Motion manager, vehicle, vehicle control method and program

Abstract

To suppress an occurrence of a design burden due to an increase in a type of a holding device used as backup of vehicle stop holding.SOLUTION: A movement manager executes processing including the steps of: setting a stop holding failure class (S104) in the case of using an EPB as backup (YES in S100) and in acquiring failure information and control information of the EPB (YES in S102); setting a stop holding backup state by using the control information of the EPB (S106); setting the stop holding class (S112) in the case of using a P lock as backup (YES in S108) and in acquiring failure information and control information of the P lock (YES in S110); setting the stop holding backup state by using the control information of the P lock (S114); and transmitting the stop holding failure class and the stop holding backup state (S116).SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to control of a vehicle capable of driving assistance. [Background technology]

[0002] A vehicle is known that includes a plurality of applications that set and request action plans related to driving assistance for the vehicle, a motion manager that integrates the plurality of action plans from the plurality of applications and sets motion requests based on the integrated action plan, and an actuator system that realizes the set motion requests. Such a vehicle is equipped with a holding device that holds the vehicle in a stopped state.

[0003] For example, Japanese Patent Application Laid-Open No. 2020-032894 (Patent Document 1) discloses an information processing device that can easily perform arbitration processing of drive requests output from a vehicle driving assistance application. It is disclosed that the vehicle has a holding function such as a brake hold control that maintains a braking state by braking after stopping. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-032894 A Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when the above-mentioned vehicle is stopped by a service brake as part of driving assistance, a holding device other than the service brake may be used as a backup to hold the vehicle stopped in case of an abnormality in the service brake. There are several types of holding devices used as backups to hold the vehicle stopped, such as an electric parking brake and a parking lock system. Therefore, in an application that performs driving assistance, it may be necessary to obtain information such as the control state and the presence or absence of a malfunction of the holding device used as a backup.

[0006] However, when the exercise manager sends information to an application regarding a holding device used as a backup, the exercise manager is required to set the information to be sent for each type of holding device used as a backup, which may result in design burdens such as time and cost for setting this information in advance.

[0007] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a motion manager, a vehicle, a vehicle control method, and a program that reduce the design burden caused by an increase in the number of types of holding devices used as backup for keeping the vehicle stopped. [Means for solving the problem]

[0008] A motion manager according to an aspect of the present disclosure is a motion manager that requests at least one of a plurality of actuators provided in a vehicle to perform motion of the vehicle according to an action plan related to driving assistance of the vehicle. The driving assistance includes assistance using a holding function that holds the vehicle in a stopped state. The action plan is set in a setting device capable of transmitting and receiving information to and from the motion manager. The plurality of actuators include a first holding device having a holding function, and a second holding device having a holding function and capable of executing backup control to hold the vehicle in a stopped state when an abnormality occurs in the first holding device. The motion manager includes a receiving unit that receives information indicating the action plan from the setting device, a distributing unit that distributes a motion request for the vehicle calculated using the action plan to at least one of the plurality of actuators, and a transmitting unit that transmits predetermined information to the setting device. The predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device, and second information indicating the control state of the second holding device, and does not include information identifying the type of the second holding device.

[0009] In this way, since the predetermined information transmitted to the setting device is composed of the first information and the second information and does not include information specifying the type of the second holding device, the setting device can grasp the presence or absence of an abnormality and the control state of the second holding device from the first information and the second information even if the type of the second holding device is different. Therefore, when there are variations in the second holding device, it is not necessary to set the predetermined information according to the type of the second holding device, and it is possible to suppress the occurrence of a design burden due to an increase in the type of the second holding device.

[0010] In yet another embodiment, the first retention device includes a service brake, and the second retention device includes one of a parking lock system and an electric parking brake system.

[0011] In this way, the predetermined information transmitted to the setting device is composed of the first information and the second information and does not include information identifying the type of the second holding device. Therefore, even if the type of the second holding device is different, the setting device can determine whether or not there is an abnormality in the second holding device and its control status based on the first information and the second information.

[0012] A vehicle according to another aspect of the present disclosure includes a setting device that sets an action plan for driving assistance of the vehicle, a first holding device provided in the vehicle and having a holding function for holding the vehicle in a stopped state, and a second holding device having a holding function and capable of executing backup control for holding the vehicle in a stopped state when an abnormality occurs in the first holding device, and a motion manager configured to be able to transmit and receive information to and from the setting device and requesting at least one of the multiple actuators to move the vehicle according to the action plan. The driving assistance includes assistance using the holding function. The motion manager transmits predetermined information to the setting device. The predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control state of the second holding device, and does not include information identifying the type of the second holding device.

[0013] In a vehicle control method according to yet another aspect of the present disclosure, the vehicle includes a setting device for setting an action plan for driving assistance of the vehicle, a first holding device having a holding function for holding the vehicle in a stopped state, and a second holding device having a holding function and capable of executing backup control for holding the vehicle in a stopped state when an abnormality occurs in the first holding device. The driving assistance includes assistance using the holding function. The control method includes a step of setting an action plan for driving assistance using the setting device, a step of receiving information indicating the action plan from the setting device, a step of distributing a motion request for the vehicle calculated using the action plan to at least one of the multiple actuators, and a step of transmitting predetermined information to the setting device. The predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control state of the second holding device, and does not include information identifying the type of the second holding device.

[0014] A program according to yet another aspect of the present disclosure is a program to be executed by a computer mounted on a vehicle. The vehicle includes a setting device for setting an action plan for driving assistance of the vehicle, a first holding device having a holding function for holding the vehicle in a stopped state, and a plurality of actuators including a second holding device having a holding function and capable of executing backup control for holding the vehicle in a stopped state when an abnormality occurs in the first holding device. The program causes the computer to execute a step of setting an action plan for driving assistance including assistance using the holding function, a step of receiving information indicating the action plan from the setting device, a step of distributing a motion request for the vehicle calculated using the action plan to at least one of the plurality of actuators, and a step of transmitting predetermined information to the setting device. The predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control state of the second holding device, and does not include information identifying the type of the second holding device. Effect of the Invention

[0015] According to the present disclosure, it is possible to provide a motion manager, a vehicle, and a vehicle control method and program that suppress the design burden caused by an increase in the number of types of holding devices used as backups for keeping the vehicle stopped. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a vehicle. [Diagram 2] FIG. 11 is a diagram for explaining an example of the operation of an exercise manager. [Diagram 3] FIG. 10 is a diagram for explaining failure information when the EPB is used as a backup for keeping the vehicle stopped. [Figure 4] FIG. 11 is a diagram for explaining failure information when the P lock system is used as a backup for keeping the vehicle stopped. [Diagram 5] 11 is a flow chart illustrating an example of a process performed by an exercise manager. [Figure 6] FIG. 10 is a diagram for explaining an example of the operation of a vehicle when an EPB is used as a backup. [Figure 7] FIG. 11 is a diagram for explaining an example of the operation of a vehicle when a P-lock system is used as a backup. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and their description will not be repeated.

