100 is located, being less than a predetermined specified gradient. The specified condition RC does not necessarily include the fact that the driver has not taken any action to get out of the vehicle 100. For example, the specified condition RC may include the fact that the parking brake 83B is in a state where it can operate normally.

[0111] For example, the specified condition RC may also include the driver being in an abnormal state, based on an image acquired by a camera capturing the driver of vehicle 100. In this case, the motion manager 44 may perform stop-and-hold control even if the driver has performed an operation to get out of the vehicle, assuming that the specified condition RC is met.

[0112] The instruction output unit 48 does not need to output an instruction signal to turn off the hydraulic brake 83A after a predetermined time RT has elapsed since outputting an instruction signal to turn on the hydraulic brake 83A. For example, the instruction output unit 48 may output an instruction signal so that the hydraulic brake 83A remains on until the brake pedal is operated.

[0113] The specified time RT does not have to be pre-set as the time required for the driver to initiate driving operations of the vehicle 100. For example, as in the modification example above, if a message is notified from a notification device, which is a speaker, as a sound indicating that the driver needs to take driving action, the specified time RT may be defined as the time until the notification of the message ends.

[0114] - If the receiving unit 45 has received the restriction request RL, the instruction output unit 48 does not have to output an instruction signal to the powertrain device 81 to limit the driving force in accordance with the restriction request RL.

[0115] - The instruction output unit 48 does not have to output an instruction signal to release the restriction of the braking force in accordance with the restriction request RL, provided that the brake pedal is operated. For example, after outputting an instruction signal to restrict the driving force in accordance with the restriction request RL, the instruction output unit 48 may continue to restrict the driving force until the power to the vehicle 100 is turned off.

[0116] [Note] The technical concepts that can be understood from the above embodiments and modified examples are described below. [Note 1] A motion manager comprising: a reception unit that receives a stop-hold request to maintain the vehicle's stopped state as one of the motion requests from the application software; an instruction output unit that, on the condition that the reception unit has received the stop-hold request, outputs an instruction signal to the hydraulic brake mounted on the vehicle to turn on the hydraulic brake; and a notification output unit that, when the reception unit has received the stop-hold request and the hydraulic brake is turned off, the vehicle does not meet predetermined conditions for maintaining its stop state, and the notification device mounted on the vehicle outputs a notification signal to the notification device to notify the driver that driving operations by the driver of the vehicle are required.

[0117] [Note 2] The motion manager according to Note 1, wherein the notification device is a display, and the notification signal is a signal for causing the display to show that the driver needs to perform an operation.

[0118] [Note 3] The aforementioned specified conditions include the fact that the gradient of the road surface on which the vehicle is located is less than a predetermined specified gradient, as described in Note 1 or Note 2 of the motion manager. [Note 4] The aforementioned specified conditions include the fact that no operation for the driver to disembark from the vehicle is performed, as described in any one of Notes 1 to 3.

[0119] [Note 5] The motion manager according to any one of Notes 1 to 4, wherein the instruction output unit outputs an instruction signal to the hydraulic brake to turn off the hydraulic brake after a predetermined time has elapsed since outputting an instruction signal to the hydraulic brake to turn on the hydraulic brake.

[0120] [Note 6] The specified time is set in advance as the time required for the driver to start operating the vehicle, as described in Note 5 of the exercise manager. [Note 7] The motion manager according to any one of Notes 1 to 6, wherein the receiving unit receives a restriction request from the application software as one of the motion requests, which is a request to limit the driving force of the vehicle when the accelerator pedal is operated, and the instruction output unit outputs an instruction signal for the driving force limited in accordance with the restriction request to the powertrain of the vehicle.

[0121] [Note 8] The motion manager according to Note 7, wherein, on the condition that the brake pedal is operated, the instruction output unit stops outputting an instruction signal for a driving force limited in accordance with the limitation request. [Explanation of Symbols]

[0122] 10…Central ECU 20…Powertrain ECU 30…Steering ECU 40...Brake ECU 41…CPU 42...Storage device 44…Sports Manager 45…Reception Department 46...Mediation Department 47...Judgment section 48...Instruction output section 49...Notification output section 50…Advanced Driver Assistance ECU 60... Meter ECU 81…Powertrain System 82…Steering system 83... Brake system 83A... Hydraulic brakes 84... Meter display device 100...vehicles MS…Notification signal RC…Specified conditions RL... Restriction Request RS…Stop hold request RT…Regulated time

Claims

1. One of the motion requests from the application software is a stop-hold request that maintains the vehicle's stopped state, and a reception unit receives this request. A command output unit outputs a command signal to the hydraulic brake mounted on the vehicle to turn on the hydraulic brake, provided that the receiving unit has received the stop-hold request. When the reception unit receives the stop-hold request, if the hydraulic brake is turned off, the vehicle does not meet the predetermined conditions for maintaining a stop, the notification output unit outputs a notification signal from the notification device mounted on the vehicle to the notification device to notify the driver that driving operations by the driver of the vehicle are required. An exercise manager equipped with the necessary features.

2. The notification device is a display, The notification signal is a signal for causing the display to show that the driver needs to perform an operation. The exercise manager according to claim 1.

3. The aforementioned conditions include the fact that the gradient of the road surface on which the vehicle is located is less than a predetermined specified gradient. The exercise manager according to claim 1 or claim 2.

4. The aforementioned conditions include that the driver has not performed any action to exit the vehicle. The exercise manager according to claim 1.

5. The instruction output unit outputs an instruction signal to the hydraulic brake to turn the hydraulic brake ON, and after a predetermined period of time has elapsed since outputting the instruction signal to the hydraulic brake to turn the hydraulic brake ON, it outputs an instruction signal to the hydraulic brake to turn the hydraulic brake OFF. The exercise manager according to claim 1.

6. The aforementioned specified time is set in advance as the time required for the driver to begin operating the vehicle. The exercise manager according to claim 5.

7. If the receiving unit receives a restriction request from the application software as one of the motion requests, which is a request to limit the driving force of the vehicle when the accelerator pedal is operated, the instruction output unit outputs an instruction signal for the driving force limited in accordance with the restriction request to the vehicle's powertrain. The exercise manager according to claim 1.

8. When the brake pedal is operated, the instruction output unit outputs an instruction signal to release the restriction of the driving force in accordance with the restriction request. The exercise manager according to claim 7.

9. An information processing method performed by a computer installed in a vehicle, One of the motion requests from the application software is to receive a stop-hold request to maintain the vehicle's stopped state, Conditional on receiving the aforementioned stop-hold request, an instruction signal to turn on the hydraulic brake is output to the hydraulic brake, When the aforementioned stop-hold request is received, if the hydraulic brake is turned off and the vehicle does not meet the predetermined conditions for maintaining a stop, a notification signal is sent to inform the driver that driver operation is required. Information processing methods including

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