Exercise manager, control device for braking device, and control method

Abstract

To prevent a vehicle from moving by an impact of collision with other object, when the other object collides with the vehicle.SOLUTION: A motion manager 91 includes a reception part 92, and a generation part 94. The reception part 92 receives a first motion request indicating that additional brake force is necessary from a first application 63A determining that other object is going to collide with a vehicle, when the vehicle stops. The generation part 94 generates an index value of an operation request for allowing a brake device 40 to generate brake force larger than that before the reception part 92 receives the first operation request indicating that the additional brake force is necessary, when it receives the first motion request.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a motion manager, a control device for a braking device, and a control method.

Background Art

[0002] Patent Document 1 describes a motion manager. The motion manager is mounted on a vehicle. The motion manager includes a reception unit and a generation unit. The reception unit receives a motion request from an application. The generation unit generates, for example, an instruction value of an operation request to be output to a brake control unit based on the motion request received by the reception unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The motion manager described in Patent Document 1 receives, for example, the acceleration required for the vehicle from an application when the vehicle is running. Then, the motion manager generates an instruction value of an operation request so as to achieve the acceleration. On the other hand, the technique described in Patent Document 1 does not pay any attention to what processing the motion manager should perform when the vehicle is stopped and an external force is applied to the vehicle.

Means for Solving the Problems

[0005] To solve the above problems, one aspect of the present disclosure is a motion manager mounted on a vehicle, comprising: a reception unit that receives a motion request from an application; and a generation unit that generates an instruction value of an operation request for a brake control unit that controls a brake device based on the motion request received by the reception unit. The reception unit receives, when the vehicle is stopped, the motion request indicating that additional braking force is required from the application that has determined that another object will collide with the vehicle. When the generation unit receives the motion request indicating that the additional braking force is required, the generation unit generates the instruction value for generating a braking force greater than that before receiving the motion request in the brake device.

[0006] To solve the above problems, one aspect of the present disclosure is a control device that controls a brake device of a vehicle, comprising: a reception unit that receives a motion request from an application; and a generation unit that generates an instruction value of an operation request for a brake control unit that controls the brake device based on the motion request received by the reception unit, and having a motion manager. The reception unit receives, when the vehicle is stopped, the motion request indicating that additional braking force is required from the application that has determined that another object will collide with the vehicle. When the generation unit receives the motion request indicating that the additional braking force is required, the generation unit generates the instruction value for generating a braking force greater than that before receiving the motion request in the brake device.

[0007] According to each of the above configurations, the reception unit receives a motion request indicating a need for additional braking force from an application that determines that another object will collide with the vehicle when the vehicle is stopped. At this time, since the vehicle is stopped, the braking device is generating a certain braking force. However, the braking force at this time only needs to be sufficient to stop the vehicle. Therefore, the braking force at this time may not be a very large braking force. On the other hand, when the generation unit receives a motion request indicating a need for additional braking force, it generates an output signal that causes a greater braking force to be generated in the vehicle than before receiving the motion request. Therefore, the vehicle generates a greater braking force than before receiving the motion request. This can prevent the vehicle from moving due to the impact when another object collides with the vehicle.

[0008] To solve the above problems, one aspect of the present disclosure is a control method executed by a computer mounted on a vehicle to control a braking device of the vehicle, the method comprising: receiving a motion request from an application; and generating an instruction value of an operation request for controlling the braking device based on the received motion request. When the vehicle is stopped, the reception unit receives the motion request indicating a need for additional braking force from the application that determines that another object will collide with the vehicle, and generates the instruction value for causing a greater braking force to be generated in the braking device than before receiving the motion request indicating a need for the additional braking force.

[0009] According to the above configuration, when the vehicle is stopped, a motion request indicating the need for additional braking force is received from an application that determines that another object will collide with the vehicle. At this time, since the vehicle is stopped, the braking device is generating a certain braking force. However, the braking force at this time only needs to be sufficient to stop the vehicle. Therefore, the braking force at this time may not be very large. On the other hand, according to the above configuration, when a motion request indicating the need for additional braking force is received, an output signal is generated to cause the vehicle to generate a braking force greater than that before receiving the motion request. Therefore, the vehicle generates a greater braking force than before receiving the motion request. This can prevent the vehicle from moving due to the impact when another object collides with the vehicle.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0011] (One Embodiment) Hereinafter, an embodiment of a motion manager, a control device having the motion manager, and a control method will be described. Hereinafter, the control device having the motion manager will be described with reference to the drawings.