[0018] Fig. 1 is a diagram showing an example of the configuration of a vehicle 1. As shown in Fig. 1, the vehicle 1 includes an ADAS-ECU (Electronic Control Unit) 10, a brake ECU 20, an actuator system 30, a central ECU 40, and an ADK (Autonomous Driving Kit) 120 which is an autonomous driving device.

[0019] Vehicle 1 may be any vehicle having a configuration capable of realizing the functions of the driving assistance system described below, and may be, for example, a vehicle powered by an engine, an electric vehicle powered by an electric motor, or a hybrid vehicle equipped with an engine and an electric motor and using at least one of them as a power source.

[0020] The ADAS-ECU 10, the brake ECU 20, the central ECU 40 and the ADK 120 each include a computer having a processor that executes programs, such as a CPU (Central Processing Unit), a memory, and an input / output interface.

[0021] The ADAS-ECU 10 includes a driving assistance system 100 having functions related to driving assistance of the vehicle 1. The driving assistance system 100 is configured to execute implemented applications to realize various functions for assisting driving of the vehicle 1, including at least one of steering control, drive control, and braking control of the vehicle 1. Applications implemented in the driving assistance system 100 include, for example, an application that realizes the function of an automatic parking system, and an application that realizes the function of an advanced driver assistance system (ADAS) (hereinafter referred to as an ADAS application).

[0022] Examples of ADAS applications include at least one of the following: an application that realizes a function of adaptive cruise control (ACC, etc.) that maintains a constant distance from the vehicle ahead; an application that realizes an auto speed limiter (ASL) function that recognizes vehicle speed limits and maintains the upper limit of the vehicle's speed; an application that realizes a lane keeping assist (LKA, Lane Keeping Assist, LTA, etc.) that maintains the vehicle in the lane in which it is traveling; an application that realizes a collision damage mitigation braking function (AEB, Autonomous Emergency Braking, PCS, etc.) that automatically applies the brakes to reduce the damage of a collision; and an application that realizes a lane departure warning function (LDW, Lane Departure Warning, LDA, etc.) that warns the vehicle 1 if it deviates from the lane it is traveling in; and an application that realizes an intelligent speed assistance (ISA) function that controls the vehicle's speed so that it does not exceed the upper limit speed.

[0023] Each application of the driving assistance system 100 outputs a request for an action plan that ensures the marketability (function) of the application alone to the brake ECU 20 (more specifically, the motion manager 200) based on information on the vehicle surroundings situation acquired (input) from a plurality of sensors (not shown) and an assistance request from the driver. The plurality of sensors include, for example, a vision sensor such as a forward-facing camera, a radar, a LiDAR (Light Detection And Ranging), or a position detection device.

[0024] The forward-facing camera is disposed, for example, behind the rear-view mirror inside the vehicle cabin, and is used to capture an image in front of the vehicle. Radar is a distance measurement device that irradiates an object with short-wavelength radio waves, detects the radio waves returned from the object, and measures the distance and direction to the object. LiDAR is a distance measurement device that irradiates a pulse of laser light (light such as infrared light) and measures the distance based on the time it takes for the light to reflect off the object and return. The position detection device is, for example, composed of a Global Positioning System (GPS) that detects the position of the vehicle 1 using information received from multiple satellites orbiting the Earth.

[0025] Each application acquires information on the vehicle's surroundings that is an integration of detection results from one or more sensors as recognition sensor information, and also acquires assistance requests from the driver via a user interface (not shown) such as a switch. Each application can recognize other vehicles, obstacles, or people around the vehicle by, for example, processing images and videos of the vehicle's surroundings acquired by multiple sensors using artificial intelligence (AI) or an image processing processor.

[0026] In addition, the applications implemented in the driving assistance system 100 are not limited to the applications described above, and applications that realize other functions may be added, or existing applications may be omitted, and there is no particular limit to the number of applications implemented.

[0027] In the present embodiment, the ADAS-ECU 10 is described as including the driving assistance system 100 configured by a plurality of applications, but, for example, an ECU may be provided for each application. For example, the driving assistance system 100 may be configured by an ECU in which an application that realizes the function of an automatic parking system is implemented and an ECU in which an ADAS application is implemented.

[0028] The action plan also includes, for example, requirements regarding the longitudinal acceleration / deceleration to be generated in the vehicle 1, requirements regarding the steering angle of the vehicle 1, requirements regarding keeping the vehicle 1 stationary, and the like.

[0029] The requirements regarding the longitudinal acceleration / deceleration to be generated in the vehicle 1 include, for example, an operation requirement for the powertrain system 302 and an operation requirement for the brake system 304.

[0030] The ADK 120 includes an autonomous driving system (ADS) 122. The ADK 120 is configured to be detachable from the vehicle 1 and can be replaced with another ADK. The ADS 122 has an application that realizes an autonomous driving function. The ADS 122 outputs to the brake ECU 20 a request for an action plan (i.e., an action plan for autonomous driving) that ensures marketability (function) of the application alone, based on a plurality of sensors mounted on the ADK 120 and information on the vehicle surroundings acquired from the vehicle 1. The plurality of sensors mounted on the ADK 120 include, for example, a vision sensor such as a forward-facing camera, a radar, a LiDAR (Light Detection And Ranging), or a position detection device. These sensors are as described above, and therefore will not be described in detail again. For example, autonomous driving is performed by performing at least one of the actions of accelerating, decelerating, steering, and stopping the vehicle 1 according to the surroundings of the vehicle 1 in a section from the current location to a preset destination or a part of the section, without the driver's operation. In this embodiment, the ADS 120 is configured to be able to acquire the situation around the vehicle 1 by a sensor or an image processing device that is separate from the driving assistance system 100.

[0031] In addition, an application that realizes the autonomous driving function may be included in the driving assistance system 100, for example, or may be implemented in an ECU different from the ADAS-ECU 10.

[0032] The brake ECU 20 includes a motion manager 200. In this embodiment, the brake ECU 20 is described as a hardware configuration including the motion manager 200 as an example, but the motion manager 200 may be provided as a standalone ECU separate from the brake ECU 20, or may be included in another ECU different from the brake ECU 20. The motion manager 200 is configured, for example, by one or more processors. The brake ECU 20 is configured to be able to communicate with each of the ADAS-ECU 10, various ECUs included in the actuator system 30, the central ECU 40, and the ADK 120.

[0033] The motion manager 200 requests the actuator system 30 to perform motion of the vehicle 1 according to an action plan set in at least one of the applications of the driving assistance system 100 and the application that realizes the function of the automatic driving of the ADS 122. A detailed configuration of the motion manager 200 will be described later.

