Electronic control unit and vehicle control system

Abstract

To provide an electronic control device capable of dealing with an increase of communication load caused by an increase of monitoring objects or an increase of processing load when acquiring peripheral monitoring information, and a vehicle control system.SOLUTION: An electronic control device 110 is mounted on a vehicle V and comprises a scene prediction unit 111 and a filtering unit 112. The scene prediction unit 111 predicts a driving scene that the vehicle V meets on the basis of positional information of the vehicle V, map information around the vehicle V and a travel route of the vehicle V. The filtering unit 112 derives a risk index for each of recognition results of a plurality of objects around the vehicle V on the basis of the driving scene, the recognition results and risk information specifying the risk index for each class of the driving scene and the recognition result of the object. Further, the filtering unit 112 selectively passes the recognition result of the object of which the risk index exceeds a specific value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an electronic control device and a vehicle control system. [Background technology]

[0002] There has been known an invention relating to a vehicle periphery monitoring device that monitors the periphery of a host vehicle (see Patent Document 1 below). The vehicle periphery monitoring device described in Patent Document 1 is provided in a driving assistance system having a driving assistance control means, and supplies periphery monitoring information to the driving assistance control means (Patent Document 1, claim 1, etc.). The driving assistance control means performs safety-related driving assistance control that issues an alarm when there is a risk of the host vehicle colliding with a moving object that is approaching the host vehicle relatively, and operation-related driving assistance control that assists in operations related to the lateral movement of the host vehicle.

[0003] This conventional vehicle periphery monitoring device includes a moving object detection means, a first selection means, a second selection means, and an information supply means. The moving object detection means detects moving objects moving around the host vehicle. The first selection means selects a first set number of moving objects with the highest priority from the moving objects detected by the moving object detection means, giving priority to moving objects that are relatively close to the host vehicle and have a short predicted collision time, which is the predicted time until they collide with the host vehicle.

[0004] The second selection means selects a second set number of moving objects with higher priorities from among the moving objects detected by the moving object detection means excluding the moving object selected by the first selection means, giving priority to moving objects with a short relative distance between the host vehicle and the moving object. The information supply means supplies information regarding the moving objects selected by the first selection means and the moving objects selected by the second selection means to the driving assistance control means as the periphery monitoring information. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-053633 Summary of the Invention [Problem to be solved by the invention]

[0006] In the conventional vehicle periphery monitoring device, the periphery monitoring information is information on monitored objects selected from three-dimensional objects detected by a periphery sensor such as a radar (Patent Document 1, paragraphs 0007 and 0124, etc.). However, this conventional vehicle periphery monitoring device does not take into account an increase in communication load due to an increase in monitored objects, for example, when the vehicle is traveling through a busy area or an intersection, or an increase in processing load when acquiring periphery monitoring information.

[0007] The present disclosure provides an electronic control device and a vehicle control system that can cope with an increase in communication load due to an increase in objects to be monitored and an increase in processing load when obtaining surrounding monitoring information. [Means for solving the problem]

[0008] One aspect of the present disclosure is an electronic control device mounted on a vehicle, comprising: a scene prediction unit that predicts driving scenes that the vehicle will encounter based on position information of the vehicle, map information about the surroundings of the vehicle, and the vehicle's driving route; and a filtering unit that derives a risk index for each object recognition result based on the driving scene, recognition results of multiple objects around the vehicle, and risk information in which a risk index is defined for each type of the driving scene and object recognition result, and selectively passes recognition results of objects whose risk index exceeds a specified value. [Effects of the Invention]

[0009] According to the above-described aspect of the present disclosure, it is possible to provide an electronic control device and a vehicle control system that can cope with an increase in communication load due to an increase in objects to be monitored and an increase in processing load when acquiring surrounding monitoring information. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an embodiment of an electronic control device and a vehicle control system according to the present disclosure; [Figure 2] 2 is a plan view showing an example of a driving scene predicted by a scene prediction unit in FIG. 1; [Figure 3] FIG. 2 is a flowchart showing the flow of processing by the filtering unit of FIG. 1. [Figure 4] 4 is a table showing an example of risk indexes used in the filtering process of FIG. 3. [Figure 5] 4 is a table showing an example of risk information used in the filtering process of FIG. 3. [Figure 6] FIG. 4 is a plan view illustrating an example of the filtering process in FIG. 3. [Figure 7] FIG. 4 is a plan view illustrating an example of the filtering process in FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of an electronic control device and a vehicle control system according to the present disclosure will be described with reference to the drawings.

[0012] 1 is a block diagram showing an embodiment of an electronic control device and a vehicle control system according to the present disclosure. An electronic control device 110 according to this embodiment is mounted on, for example, a vehicle V and constitutes a part of a vehicle control system 100. The electronic control device 110 is configured by, for example, a microcomputer equipped with a central processing unit (CPU), memory, programs, a timer, and input / output units, and is a vehicle control device for performing advanced driving assistance and autonomous driving of the vehicle V.

[0013] The vehicle V is, for example, a gasoline engine vehicle, a diesel engine vehicle, a hybrid vehicle, an electric vehicle, or a hydrogen vehicle, and is equipped with an external sensor 150, a vehicle sensor 160, a risk information storage unit 170, a map information storage unit 180, and a position sensor 190. Other general components of the vehicle V will not be shown or described.