[0012] <Outline of the Vehicle> As shown in FIG. 1, the vehicle 10 includes an internal combustion engine 20, a steering device 30, a brake device 40, and a control device 50.

[0013] The internal combustion engine 20 is a drive source of the vehicle 10. Although not shown in the drawings, the internal combustion engine 20 has a plurality of actuators such as a throttle valve, a fuel injection valve, and an ignition device. The internal combustion engine 20 burns fuel and drives the vehicle 10 by controlling each of the above actuators by the control device 50.

[0014] The steering device 30 changes the steering angle of the steered wheels of the vehicle 10. The steering device 30 has an electric power steering. The electric power steering assists the steering operation by the driver by controlling an actuator by the control device 50. Further, the electric power steering finely adjusts the amount of steering operation by the driver or adjusts the steering angle regardless of the driver's operation by controlling an actuator by the control device 50.

[0015] The brake device 40 is provided on each wheel of the vehicle 10. The brake device 40 is a disc brake that generates braking force using hydraulic pressure. As shown in FIG. 2, the brake device 40 includes a disc 41, a brake pad 42, and an actuator 44 that applies hydraulic pressure to the brake pad 42. That is, the actuator 44 outputs hydraulic pressure. The disc 41 is a rotating body that rotates integrally with the wheel of the vehicle 10. The brake pad 42 is a friction material supported by the vehicle body of the vehicle 10. The hydraulic pressure from the actuator 44 is controlled by the control device 50. The brake device 40 generates braking force on the vehicle 10 by bringing the disc 41 and the brake pad 42 into contact with each other.

[0016] As shown in FIG. 1, the control device 50 includes an advanced safety ECU 60, an engine ECU 70, a steering ECU 80, and a brake ECU 90. Each ECU can exchange signals with each other via an internal bus (not shown).

[0017] The advanced safety ECU 60 realizes functions related to the driving support of the vehicle 10. Specifically, the advanced safety ECU 60 includes a CPU 61 and a ROM 62. The ROM 62 stores a plurality of applications 63. Here, among the plurality of applications 63, three applications 63 are defined as the first application 63A, the second application 63B, and the third application 63C.

[0018] The first application 63A is an application for detecting, before a collision, that another object such as another vehicle that collides with the vehicle 10 when the vehicle 10 stops, using sensors such as a camera (not shown). More specifically, the first application 63A is an application for detecting a collision with the vehicle 10 using an image of another vehicle acquired by the camera. That is, the first application 63A is an application that is executed only when the vehicle 10 stops.

[0019] The second application 63B and the third application 63C are programs that realize the functions of the advanced driving assistance system. Examples of these second application 63B and third application 63C are ACC (Adaptive Cruise Control) applications for following driving while keeping a constant distance from the preceding vehicle. The ACC application requests acceleration and deceleration to each actuator mounted on the vehicle 10 so that the vehicle 10 can travel while keeping a constant distance from the preceding vehicle.

[0020] Further, other examples of the second application 63B and the third application 63C are an ASL (Auto Speed Limiter) application that recognizes a speed limit and maintains the speed of the vehicle 10 below the speed limit. Further, other examples of the second application 63B and the third application 63C are a collision damage mitigation braking application, so-called AEB (Autonomous Emergency Braking) application, that automatically applies brakes to reduce damage caused by a collision with the vehicle 10. Also, other examples of the second application 63B and the third application 63C are a lane keeping support application, so-called LKA (Lane Keeping Assist) application, that maintains the lane in which the vehicle 10 is traveling. Therefore, the second application 63B and the third application 63C are applications that are executed only when the vehicle 10 is running.

[0021] The CPU 61 acquires detection values from a plurality of sensors (not shown) mounted on the vehicle 10. The CPU 61 uses the detection values from the sensors to execute each application 63 stored in the ROM 62. When the CPU 61 executes each application 63, the CPU 61 outputs a motion request corresponding to the application 63 so that the functions of each application 63 can be realized. Note that the CPU 61 may execute a plurality of applications 63 at the same time. In this case, the CPU 61 outputs individual motion requests for each executed application 63.

[0022] The CPU 61 outputs each motion request to an ECU having a control unit of an actuator that requires control in realizing the functions of each application 63. Specifically, the CPU 61 outputs a motion request to one or more selected from the engine ECU 70, the steering ECU 80, and the brake ECU 90.