[0034] The actuator system 30 is configured to realize a request for motion of the vehicle 1 output from the motion manager 200. The actuator system 30 includes a plurality of actuators. FIG. 1 shows an example in which the actuator system 30 includes, for example, a powertrain system 302, a brake system 304, and a steering system 306 as actuators. Note that the number of actuators to which the motion manager 200 sends a request is not limited to three as described above, and may be four or more, or two or less.

[0035] The powertrain system 302 includes a powertrain capable of generating driving force to the drive wheels of the vehicle 1, and an ECU (neither shown) that controls the operation of the powertrain. The powertrain includes at least one of an internal combustion engine such as a gasoline engine or a diesel engine, a transmission including a gearbox and a differential device, a motor generator serving as a driving source, a power storage device that stores the power supplied to the motor generator, a power conversion device that converts power between the motor generator and the power storage device, and a power generation source such as a fuel cell. The ECU that controls the operation of the powertrain controls the corresponding devices in the powertrain system 302 so as to realize a motion request from the motion manager 200 to the corresponding devices.

[0036] The powertrain system 302 includes a parking lock system (hereinafter, referred to as a P lock system) 310 .

[0037] The P lock system 310 restricts or releases the restriction on the rotation of the output shaft of the transmission by the operation of the shift actuator. For example, the P lock system 310 engages a protrusion provided at the tip of a parking lock pole, the position of which is adjusted by the shift actuator, with the teeth of a gear (lock gear) that is connected to a rotating element in the transmission of the vehicle 1. This restricts the rotation of the output shaft of the transmission, restricts the rotation of the drive wheels, and keeps the vehicle 1 stopped. Furthermore, the P lock system 310 separates the protrusion that is engaged between the teeth by the shift actuator, for example. This releases the restriction on the rotation of the output shaft of the transmission, and releases the restriction on the rotation of the drive wheels.

[0038] The brake system 304 includes, for example, a plurality of braking devices 312 provided on each wheel of the vehicle 1. The braking devices 312 are, for example, service brakes including hydraulic brakes such as disc brakes that generate braking force using hydraulic pressure. The braking devices 312 decelerate the vehicle 1 while it is moving. Furthermore, when the vehicle 1 is stopped, the braking devices 312 limit the rotation of the wheels when the hydraulic pressure is increased using an actuator (not shown), thereby maintaining the stopped state of the vehicle 1. The plurality of braking devices 312 correspond to a first holding device. Furthermore, when the vehicle 1 is stopped, the braking devices 312 release the restriction on the rotation of the wheels when the hydraulic pressure is reduced using an actuator (not shown).

[0039] The braking device 312 may further include, for example, a motor generator connected to the wheels and generating regenerative torque. The braking operation of the vehicle 1 using the multiple braking devices 312 is controlled by the brake ECU 20. The brake ECU 20 is provided with, for example, a control unit (not shown) for controlling the brake system 304 separately from the motion manager 200.

[0040] The brake system 304 further includes an electric parking brake system (hereinafter, referred to as EPB (Electric Parking Brake)) 314 .

[0041] The EPB 314, for example, limits the rotation of the wheels of the vehicle 1 by the operation of an actuator of the EPB 314. The EPB 314 may be configured to limit the rotation of the wheels, for example, by using an actuator to operate parking brakes provided on some of the multiple wheels provided on the vehicle 1. In this case, the EPB 314 releases the restriction on the rotation of the wheels of the vehicle 1, for example, by the operation of the actuator of the EPB 314. The brake ECU 20 further includes an EPB control unit 212. The EPB control unit 212 is configured to be able to control the actuator of the EPB 314.

[0042] Steering system 306 includes, for example, a steering device capable of changing the steering angle of steered wheels (for example, front wheels) of vehicle 1, and an ECU (neither shown) that controls the operation of the steering device. The steering device includes, for example, a steering wheel that changes the steering angle according to the amount of operation, and an electric power steering (EPS: Electric Power Steering) that can adjust the steering angle by an actuator separately from the operation of the steering wheel. The ECU that controls the operation of the steering device controls the operation of the actuator of the EPS.

[0043] The central ECU 40 includes a memory 42 capable of updating stored contents. The central ECU 40 is configured to be able to communicate with, for example, the brake ECU 20, and is also configured to be able to communicate with an external device (e.g., a server) of the vehicle 1 (not shown) via a communication module (not shown). When the central ECU 40 receives update information from a server external to the vehicle 1, the central ECU 40 updates the information stored in the memory 42 using the received update information. Predetermined information is stored in the memory 42. The predetermined information includes, for example, information read from various ECUs when the system of the vehicle 1 is started.

[0044] In this embodiment, the central ECU 40 has been described as reading out specific information from various ECUs when the system of the vehicle 1 is started up, but the central ECU 40 may also have a function (gateway function) of relaying communications between various ECUs.

[0045] An example of the operation of the exercise manager 200 will be described in detail below with reference to Fig. 2. Fig. 2 is a diagram for explaining an example of the operation of the exercise manager 200.

[0046] 2 shows a system group 150 including the driving assistance system 100 and the ADS 122. FIG. 2 also shows an example in which the driving assistance system 100 includes, for example, the AEB 102, the LKA 104, the ACC 106, the ASL 108, the PCS 110, and the ISA 112 as applications. FIG. 2 also shows an example in which the ADS 122 includes, for example, the AD 124, which is an application that realizes the function of autonomous driving (AD). A request for an action plan set in at least one of a plurality of applications is transmitted as a request signal PLN1 from the system group 150 including the driving assistance system 100 and the ADS 122 to the exercise manager 200.

[0047] The request signal PLN1 includes, for example, information about a target acceleration set as one of the action plans in ACC, AEB, ASL, PCS, ISA or AD, and information about a target curvature set as one of the action plans in LKA or AD.

[0048] The motion manager 200 sets a motion required for the vehicle 1 based on the request of the action plan included in the received request signal PLN1, and requests the actuator system 30 to realize the set motion. That is, the motion manager 200 transmits a request for an operation of the powertrain system 302 to the actuator system 30 as a request signal ACL1. The motion manager 200 transmits a request for an operation of the brake system 304 to the actuator system 30 as a request signal BRK1. Furthermore, the motion manager 200 transmits a request for an operation of the steering system 306 to the actuator system 30 as a request signal STR1.

[0049] The request signal ACL1 includes, for example, information on the requested value of the drive torque or drive force, information on the arbitration method (for example, whether to select the maximum or minimum value, change in steps, or change gradually, etc.).

[0050] The request signal BRK1 includes, for example, information regarding the requested value of the braking torque, information regarding the method of arbitration (for example, whether to change in a stepwise manner or gradually, etc.), and information regarding the timing of braking (whether to perform braking immediately or not, etc.).

[0051] The request signal STR1 includes, for example, a target steering angle, information as to whether the target steering angle is valid, and information as to upper and lower limit torques of the assist torque for steering wheel operation.

[0052] Of the multiple actuators constituting the actuator system 30, an actuator that receives a corresponding request signal is controlled so as to realize the operation request contained in the request signal.

[0053] The following describes an example of the configuration of the exercise manager 200. As shown in FIG.

[0054] The receiving unit 202 receives a request for an action plan output by one or more applications of the system group 150. Details of the action plan in this embodiment will be described later.

[0055] The arbitration unit 204 arbitrates requests for a plurality of action plans received from each application via the reception unit 202. An example of the arbitration process is to select one action plan from the plurality of action plans based on a predetermined selection criterion. Another example of the arbitration process is to set a new action plan based on the plurality of action plans. The arbitration unit 204 may arbitrate requests for a plurality of action plans by further adding predetermined information received from the actuator system 30. Furthermore, the arbitration unit 204 may determine whether or not to temporarily prioritize the movement of the vehicle 1 required according to the driver state and the vehicle state over the movement of the vehicle 1 corresponding to the action plan determined based on the arbitration result.

[0056] The calculation unit 206 calculates a motion request based on the result of arbitration of the requirements of the action plan in the arbitration unit 204 and the motion of the vehicle 1 determined based on the arbitration result. This motion request is a physical quantity for controlling at least any one of the actuators of the actuator system 30, and includes a physical quantity different from the physical quantity of the requirement of the action plan. For example, when the requirement of the action plan (first requirement) is longitudinal acceleration, the calculation unit 206 calculates a value obtained by converting the acceleration into a driving force or a driving torque as the motion request (second requirement).

[0057] The distributor 208 distributes the motion request calculated by the calculator 206 to at least one actuator of the actuator system 30. For example, when acceleration of the vehicle 1 is required, the distributor 208 distributes the motion request only to the powertrain system 302. Alternatively, when deceleration of the vehicle 1 is required, the distributor 208 appropriately distributes the motion request to the powertrain system 302 and the brake system 304 to achieve a target deceleration.

[0058] The powertrain system 302 of the actuator system 30 transmits information on the state of the powertrain system 302 as a signal ACL2 to the motion manager 200. The information on the state of the powertrain system 302 includes, for example, information on the operation of the accelerator pedal, information on the actual driving torque or actual driving force of the powertrain system 302, actual shift range information, information on the upper and lower limits of the driving torque, information on the upper and lower limits of the driving force, and information on the reliability of the powertrain system 302. The information on the state of the powertrain system 302 further includes, for example, information on the P-lock system 310 in addition to the above information.

[0059] The brake system 304 of the actuator system 30 transmits information about the state of the brake system 304 as a signal BRK2 to the motion manager 200. The information about the state of the brake system 304 includes, for example, information about the operation of the brake pedal, information about the braking torque requested by the driver, information about the requested value of the braking torque after arbitration, information about the actual braking torque after arbitration, and information about the reliability of the brake system 304. In addition to the above information, the information about the state of the brake system 304 further includes information about the brake device 312 and information about the EPB 314.

[0060] The steering system 306 of the actuator system 30 transmits information about the state of the steering system 306 as a signal STR2 to the motion manager 200. The information about the state of the steering system 306 includes, for example, information about the reliability of the steering system 306, information about whether the driver is gripping the steering wheel, information about the torque for operating the steering wheel, information about the rotation angle of the steering wheel, etc.

[0061] Additionally, the actuator system 30 includes a sensor group 308 in addition to the powertrain system 302, the brake system 304, and the steering system 306 described above.

[0062] The sensor group 308 includes a plurality of sensors that detect the behavior of the vehicle 1. The sensor group 308 includes, for example, a longitudinal G sensor that detects the vehicle body acceleration in the longitudinal direction of the vehicle 1, a lateral G sensor that detects the vehicle body acceleration in the lateral direction of the vehicle 1, a wheel speed sensor provided on each wheel that detects the wheel speed, and a yaw rate sensor that detects the angular velocity of the rotation angle (yaw angle) in the yaw direction. The sensor group 308 transmits information including the detection results of the plurality of sensors as a signal VSS2 to the motion manager 200. That is, the signal VSS2 includes, for example, the detection value of the longitudinal G sensor, the detection value of the lateral G sensor, the detection value of the wheel speed sensor of each wheel, the detection value of the yaw rate sensor, and information regarding the reliability of each sensor. The sensor group 308 further includes, for example, a sensor that detects the operation amount of the shift actuator and a sensor for detecting the operation amount of the actuator of the EPB 314. That is, the signal VSS2 further includes, for example, the detection value of the operation amount of the shift actuator and the detection value of the operation amount of the actuator of the EPB 314.

[0063] When the transmitter 210 receives various signals from the actuator system 30, the transmitter 210 transmits predetermined information to the driving assistance system 100 as a signal PLN2.

[0064] The above-described configurations of the devices mounted on the vehicle 1 and the motion manager 200 are merely examples, and may be added, replaced, modified, or omitted as appropriate. Furthermore, the functions of each device may be integrated into one device or distributed among multiple devices as appropriate.

[0065] In the vehicle 1 having the above configuration, for example, when the braking device 312 is used to maintain the stopped state as part of driving assistance, a holding device other than the braking device 312 may be used as a backup for maintaining the stopped state of the vehicle 1 in preparation for an abnormality in the braking device 312. The holding device used as a backup for maintaining the stopped state (i.e., for maintaining the stopped state when an abnormality occurs in the braking device 312) may be, for example, any one of a plurality of types of holding devices such as the P-lock system 310 or the EPB 314. For this reason, in an application that performs driving assistance, it may be required to obtain information such as the control state of the holding device used as a backup and the presence or absence of a malfunction.

[0066] However, when the motion manager 200 transmits information about a support device used as a backup to any application of the ADAS-ECU 10, the motion manager 200 may be required to set information to be transmitted for each type of support device used as a backup. As a result, design burdens such as time and cost for setting such information in advance may occur.

[0067] Fig. 3 is a diagram for explaining failure information when the EPB 314 is used as a backup for keeping the vehicle 1 stopped. Fig. 4 is a diagram for explaining failure information when the P lock system 310 is used as a backup for keeping the vehicle 1 stopped.

[0068] For example, in any application of the ADAS-ECU 10, when the vehicle 1 is held in a stopped state by using the braking device 312, it is required to acquire the operation state of the EPB 314 so that backup control for holding the vehicle 1 in a stopped state can be executed in the event of an abnormality in the braking device 312. In this case, the motion manager 200 acquires the control state and failure information of the EPB 314 from the EPB 314 and transmits the acquired information to the destination application, thereby making it possible to acquire the operation state of the EPB 314 in the destination application.