[0023] Here, when the CPU 61 executes the second application 63B and the third application 63C, the motion requirement output from the CPU 61 to the engine ECU 70 is a value indicating the required acceleration to be generated in the vehicle 10. Also, when the CPU 61 executes the second application 63B and the third application 63C, the motion requirement output from the CPU 61 to the steering ECU 80 is a value indicating the steering angle of the vehicle 10. Furthermore, when the CPU 61 executes the second application 63B and the third application 63C, the motion requirement output from the CPU 61 to the brake ECU 90 is a value indicating the required acceleration to be generated in the vehicle 10.

[0024] On the other hand, when the CPU 61 executes the first application 63A, the motion requirement output from the CPU 61 to the brake ECU 90 is a signal indicating that additional braking force is required for the vehicle 10. Whether additional braking force is required for the vehicle 10 is represented by a so-called flag. A flag in the on state is a signal indicating that additional braking force is required for the vehicle 10. In contrast, a flag in the off state is a signal indicating that no additional braking force is required for the vehicle 10. Thus, the motion requirement output from the first application 63A to the brake ECU 90 is a signal that alternatively indicates whether additional braking force is required.

[0025] As described above, the motion requirement output by the CPU 61 does not directly indicate, for example, the instruction value output to the actuator 44 of the brake device 40. That is, the motion requirement is common, for example, for the brake device 40 and does not change according to the type of the brake device 40. On the other hand, the motion requirement can be different for each device with different functions such as the internal combustion engine 20, the steering device 30, and the brake device 40.

[0026] The engine ECU 70 is a computer including a CPU and a ROM (not shown). By executing the program stored in the ROM, the CPU of the engine ECU 70 controls the internal combustion engine 20. That is, the engine ECU 70 is a control device for controlling the internal combustion engine 20. In particular, the engine ECU 70 controls the internal combustion engine 20 based on a motion request from the advanced safety ECU 60.

[0027] The steering ECU 80 is a computer including a CPU and a ROM (not shown). By executing the program stored in the ROM, the CPU of the steering ECU 80 controls the steering device 30. That is, the steering ECU 80 is a control device for controlling the steering device 30. In particular, the steering ECU 80 controls the steering device 30 based on a motion request from the advanced safety ECU 60.

[0028] The brake ECU 90 is a computer including a CPU and a ROM (not shown). By executing the program stored in the ROM, the CPU of the brake ECU 90 controls the brake device 40. That is, the brake ECU 90 is a control device for controlling the brake device 40. In particular, the brake ECU 90 controls the brake device 40 based on a motion request from the advanced safety ECU 60. Hereinafter, the operation of the brake ECU 90 will be described in detail.

[0029] <Brake ECU> Hereinafter, the operation of the brake ECU 90 when each application 63 stored in the advanced safety ECU 60 is executed will be described.

[0030] As shown in FIG. 2, the brake ECU 90 includes a motion manager 91 and a brake control unit 96. Although not shown, the brake ECU 90 includes a CPU and a ROM. By executing the program for the motion manager and the program for brake control stored in the ROM, the CPU of the brake ECU 90 realizes the functions of the motion manager 91 and the brake control unit 96.

[0031] Specifically, as shown in FIG. 3, the CPU of the brake ECU 90 executes a reception process S11, a mediation process S12, a generation process S13, and a control process S14 by executing the program stored in the ROM. Therefore, the CPU of the brake ECU 90 functions as a reception unit 92, a mediation unit 93, and a generation unit 94 in the motion manager 91. Further, the CPU of the brake ECU 90 functions as a brake control unit 96.

[0032] The ROM of the brake ECU 90 stores in advance the type information TI of the brake device 40 to be controlled by the brake control unit 96. The type information TI is information for specifying the type of the brake device 40 actually mounted on the vehicle 10 from among a plurality of types of brake devices 40 that can be mounted on the vehicle 10.

[0033] Further, the ROM of the brake ECU 90 stores a plurality of instruction value maps in which each motion requirement is associated with an instruction value of an operation requirement for realizing the motion requirement. This instruction value is a signal indicating the magnitude of the hydraulic pressure output by the actuator 44. The ROM of the brake ECU 90 stores an instruction value map for each type information TI. Further, the type information TI of the brake device 40 includes constraint items RE for each type of the brake device 40. The constraint items RE include information on the upper limit value of the braking force that the brake device 40 can output. Further, the constraint items RE include the upper limit value of the output of the actuator 44 for setting the upper limit value of the braking force that the brake device 40 can output.