[0069] On the other hand, in a vehicle not equipped with an EPB 314, when the vehicle 1 is held stopped using the braking device 312, it is required to acquire the operation status of the P lock system 310 so that backup control can be executed. In this case, the motion manager 200 acquires the control status and fault information of the P lock system 310 from the P lock system 310 and transmits the acquired information to the destination application, thereby making it possible to acquire the operation status of the P lock system 310 in the destination application.

[0070] However, when the motion manager 200 generates different failure information depending on whether the backup holding device is the EPB 314 or the P-lock system 310 and transmits the different information to the destination application, the motion manager 200 may be required to set control information and failure information according to the type of the backup holding device. That is, the motion manager 200 may incur design burdens such as time and cost for setting control information and failure information for each type of holding device each time the holding device used for backup differs depending on the type and grade of the vehicle.

[0071] Therefore, in this embodiment, the transmitting unit 210 of the exercise manager 200 transmits predetermined information to the ADAS-ECU 10 including an application for setting an action plan. The predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the holding device used for backup and second information indicating the control state of the holding device, but does not include information specifying the type of the holding device used for backup.

[0072] In this way, even if the types of holding devices used for backup are different, the presence or absence of an abnormality in the holding device and the control state can be grasped from the first information and the second information in the ADAS-ECU 10. Therefore, when there are variations in the holding devices used for backup, it is not necessary to set the control information and the failure information according to the type of the holding device, so that it is possible to suppress the occurrence of a design burden due to an increase in the types of holding devices used for backup.

[0073] An example of the process executed by the exercise manager 200 will be described below with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the process executed by the exercise manager 200. A series of processes shown in this flowchart is repeatedly executed by the exercise manager 200 at every predetermined control period.

[0074] In step (hereinafter, step is written as S) 100, the motion manager 200 judges whether or not to use the EPB 314 as a backup when the vehicle 1 is held in a stopped state by using the braking device 312. The motion manager 200 judges whether or not the EPB 314 is a control target as a backup, for example, by whether or not a predetermined first control target flag is in an on state. For example, the first control target flag is set to an on state when the EPB 314 is mounted on the vehicle 1 (when the EPB 314 is included as a control target). For example, when the first control target flag is in an on state, the motion manager 200 may judge that the EPB 314 is a control target as a backup. When it is judged that the EPB 314 is used as a backup (YES in S100), the process proceeds to S102.

[0075] In S102, the exercise manager 200 determines whether to obtain failure information and control information of the EPB 314.

[0076] The EPB control unit 212 judges whether the EPB 314 has a malfunction when a predetermined execution condition is satisfied. The predetermined execution condition may include, for example, a condition that a predetermined time has elapsed since the previous malfunction determination time, or a condition that a predetermined distance has been traveled since the previous malfunction determination time. Alternatively, the predetermined execution condition may include a condition that control information, which will be described later, has been acquired.

[0077] When the EPB control unit 212 determines that the EPB 314 is broken, it transmits information indicating the failure as failure information to the exercise manager 200. The failure information may include information indicating the location of the failure in the EPB 314. When the EPB control unit 212 determines that the EPB 314 is not broken, it transmits information indicating that the EPB 314 is not broken to the exercise manager 200 as failure information.

[0078] Furthermore, the EPB control unit 212 transmits information indicating the control state of the EPB 314 to the motion manager 200 as control information. For example, when the EPB 314 keeps the vehicle 1 stopped, the EPB control unit 212 transmits information indicating that the vehicle 1 is kept stopped by the operation of the EPB 314 to the motion manager 200 as control information. When the EPB 314 keeps the vehicle 1 stopped, the EPB control unit 212 transmits information indicating that the EPB 314 keeps the vehicle 1 stopped as control information to the motion manager 200 as control information.

[0079] The exercise manager 200 judges whether or not the failure information and control information of the EPB 314 have been acquired. The exercise manager 200 judges that the failure information and control information of the EPB 314 have been acquired when the failure information and control information have been acquired from the EPB control unit 212. When it is judged that the failure information and control information of the EPB 314 have been acquired (YES in S102), the process proceeds to S104.

[0080] In S104, the motion manager 200 sets a stop-hold fail class using the failure information and control information of the EPB 314. The motion manager 200 sets, for example, one of a plurality of predetermined values ​​"00", "01" and "11" as the stop-hold fail class. The predetermined value "00" is, for example, a value indicating that there is no abnormality in the holding device used for backup. The predetermined value "01" is a value indicating that the holding device used for backup is temporarily unavailable.

[0081] For example, when an abnormality occurs in the EPB 314 but a failure is not confirmed (when a value indicating that the EPB 314 is abnormal is not output by the self-diagnosis function), the motion manager 200 sets the predetermined value "01" as the stop-hold failure class. For example, when the number of times that it is determined that the EPB 314 is abnormal is equal to or less than a threshold value, the motion manager 200 may set the predetermined value "01" as the stop-hold failure class. The predetermined value "11" is a value indicating that the support device used for backup is not available. For example, when a failure of the EPB 314 is confirmed (when a value indicating that the EPB 314 is abnormal is output by the self-diagnosis function), the motion manager 200 sets the predetermined value "11" as the stop-hold failure class. For example, when the number of times that an abnormality occurs in the EPB 314 exceeds a threshold value, the motion manager 200 may set the predetermined value "11" as the stop-hold failure class. If it is determined that the EPB 314 is not to be used as a backup (NO in S100), the process proceeds to S106.

[0082] In S106, the motion manager 200 sets the stop-hold backup state using the control information of the EPB. The motion manager 200 sets, for example, one of a plurality of predetermined values ​​"00", "01", "10" and "11" as the stop-hold backup state. The predetermined value "00" is, for example, a value indicating that the vehicle 1 is not held in a stopped state by the holding device used for backup. The predetermined value "01" is, for example, a value indicating that the holding device used for backup is controlling the vehicle 1 from a state where it is not held in a stopped state to a state where it is held. The predetermined value "10" is, for example, a value indicating that the holding device used for backup is controlling the vehicle 1 from a state where it is held in a stopped state to a state where it is not held. The predetermined value "11" is, for example, a value indicating that the vehicle 1 is held in a stopped state by the holding device used for backup.

[0083] In S108, the motion manager 200 determines whether or not to use the P lock system 310 as a backup when the vehicle 1 is held stationary using the braking device 312. The motion manager 200 determines whether or not the P lock system 310 is a backup control target, for example, by whether or not a predetermined second control target flag is in an on state. The second control target flag is set to an on state, for example, when the vehicle 1 is not equipped with an EPB 314. The motion manager 200 may determine that the P lock system 310 is a backup control target, for example, when the above-mentioned first control target flag is in an off state and the second control target flag is in an on state. When it is determined that the P lock system 310 is used as a backup (YES in S106), the process proceeds to S108.

[0084] In S110, the exercise manager 200 determines whether or not to obtain failure information and control information of the P lock system 310.

[0085] P lock system 310 includes a control unit (hereinafter, referred to as SBW-ECU) that controls P lock system 310. When a predetermined execution condition is satisfied, SBW-ECU determines whether or not P lock system 310 has a malfunction. The predetermined execution condition is as described above, and therefore detailed description thereof will not be repeated. When SBW-ECU determines that P lock system 310 has a malfunction, it transmits information indicating the malfunction to motion manager 200 as malfunction information. Note that the malfunction information may include information indicating a malfunction location of P lock system 310. Furthermore, when SBW-ECU determines that P lock system 310 does not have a malfunction, it transmits information indicating the malfunction to motion manager 200 as malfunction information.

[0086] Furthermore, the SBW-ECU transmits information indicating the control state of the P lock system 310 to the motion manager 200 as control information. For example, when the SBW-ECU reaches a state where the stopped state of the vehicle 1 is maintained by the P lock system 310, the SBW-ECU transmits information indicating that the stopped state of the vehicle 1 is maintained by the operation of the P lock system 310 as control information to the motion manager 200. Furthermore, when the stopped state of the vehicle 1 by the P lock system 310 is released, the SBW-ECU transmits information indicating that the stopped state of the vehicle 1 by the P lock system 310 is released to the motion manager 200 as control information.

[0087] The motion manager 200 determines whether or not the motion manager 200 has acquired the failure information and control information of the P lock system 310. When the motion manager 200 has acquired the failure information and control information from the SBW-ECU, the motion manager 200 determines that the motion manager 200 has acquired the failure information and control information of the P lock system 310. When the motion manager 200 determines that the motion manager 200 has acquired the failure information and control information of the P lock system 310 (YES in S108), the process proceeds to S110.

[0088] In S112, the motion manager 200 sets a stop-hold failure class using the failure information of the P lock system 310. The motion manager 200 sets, for example, one of a plurality of predetermined values ​​"00", "01", and "11" as the stop-hold failure class, as described above.

[0089] For example, when an abnormality occurs in the P lock system 310 but a failure is not confirmed (when a value indicating that the P lock system 310 is abnormal is not output by the self-diagnosis function), the motion manager 200 sets the predetermined value "01" as the stop-hold failure class. For example, when the number of times that it is determined that an abnormality occurs in the P lock system 310 is equal to or less than a threshold value, the motion manager 200 sets the predetermined value "01" as the stop-hold failure class. For example, when a failure of the P lock system 310 is confirmed (when a value indicating that the P lock system 310 is abnormal is output by the self-diagnosis function), the motion manager 200 sets the predetermined value "11" as the stop-hold failure class. For example, when the number of times that an abnormality occurs in the P lock system 310 exceeds a threshold value, the motion manager 200 sets the predetermined value "11" as the stop-hold failure class. Thereafter, the process proceeds to S112.

[0090] In S114, the exercise manager 200 sets the stop-hold backup state using the control information of the P lock system 310. The exercise manager 200 sets, for example, one of a plurality of predetermined values ​​"00", "01", "10" and "11" as the stop-hold backup state. The plurality of predetermined values ​​set as the stop-hold backup state are as described above, and therefore detailed description thereof will not be repeated.

[0091] In S116, the motion manager 200 transmits the stop-holding fail class and the stop-holding backup state to the ADAS-ECU 10. Note that if the failure information and control information of the EPB 314 are not acquired (NO in S102), if it is determined that the P-lock system 310 is not to be used as a backup (NO in S108), or if the failure information and control information of the P-lock system 310 are not acquired (NO in S110), this process is terminated.

[0092] An example of the operation of the vehicle 1 based on the above-described structure and flowchart will be described with reference to Figures 6 and 7. Figure 6 is a diagram for explaining an example of the operation of the vehicle 1 when the EPB 314 is used as a backup. Figure 7 is a diagram for explaining an example of the operation of the vehicle 1 when the P lock system 310 is used as a backup.

[0093] <When using EPB314 as a backup> 6, when the EPB control unit 212 receives a request to lock the EPB 314 (hereinafter, may be referred to as a lock request) from the motion manager 200, the EPB control unit 212 controls the actuator of the EPB 314 so that the EPB 314 is in an operating state (a state in which the movement of the vehicle 1 is restricted). Furthermore, when the EPB control unit 212 receives a request to release the locked state of the EPB 314 (hereinafter, may be referred to as a release request) from the motion manager 200, the EPB control unit 212 controls the actuator of the EPB 314 so that the EPB 314 is in a released state (a state in which the restriction on the movement of the vehicle 1 is released).

[0094] Furthermore, the EPB control unit 212 includes an EPB failure determination unit 212a that determines whether or not a failure has occurred in the EPB 314. The EPB failure determination unit 212a may determine that a failure has occurred in the actuator of the EPB 314, for example, when the voltage of a power source supplying power to an actuator of the EPB 314 is a high or low voltage outside a predetermined range, or when the current flowing through the actuator is a high or low current outside a predetermined range. Alternatively, the EPB failure determination unit 212a may determine that a failure has occurred in the actuator of the EPB 314, when the actuation amount of the actuator does not reach a target actuation amount, or when the temperature of the actuator exceeds a threshold value.

[0095] The EPB control unit 212 transmits to the exercise manager 200 EPB control information indicating the control state of the EPB 314 (whether it is in a locked state or an unlocked state) and EPB failure information indicating the result of the failure determination made by the EPB failure determination unit 212a.

[0096] The exercise manager 200 includes a request determination unit 214 for determining whether the EPB 314 is in a locked state or a released state, and a start / stop control unit 216. The request determination unit 214 includes an EPB authorization determination unit 214a, an alighting determination unit 214b, and an EPB request determination unit 214c.

[0097] The EPB authorization determination unit 214a determines whether or not it is possible to lock the EPB 314. For example, when the current shift range is the parking position, the EPB authorization determination unit 214a determines that it is possible to lock the EPB 314. For example, the EPB authorization determination unit 214a may obtain information about the current shift range from the powertrain ECU 316 included in the powertrain system 302.

[0098] Switches and sensors for detecting the shift range are connected to the power train ECU 316. The power train ECU 316 transmits information about the current shift range based on the detection results using the switches and sensors to the motion manager 200.

[0099] The alighting determination unit 214b determines whether or not the driver has alighted from the vehicle 1. The alighting determination unit 214b determines whether or not the driver has alighted from the vehicle 1 by using the seat belt fastening / unfastening information and the door opening / closing information. For example, the alighting determination unit 214b may determine that the driver has alighted from the vehicle 1 when the seat belt of the driver's seat changes from a fastened state to a detached state, and the door on the driver's seat side changes from a closed state to an open state and then changes again to a closed state. The alighting determination unit 214b acquires the seat belt fastening / unfastening information and the door opening / closing information from the body ECU 318.