[0034] As shown in FIG. 3, when a motion request is input from the advanced safety ECU 60 to realize the functions of the advanced driver assistance system, the brake ECU 90 starts controlling the brake device 40. When starting to control the brake device 40, first, the brake ECU 90 performs a reception process S11. In the reception process S11, the reception unit 92 performs processing. Here, the motion request from the first application 63A is defined as the first motion request, the motion request from the second application 63B is defined as the second motion request, and the motion request from the third application 63C is defined as the third motion request.

[0035] <The state where the vehicle is running> First, when the vehicle 10 is not stopped, that is, when the vehicle 10 is running, the operation of the brake ECU 90 will be described. When the vehicle 10 is not stopped, the first application 63A described above is not executed. On the other hand, the second application 63B and the third application 63C are executed.

[0036] As shown in FIG. 2, the reception unit 92 is capable of receiving motion requests corresponding to the individual applications 63 from the advanced safety ECU 60. Also, as described above, the advanced safety ECU 60 may execute a plurality of applications 63 simultaneously. In this case, the reception unit 92 receives a plurality of motion requests and outputs the plurality of motion requests to the arbitration unit 93. Specifically, the reception unit 92 receives the second motion request and the third motion request and outputs the second motion request and the third motion request to the arbitration unit 93. On the other hand, when the vehicle 10 is not stopped, the first application 63A is not executed. Therefore, the reception unit 92 does not receive the first motion request.

[0037] Thereafter, as shown in FIG. 3, the brake ECU 90 advances the process to an arbitration process S12. In the arbitration process S12, the arbitration unit 93 performs processing. As shown in FIG. 2, the arbitration unit 93 arbitrates the motion requests received by the reception unit 92. When there is only one motion request received by the reception unit 92, the arbitration unit 93 selects that motion request. On the other hand, when there are multiple motion requests received by the reception unit 92, the arbitration unit 93 arbitrates the multiple motion requests by selecting the motion request with the most negative and largest required acceleration. Specifically, when the required acceleration indicated by the third motion request is larger on the negative side than the required acceleration indicated by the second motion request, the arbitration unit 93 selects the third motion request to arbitrate the two motion requests. That is, the arbitration unit 93 arbitrates by selecting the motion request that results in a larger braking force.

[0038] Thereafter, as shown in FIG. 3, the brake ECU 90 advances the process to the generation step S13. In the generation step S13, the generation unit 94 performs the process. As shown in FIG. 2, the generation unit 94 generates an instruction value of the operation request to be output to the brake control unit 96 mounted on the vehicle 10 based on the arbitration result by the arbitration unit 93. At this time, the generation unit 94 generates the instruction value of the operation request using the type information TI of the brake device 40 stored in the storage unit 95 and the instruction value map corresponding to the type information TI.

[0039] Here, for example, it is assumed that the third motion request from the third application 63C is selected as the motion request in the arbitration by the arbitration unit 93. Even for the same third motion request, for example, if the type of the actuator 44 is different, the instruction value for realizing the third motion request may be different. For example, even if the instruction value for realizing the third motion request with the actuator 44 of "type A" is "X value", the instruction value for realizing the third motion request with the actuator 44 of "type B" may be "Y value". Therefore, the generation unit 94 identifies the instruction value map corresponding to the type information TI. Then, the generation unit 94 identifies the value corresponding to the motion request arbitrated by the arbitration unit 93 in the identified instruction value map, and generates it as the instruction value of the operation request.

[0040] Note that, as described above, when the vehicle 10 is not stopped, the reception unit 92 does not receive the first motion request. Therefore, when the vehicle 10 is not stopped, the generation unit 94 does not generate an instruction value of an operation request corresponding to the first motion request.

[0041] Thereafter, as shown in FIG. 3, the brake ECU 90 proceeds with the process to the control step S14. In the control step S14, the brake control unit 96 performs the process. As shown in FIG. 2, the brake control unit 96 outputs the instruction value of the operation request generated by the generation unit 94 to the actuator 44 of the brake device 40. Thereby, the brake control unit 96 controls the brake device 40 through driving of the actuator 44. Thereafter, the brake ECU 90 ends a series of processes.

[0042] <State where the vehicle is stopped> Next, the operation of the brake ECU 90 when the vehicle 10 is stopped will be described. In a state where the vehicle 10 is stopped, the actuator 44 of the brake device 40 is in a state of outputting a hydraulic pressure equal to or higher than a certain level. At this time, the CPU 61 of the advanced safety ECU 60 may detect that another vehicle collides with the vehicle 10 by executing the first application 63A. In this case, the CPU 61 outputs a first motion request indicating that additional braking force is required for the vehicle 10 from the first application 63A to the brake ECU 90.