[0100] A switch that is turned on and off when the seat belt is fastened or undone, and a switch that is turned on and off when the door is opened or closed are connected to the body ECU 318. The body ECU 318 generates information indicating whether the seat belt is fastened or undone and information indicating whether the door is opened or closed using the on / off states of each switch, and transmits the information to the motion manager 200.

[0101] The EPB request determination unit 214c determines whether to request locking or releasing of the EPB 314 using the respective determination results of the EPB authorization determination unit 214a and the dismount determination unit 214b and the hold request from the start / stop control unit 216. The EPB request determination unit 214c requests locking of the EPB 314, for example, when it is determined that the EPB 314 may be locked and the driver has dismounted, or when it is determined that the EPB 314 may be locked and there is a hold request. The EPB request determination unit 214c determines to request release of the EPB 314 when it is determined that the EPB 314 may not be locked, when it is determined that the driver has not dismounted, or when a hold request is not received.

[0102] For example, when maintaining the stopped state of the vehicle 1, the start / stop control unit 216 increases the hydraulic pressure in the braking device 312. For example, when an abnormality occurs in the braking device 312, such as when the hydraulic pressure does not increase, the start / stop control unit 216 transmits a request to the request determination unit 214 to maintain the vehicle 1 using the EPB 314.

[0103] For example, the ADAS-ECU 10 requests a required acceleration or a shift range in accordance with the operation of any one of a plurality of applications.

[0104] In this configuration, when the EPB 314 is used as a backup for the braking device 312 (YES in S100), the exercise manager 200 determines whether or not to obtain failure information and control information of the EPB 314 (S102).

[0105] For example, when the motion manager 200 receives EPB failure information indicating that the EPB 314 has failed and EPB control information from the EPB control unit 212 (YES in S102), the motion manager 200 sets a stop-holding fail class using the EPB failure information (S104) and sets a stop-holding backup state using the EPB control information (S106). The set stop-holding fail class and stop-holding backup state are transmitted to the ADAS-ECU 10 (S116). The ADAS-ECU 10 determines that there is an abnormality in the holding function by receiving the stop-holding fail class. The ADAS-ECU 10 may, for example, issue a warning or a voice notification to the effect that the EPB 314 cannot be used as a backup for holding the vehicle 1 when an abnormality occurs in the braking device 312.

[0106] <When using P-Lock System 310 as a backup> As shown in FIG. 7, the P-lock system 310 includes an SBW-ECU 310a and a shift actuator 310d.

[0107] The SBW-ECU 310a is configured to be able to control the shift actuator 310d. The shift actuator 310d is configured to switch from one of a P-lock activated state in which the rotation of the transmission is restricted by the P-lock system 310 to a P-lock released state in which the restriction on the rotation of the transmission by the P-lock system 310 is released to the other in response to a control signal from the SBW-ECU 310a.

[0108] The SBW-ECU 310a includes a shift control unit 310b and a shift malfunction determination unit 310c.

[0109] For example, when the shift control unit 310b receives a target shift range and a shift request from the motion manager 200, the shift control unit 310b controls the shift actuator 310d according to the target shift range. In this embodiment, the shift range includes, for example, a parking range (P range), a reverse driving range (R range), a neutral range (N range), and a forward driving range (D range).

[0110] For example, when the target shift range is the P range and there is a shift request, shift control unit 310b controls shift actuator 310d to enter the P lock activated state. For example, when the target shift range is a shift range other than the P range and there is a shift request, shift control unit 310b controls shift actuator 310d to enter the P lock released state.

[0111] The shift failure determination unit 310c determines whether or not a failure has occurred in the P lock system 310. The shift failure determination unit 310c may determine that a failure has occurred in the P lock system 310 when, for example, the voltage of the power source supplying power to the shift actuator 310d is a high or low voltage outside a predetermined range, or when the current flowing through the shift actuator 310d is a high or low current outside a predetermined range. Alternatively, the shift failure determination unit 310c may determine that a failure has occurred in the P lock system 310 when the actuation amount of the shift actuator 310d does not reach a target actuation amount, or when the temperature of the shift actuator 310d exceeds a threshold value.

[0112] The SBW-ECU 310a transmits to the motion manager 200 P-lock control information indicating the control state of the P-lock system 310 using the shift control unit 310b (whether the P-lock is engaged or released) and P-lock failure information indicating the result of the failure determination by the shift failure determination unit 310c.

[0113] The motion manager 200 includes a request determination unit 214 for determining whether a request (shift request) is for placing the P lock system 310 in a P lock activated state or a P lock released state, a start / stop control unit 216, and a shift arbitration unit 218.

[0114] The request determination unit 214 includes an alighting determination unit 214b, a P lock authorization determination unit 214d, and a P lock request determination unit 214e. Note that the alighting determination unit 214b is as described above, and therefore detailed description thereof will not be repeated.

[0115] The P-lock authorization determination unit 214d determines whether or not the P-lock system 310 is in a state where it may be put into a P-lock activated state. For example, when the vehicle 1 is in a stopped state, the P-lock authorization determination unit 214d determines that the P-lock system 310 is in a state where it may be put into a P-lock activated state. The P-lock authorization determination unit 214d may obtain information on the speed of the vehicle 1 from the powertrain ECU 316, for example.

[0116] A sensor that detects the speed of the vehicle 1 is connected to the powertrain ECU 316. The powertrain ECU 316 transmits to the motion manager 200 information about the speed of the vehicle 1 based on the detection result using the sensor.

[0117] The P lock request determination unit 214e determines whether to put the P lock system 310 into the P lock activated state or into the P lock released state using the respective determination results of the dismount determination unit 214b and the P lock authorization determination unit 214d and a hold request from the start / stop control unit 216 or the shift arbitration unit 218. For example, when the P lock system 310 is in a state where it may be put into the P lock activated state and it is determined that the driver has dismounted, or when the P lock system 310 is in a state where it may be put into the P lock activated state and there is a hold request, the P lock request determination unit 214e transmits a shift request to put the P lock into the P lock activated state. When the P lock system 310 is not in a state where it may be put into the P lock activated state, it is determined that the driver has not dismounted, or a hold request is not received, the P lock request determination unit 214e transmits a shift request to put the P lock into the P lock released state.

[0118] For example, when maintaining the stopped state of the vehicle 1, the start / stop control unit 216 increases the hydraulic pressure in the braking device 312. When an abnormality occurs in the braking device 312, the start / stop control unit 216 transmits a request to the request determination unit 214 to maintain the vehicle 1 using the P-lock system 310.

[0119] The shift arbitration unit 218 sets a target shift range using a requested state of the shift range due to a shift lever operation, etc. The shift arbitration unit 218 transmits the set target shift range to the SBW-ECU 310a.

[0120] In such a configuration, when the P lock system 310 is used as a backup for the braking device 312 (NO in S100 and YES in S108), the exercise manager 200 determines whether or not to obtain failure information and control information of the P lock system 310 (S110).