[0043] As shown in FIG. 3, first, the brake ECU 90 performs the reception step S11. In the reception step S11, the reception unit 92 performs the process. As shown in FIG. 2, the reception unit 92 receives the first motion request from the advanced safety ECU 60 from the first application 63A.

[0044] Thereafter, as shown in FIG. 3, the brake ECU 90 proceeds with the process to the arbitration step S12. In the arbitration step S12, the arbitration unit 93 performs the process. As shown in FIG. 2, the arbitration unit 93 arbitrates the motion requests received by the reception unit 92. When the arbitration unit 93 receives a first motion request, it arbitrates by selecting the first motion request regardless of the presence or absence of other motion requests.

[0045] Thereafter, as shown in FIG. 3, the brake ECU 90 advances the process to the generation step S13. In the generation step S13, the generation unit 94 performs the process. As shown in FIG. 2, the generation unit 94 generates an instruction value of the operation request to be output to the brake control unit 96 based on the arbitration result by the arbitration unit 93. At this time, the generation unit 94 generates an instruction value of the operation request for generating a braking force greater than that before receiving the first motion request in the brake device 40. Specifically, when the generation unit 94 realizes the first motion request, it generates a specific instruction value which is a preset value of the instruction value. More specifically, the generation unit 94 refers to the constraint item RE of the brake device 40 stored in the storage unit 95. When the generation unit 94 receives a first motion request indicating that additional braking force is required, it generates a specific instruction value so that the braking force of the brake device 40 is smaller than the upper limit. Specifically, the generation unit 94 sets a value slightly smaller than the upper limit value of the output of the actuator 44 as the specific instruction value. When the instruction value of the operation request to the actuator 44 is the specific instruction value, the braking force of the brake device 40 becomes the braking force that locks the rotation of the wheels of the vehicle 10.

[0046] Thereafter, as shown in FIG. 3, the brake ECU 90 advances the process to the control step S14. In the control step S14, the brake control unit 96 performs the process. As shown in FIG. 2, the brake control unit 96 outputs the specific instruction value generated by the generation unit 94 to the actuator 44 of the brake device 40. Thereby, the brake control unit 96 controls the brake device 40 through driving of the actuator 44. And the braking force of the brake device 40 becomes the braking force that locks the rotation of the wheels of the vehicle 10. Thereafter, the brake ECU 90 ends this series of processes.

[0047] (Operation of the Embodiment) According to the above embodiment, in a state where the vehicle 10 is stopped, the reception unit 92 of the brake ECU 90 receives a first motion request indicating that additional braking force is required. At this time, in preparation for a collision of another vehicle with the vehicle 10, the generation unit 94 generates an instruction value of an operation request for realizing additional braking force based on the first motion request.

[0048] (Effect of the embodiment) (1) According to the above embodiment, when the vehicle 10 is stopped, the reception unit 92 receives a first motion request indicating that additional braking force is required from the first application 63A that has determined that another object such as another vehicle will collide with the vehicle 10. At this time, since the vehicle 10 is stopped, the braking device 40 generates a certain braking force. However, the braking force at this time only needs to be sufficient to stop the vehicle 10. Therefore, the braking force at this time may not be a very large braking force. On the other hand, when the reception unit 92 receives a first motion request indicating that additional braking force is required, the generation unit 94 generates an instruction value of an operation request for generating a braking force greater than that before receiving the first motion request in the vehicle 10. Therefore, the vehicle 10 generates a braking force greater than that before receiving the first motion request. Thereby, when another object collides with the vehicle 10, it is possible to prevent the vehicle 10 from moving due to the impact.

[0049] (2) According to the above embodiment, the storage unit 95 stores in advance the type information TI of the braking device 40. Then, when the generation unit 94 receives a motion request, it generates an instruction value of an operation request based on the type information TI of the braking device 40 stored in the storage unit 95. Therefore, even if the motion request received from the application 63 is not in a form adapted to the type, structure, etc. of the braking device 40, it is possible to generate an instruction value of an operation request for generating a braking force in the vehicle 10. Thus, when developing the application 63, it is only necessary to develop according to a unified standard. That is, there is no need to develop the application 63 for each type and structure of the braking device 40.

[0050] (3) According to the above embodiment, the type information TI of the brake device 40 includes the constraint items RE of the brake device 40. Further, the constraint items RE include information on the upper limit value of the braking force that the brake device 40 can output. And when the generation unit 94 receives a first motion request that requires additional braking force, it generates an instruction value of the motion request so that the braking force of the brake device 40 is equal to or less than the upper limit value. Therefore, even when a first motion request indicating the need for additional braking force is received, an instruction value of a motion request that causes a braking force exceeding the upper limit value is not generated for the brake device 40. Thus, damage to the brake device 40 can be prevented.

[0051] (4) According to the above embodiment, the generation unit 94 receives a first motion request that requires additional braking force. In this case, based on the type information TI of the brake device 40, an instruction value is generated as a specific instruction value so that the braking force of the brake device 40 becomes a braking force that locks the rotation of the wheels of the vehicle 10. Therefore, the brake device 40 can generate a braking force to lock the wheels of the vehicle 10. When the wheels of the vehicle 10 are locked, when the vehicle 10 is moved by a collision with another vehicle, the wheels rub against the ground. Thereby, when another vehicle collides with the vehicle 10, the energy due to the collision can be consumed by the friction between the wheels of the vehicle 10 and the ground.

[0052] (5) According to the above embodiment, when the vehicle 10 is not stopped, the generation unit 94 does not generate an instruction value of a motion request corresponding to a first motion request indicating the need for additional braking force. Therefore, when the vehicle 10 is not stopped, the process of realizing the motion requests from the second application 63B and the third application 63C is not hindered.

[0053] (6) According to the above embodiment, when the mediation unit 93 receives a first motion request, it mediates by selecting the first motion request regardless of the presence or absence of other motion requests. Therefore, it is possible to prevent the additional braking force from not being applied.

[0054] (Other Embodiments) The above-described embodiment can be implemented with the following modifications. The above-described embodiment and the following modification examples can be implemented in combination with each other as long as they do not technically conflict with each other.

[0055] · In addition to or instead of the internal combustion engine 20, the vehicle 10 may be provided with a motor that serves as a driving source of the vehicle 10. In this case, the control device 50 may be provided with a motor ECU that controls the motor, in addition to or instead of the engine ECU 70.

[0056] · The type and structure of the brake device 40 are not limited to the structure of the above-described embodiment. If the storage unit 95 stores the type information TI of the actuator 44 of the brake device 40, the motion manager 91 can generate an operation request according to the type and structure of the brake device 40.

[0057] · The actuator 44 is not limited to one that outputs hydraulic pressure. It may be appropriately changed to a different type according to the braking force generated by the brake device 40, etc. Even in this case, if the storage unit 95 stores the type information TI of the brake device 40, the generation unit 94 can generate an output value of an appropriate operation request.

[0058] · The motion manager 91 is not limited to being included in the brake device 40 even when controlling the brake device 40. For example, the motion manager 91 may be included in the advanced safety ECU 60. Also, for example, the control device 50 may be provided with a management ECU that collectively manages the internal combustion engine 20, the steering device 30, and the brake device 40. In this case, the motion manager 91 may be included in the management ECU.

[0059] · The control device 50 may be divided into a device having the motion manager 91 and a device having the brake control unit 96. That is, the CPU that executes the reception step S11, the mediation step S12, and the generation step S13, and the CPU that executes the control step S14 may be different.

[0060] ·In the above embodiment, in the advanced safety ECU 60, it is assumed that the plurality of applications 63 are executed by the same CPU 61, but it is not limited thereto. Each application 63 may be executed by a different CPU.

[0061] ·The application 63 is not limited to the applications exemplified in the above embodiment. For example, the application 63 may be an ISA (Intelligent Speed Assistance) application that controls so that the speed of the vehicle 10 does not exceed the upper limit speed.

[0062] ·The first application 63A may also be executed while the vehicle 10 is running. In this case, the arbitration unit 93 may arbitrate by selecting the first motion request from the first application 63A while the vehicle 10 is running. Further, in this case, the generation unit 94 may or may not generate an instruction value corresponding to the first motion request when the vehicle 10 is not stopped.

[0063] ·The arbitration unit 93 does not necessarily have to arbitrate the motion requests based on the magnitude of the output values of the operation requests. For example, the arbitration unit 93 may arbitrate to select a signal from an application 63 with a high degree of urgency. More specifically, for example, when the reception unit 92 receives motion requests from an AEB application and an LKA application, arbitration may be performed by selecting the motion request from the AEB application with a high degree of urgency.