[0121] For example, when the motion manager 200 receives from the SBW-ECU 310a P lock failure information indicating that a failure has occurred in the P lock system 310 and the control information of the P lock system 310 (YES in S110), the motion manager 200 sets a stop-holding failure class using the failure information of the P lock system 310 (S112) and sets a stop-holding backup state using the control information of the P lock system 310 (S114). The set stop-holding failure class and stop-holding backup state are transmitted to the ADAS-ECU 10 (S116). The ADAS-ECU 10 determines that there is an abnormality in the holding function by receiving the stop-holding failure class. The ADAS-ECU 10 may, for example, issue a warning or a voice notification to the effect that the P lock system 310 cannot be used as a backup for holding the vehicle 1 when an abnormality occurs in the braking device 312.

[0122] As described above, according to the motion manager 200 of the present embodiment, the predetermined information transmitted to the ADAS-ECU 10 includes the stop-holding failure class (corresponding to the first information) and the stop-holding backup state (corresponding to the second information), and does not include information specifying the type of the holding device used for the backup. Therefore, even if the type of the holding device used for the backup is different, the ADAS-ECU 10 can grasp the presence or absence of an abnormality in the holding device and the control state by the first information and the second information. Therefore, when there are variations in the holding device used for the backup, it is not necessary to set the control information and the failure information according to the type of the holding device, so that the occurrence of the design burden due to the increase in the types of the holding device used for the backup can be suppressed. Therefore, it is possible to provide a motion manager, a vehicle, a method for controlling the vehicle, and a program for suppressing the occurrence of the design burden due to the increase in the types of the holding device used as a backup for the stop-holding of the vehicle.

[0123] Modifications will be described below.

[0124] In the above embodiment, the exercise manager 200 is described as including the reception unit 202, the arbitration unit 204, the calculation unit 206, the distribution unit 208, and the transmission unit 210 as an example, but the exercise manager 200 may include, for example, at least a first exercise manager that receives an action plan from an application, and a second exercise manager that can communicate with the first exercise manager and requests the actuator system 30 to exercise. In this case, the functions of the arbitration unit 204, the calculation unit 206, the distribution unit 208, and the transmission unit 210 may be implemented in either the first exercise manager or the second exercise manager.

[0125] Furthermore, in the above-described embodiment, a case has been described in which either the EPB 314 or the P lock system 310 is used as a backup for the braking device 312, but at least either the EPB 314 or the P lock system 310 may be used as a backup for the braking device 312.

[0126] For example, in the case where the EPB 314 is used as a backup for the braking device 312, if it is determined that a failure has occurred in the EPB 314, the P-lock system 310 may be used as a backup for the braking device 312.

[0127] Furthermore, in the above-described embodiment, for ease of explanation, a case has been described as an example in which vehicle 1 is equipped with P lock system 310 and EPB 314, but it is sufficient that at least one of P lock system 310 and EPB 314 is installed, and for example, vehicle 1 may be configured in such a way that P lock system 310 is omitted, or that EPB 314 is omitted.

[0128] The above-described modified examples may be implemented in whole or in part in appropriate combination.

[0129] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0130] 1 vehicle, 10 ADAS-ECU, 20 brake ECU, 30 actuator system, 40 central ECU, 42 memory, 100 driving assistance system, 120 ADK, 122 ADS, 150 system group, 200 motion manager, 202 reception unit, 204 arbitration unit, 206 calculation unit, 208 distribution unit, 210 transmission unit, 212 EPB control unit, 212a EPB failure determination unit, 214 request determination unit, 214a EPB authorization determination unit, 214b disembarkation determination unit, 214c EPB request determination unit, 214d P lock authorization determination unit, 214e P lock request determination unit, 216 start / stop control unit, 218 shift arbitration unit, 302 powertrain system, 304 brake system, 306 steering system, 308 sensor group, 310 P lock system, 310a SBW-ECU, 310b shift control unit, 310c shift failure determination unit, 310d shift actuator, 312 braking device.

Claims

1. A motion manager that requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with an action plan for vehicle driving assistance, the driving assistance including assistance using a holding function for holding the vehicle in a stopped state, the action plan being set in a setting device capable of transmitting and receiving information to and from the motion manager, the plurality of actuators including a first holding device having the holding function and a second holding device having the holding function and capable of executing backup control for holding the vehicle in a stopped state when an abnormality occurs in the first holding device, a reception unit that receives information indicating the action plan from the setting device; a distributor that distributes a motion request for the vehicle calculated using the action plan to at least one of the plurality of actuators; a transmission unit that transmits predetermined information to the setting device, An exercise manager, wherein the predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control status of the second holding device, and does not include information identifying the type of the second holding device.

2. The first retaining device includes a service brake, The motion manager of claim 1 , wherein the second retention device comprises one of a parking lock system and an electric parking brake system.

3. A setting device that sets an action plan related to driving assistance for a vehicle; a plurality of actuators including a first holding device provided on the vehicle and having a holding function for holding the vehicle in a stopped state, and a second holding device having the holding function and capable of executing backup control for holding the vehicle in a stopped state when an abnormality occurs in the first holding device; a motion manager configured to be able to transmit and receive information to and from the setting device and to request at least one of the actuators to move the vehicle according to the action plan; The driving assistance includes assistance using the holding function, The exercise manager transmits predetermined information to the setting device; A vehicle, wherein the predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control status of the second holding device, and does not include information identifying the type of the second holding device.

4. A method for controlling a vehicle, the vehicle including a plurality of actuators including a setting device that sets an action plan for driving assistance of the vehicle, a first holding device having a holding function for holding a stopped state of the vehicle, and a second holding device having the holding function and capable of executing backup control for holding the stopped state of the vehicle when an abnormality occurs in the first holding device, the driving assistance including assistance using the holding function, setting an action plan regarding the driving assistance using the setting device; receiving information indicating the action plan from the setting device; distributing motion demands for the vehicle calculated using the action plan to at least some of the plurality of actuators; transmitting predetermined information to the setting device; A vehicle control method, wherein the predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control status of the second holding device, and does not include information identifying the type of the second holding device.

5. A program to be executed by a computer mounted on a vehicle, the vehicle including a setting device that sets an action plan related to driving assistance for the vehicle, a first holding device having a holding function for holding the stopped state of the vehicle, and a second holding device having the holding function and capable of executing backup control for holding the stopped state of the vehicle when an abnormality occurs in the first holding device, The computer includes: Setting an action plan regarding driving assistance including assistance using the retention function; receiving information indicating the action plan from the setting device; distributing motion demands for the vehicle calculated using the action plan to at least some of the plurality of actuators; and transmitting predetermined information to the setting device. A program in which the predetermined information includes first information indicating the presence or absence of an abnormality in the holding function of the second holding device and second information indicating the control status of the second holding device, and does not include information identifying the type of the second holding device.

Images