[0064] ·In the above embodiment, the generation unit 94 generates the instruction value of the operation request using the instruction value map stored in the storage unit 95, but it is not limited thereto. For example, instead of the instruction value map, the generation unit 94 may generate an instruction value by multiplying a reference value by a coefficient corresponding to the type of the actuator 44.

[0065] · When the generation unit 94 receives the first motion request, the braking force of the braking device 40 does not have to be a braking force that locks the rotation of the wheels of the vehicle 10. At least, when the generation unit 94 receives the first motion request, it may generate an instruction value of an operation request for generating a braking force greater than that before receiving the first motion request in the braking device 40.

[0066] · The storage unit 95 does not have to store the constraint item RE of the braking device 40. In this case, even when the generation unit 94 receives the first motion request, it may generate an instruction value of an operation request such that the braking force of the braking device 40 becomes greater than the upper limit value.

[0067] · The storage unit 95 does not have to store the type information TI of the braking device 40. For example, the instruction value generated by the generation unit 94 may be adjusted according to the type and structure of the braking device 40 of the vehicle 10.

[0068] · After the brake control unit 96 outputs the specific instruction value in the above embodiment, when no other vehicle collides with the vehicle 10, it may stop outputting the specific instruction value. Specifically, it is assumed that a signal indicating that no other vehicle has collided with the vehicle 10 is input to the brake ECU 90 until a predetermined time elapses from the time when the first motion request is input to the brake ECU 90. By receiving this signal, the brake control unit 96 may stop outputting the specific instruction value.

[0069] (Supplementary Notes) Describe the technical idea that can be grasped from the above embodiment and modification examples. (Supplementary Note 1) A motion manager mounted on a vehicle, A reception unit that receives a motion request from an application, A generation unit that generates an instruction value of an operation request for a brake control unit that controls a braking device based on the motion request received by the reception unit, When the vehicle is stopped, the reception unit receives the motion request indicating that additional braking force is required from the application that has determined that another object will collide with the vehicle. When the reception unit receives the motion request indicating that additional braking force is required, the generation unit generates an instruction value for causing a braking force greater than that before receiving the motion request to be generated in the braking device. Motion manager.

[0070] (Appendix 2) The braking control unit further includes a storage unit that stores in advance the type information of the braking device to be controlled. When the generation unit receives the motion request, it generates the instruction value based on the type information of the braking device stored in the storage unit. The motion manager according to (Appendix 1).

[0071] (Appendix 3) The type information includes the constraints of the braking device. The constraints include information on the upper limit value of the braking force that the braking device can output. When the generation unit receives the motion request indicating that additional braking force is required, it generates the instruction value so that the braking force of the braking device is equal to or less than the upper limit value. The motion manager according to (Appendix 2).

[0072] (Appendix 4) When the generation unit receives the motion request indicating that additional braking force is required, it generates the instruction value based on the type information so that the braking force of the braking device becomes a braking force predetermined as the braking force that locks the rotation of the vehicle wheels. The motion manager according to (Appendix 2) or (Appendix 3).

[0073] (Appendix 5) When the vehicle is not stopped, the generation unit does not generate the instruction value corresponding to the motion request indicating the need for the additional braking force. The motion manager according to any one of Appendices (1) to (4).

[0074] (Appendix 6) The apparatus further includes a mediation unit that mediates a plurality of the motion requests received by the reception unit. When the mediation unit receives the motion request indicating the need for the additional braking force, the mediation unit mediates by selecting the motion request indicating the need for the additional braking force regardless of the presence or absence of the other motion requests. The motion manager according to any one of Appendices (1) to (5).

Explanation of Signs

[0075] 10…Vehicle 20…Internal combustion engine 30…Steering device 40…Brake device 50…Control device 60…Advanced safety ECU 61…CPU 62…ROM 63…Application 63A…First application 63B…Second application 63C…Third application 70…Engine ECU 80…Steering ECU 90…Brake ECU 91…Motion manager 92…Reception unit 93…Mediation unit 94…Generation unit 95…Storage unit 96…Brake control unit S11…Reception process S12…Mediation process S13…Generation process

Claims

1. A motion manager mounted on a vehicle, comprising: a reception unit that receives a motion request from an application; a generation unit that generates an instruction value of an operation request for a brake control unit that controls a brake device based on the motion request received by the reception unit; a storage unit that stores in advance type information of the brake device to be controlled by the brake control unit, wherein the reception unit receives, when the vehicle is stopped, the motion request indicating that additional braking force is required from the application that has determined that another object will collide with the vehicle; when the generation unit receives the motion request indicating that the additional braking force is required, the generation unit generates the instruction value for generating a braking force greater than that before receiving the motion request in the brake device based on the type information of the brake device stored in the storage unit Motion manager.

2. The type information includes constraints of the brake device, the constraints include information on an upper limit value of the braking force that the brake device can output, when the generation unit receives the motion request indicating that the additional braking force is required, the generation unit generates the instruction value so that the braking force of the brake device is equal to or less than the upper limit value The motion manager according to claim 1.

3. when the generation unit receives the motion request indicating that the additional braking force is required, the generation unit generates the instruction value based on the type information so that the braking force of the brake device becomes a braking force predetermined as a braking force that locks the rotation of the wheels of the vehicle The motion manager according to claim 1 or claim 2.

4. when the vehicle is not stopped, the generation unit does not generate the instruction value corresponding to the motion request indicating that the additional braking force is required The motion manager according to claim 1.

5. A motion manager mounted on a vehicle, comprising: a reception unit that receives a motion request from an application; a mediation unit that mediates a plurality of the motion requests received by the reception unit; a generation unit that generates an instruction value of an operation request for a brake control unit that controls a brake device based on the motion request received by the reception unit, wherein the reception unit receives, when the vehicle is stopped, the motion request indicating that additional braking force is required from the application that has determined that another object will collide with the vehicle; When the mediation unit receives the motion request indicating the need for the additional braking force, regardless of the presence or absence of the other motion requests, it mediates by selecting the motion request indicating the need for the additional braking force. When the reception unit receives the motion request indicating the need for the additional braking force, the generation unit generates the instruction value for generating a braking force greater than that before receiving the motion request in the braking device. Motion manager.

6. A control device for controlling a braking device of a vehicle, Comprising a reception unit that receives a motion request from an application, a generation unit that generates an instruction value for an operation request for a brake control unit that controls the braking device based on the motion request received by the reception unit, and a storage unit that stores in advance type information of the braking device to be controlled by the brake control unit, and having a motion manager. When the vehicle is stopped, the reception unit receives the motion request indicating the need for additional braking force from the application that has determined that another object will collide with the vehicle. When the reception unit receives the motion request indicating the need for the additional braking force, the generation unit generates the instruction value for generating a braking force greater than that before receiving the motion request in the braking device based on the type information of the braking device stored in the storage unit. Control device for a braking device.

7. A control device for controlling a braking device of a vehicle, Comprising a reception unit that receives a motion request from an application, a mediation unit that mediates a plurality of the motion requests received by the reception unit, and a generation unit that generates an instruction value for an operation request for a brake control unit that controls the braking device based on the motion request received by the reception unit, and having a motion manager. When the vehicle is stopped, the reception unit receives the motion request indicating the need for additional braking force from the application that has determined that another object will collide with the vehicle. When the mediation unit receives the motion request indicating the need for the additional braking force, regardless of the presence or absence of the other motion requests, it mediates by selecting the motion request indicating the need for the additional braking force. When the generation unit receives the motion request indicating that the reception unit requires the additional braking force, the generation unit generates the instruction value for generating a braking force greater than that before receiving the motion request in the braking device. A control device for a braking device.

8. A control method executed by a computer mounted on a vehicle to control the braking device of the vehicle, comprising: Receiving a motion request from an application; Generating an instruction value of an operation request for controlling the braking device based on the received motion request; and When it is determined that another object will collide with the vehicle while the vehicle is stopped, receiving the motion request indicating the need for additional braking force from the application; When receiving the motion request indicating the need for the additional braking force, based on the type information of the braking device pre-stored in the computer, generating the instruction value for generating a braking force greater than that before receiving the motion request in the braking device. A control method.

9. A control method executed by a computer mounted on a vehicle to control the braking device of the vehicle, comprising: Receiving a motion request from an application; Arbitrating a plurality of received motion requests; Generating an instruction value of an operation request for controlling the braking device based on the received motion request; and When it is determined that another object will collide with the vehicle while the vehicle is stopped, receiving the motion request indicating the need for additional braking force from the application; When receiving the motion request indicating the need for the additional braking force, regardless of the presence or absence of the other motion requests, arbitrating by selecting the motion request indicating the need for the additional braking force; When receiving the motion request indicating the need for the additional braking force, generating the instruction value for generating a braking force greater than that before receiving the motion request in the braking device. A control method.

Images