[0014] The external sensor 150 includes, for example, a monocular camera, a stereo camera, a laser radar, a millimeter-wave radar, an ultrasonic sensor, etc., and detects objects around the vehicle V. The external sensor 150 outputs detection results such as images, shapes, sizes, distances, directions, relative speeds, and moving directions of objects around the vehicle V to the electronic control device 110.

[0015] The vehicle sensor 160 includes, for example, a wheel speed sensor, an acceleration sensor, a gyro sensor, an accelerator sensor, a brake sensor, a steering angle sensor, and the like, and detects vehicle information such as the speed, acceleration, angular velocity, accelerator operation amount, brake operation amount, and steering angle of the vehicle V. The vehicle sensor 160 outputs the detection results of the vehicle information to the electronic control device 110, for example.

[0016] The risk information storage unit 170 is, for example, a non-volatile memory mounted on the vehicle V, and stores risk information described below. In the example shown in FIG. 1, the risk information storage unit 170 is provided outside the electronic control unit 110, but the electronic control unit 110 may also have the risk information storage unit 170. Furthermore, if the vehicle V or the electronic control unit 110 does not have the risk information storage unit 170, the electronic control unit 110 may acquire risk information from an external server by, for example, communicating with the server external to the vehicle V via a communication unit mounted on the vehicle V.

[0017] The map information storage unit 180 is, for example, a nonvolatile memory mounted on the vehicle V, and stores map information such as high-precision map information. The position sensor 190 is, for example, a receiver for a global navigation satellite system (GNSS), and receives radio waves from satellites to acquire position information of the vehicle V and output it to the electronic control unit 110. Note that the map information storage unit 180 and the position sensor 190 may be, for example, part of a car navigation system mounted on the vehicle V.

[0018] The electronic control device 110 of this embodiment is characterized by including at least a scene prediction unit 111 and a filtering unit 112. The electronic control device 110 may further include a recognition unit 113. The electronic control device 110 may further include a route planning unit 114, an operation planning unit 115, a travel path generation unit 116, and a vehicle control unit 117.

[0019] The vehicle control system 100 of this embodiment also includes, for example, an electronic control unit 110, a powertrain control unit 120, a brake control unit 130, and a steering control unit 140. The vehicle control system 100 may also include, for example, an external sensor 150, a vehicle sensor 160, a risk information storage unit 170, a map information storage unit 180, and a position sensor 190.

[0020] Each unit of the electronic control device 110 shown in Fig. 1 represents a function of the electronic control device 110 that is realized, for example, by a CPU executing a program stored in a memory. Note that, although the example shown in Fig. 1 shows an example in which each unit (each function) is implemented in one electronic control device 110, it is also possible to divide and implement the scene prediction unit 111, the filtering unit 112, and each other unit in multiple different electronic control devices.

[0021] The recognition unit 113 recognizes multiple objects around the vehicle V using the detection results of the external sensor 150 mounted on the vehicle V. Specifically, the recognition unit 113 integrates, for example, object, boundary, traffic light information, and the like detected by sensing devices such as a camera or radar included in the external sensor 150. Furthermore, the recognition unit 113 classifies the detected objects. More specifically, the recognition unit 113 recognizes the detected objects by classifying them into categories such as people, cars, motorcycles, and bicycles. The recognition unit 113 outputs the object recognition results using such detection results of the external sensor 150 to the filtering unit 112.

[0022] Fig. 2 is a plan view showing an example of driving scenes DS1, DS2, and DS3 predicted by the scene prediction unit 111 of Fig. 1. The scene prediction unit 111 predicts driving scenes that the vehicle V will encounter, for example, based on the position information of the vehicle V acquired from the position sensor 190, map information M of the surroundings of the vehicle V acquired from the map information storage unit 180, and the driving route R of the vehicle V acquired from the route planning unit 114. The scene prediction unit 111 predicts driving scenes DS1, DS2, and DS3 that the vehicle V will encounter within a predetermined distance along the driving route R, such as within a driving distance of 1 km from the vehicle V.

[0023] In the example shown in Fig. 2, the first driving scene DS1 that vehicle V encounters is, for example, a lane change from the right lane to the left lane at a point 300 [m] ahead of vehicle V traveling on a two-lane road with two-way traffic on the left side. The second driving scene DS2 that vehicle V encounters is, for example, a left turn at an intersection at a point 600 [m] ahead of vehicle V along the driving route R. The last driving scene DS3 that vehicle V encounters is, for example, crossing a pedestrian crossing at a point 620 [m] ahead of vehicle V along the driving route R.

[0024] In this case, the scene prediction unit 111 outputs, for example, "changing lanes," "turning left at an intersection," and "passing through a crosswalk" as predicted driving scenes DS1, DS2, and DS3 to the filtering unit 112, along with the distance on the driving route R ahead of the vehicle V. In this way, the driving scenes predicted by the scene prediction unit 111 may include, for example, going straight through an intersection, turning left or right, changing lanes, passing through a crosswalk, driving in a busy area, driving in a residential area, driving on a highway or a motorway, etc.

[0025] The filtering unit 112 derives a risk index for each object recognition result, for example, based on the driving scene predicted by the scene prediction unit 111, the recognition results of multiple objects around the vehicle V by the recognition unit 113, and risk information acquired from the risk information storage unit 170. The risk information acquired from the risk information storage unit 170 is information in which a risk index is defined for each type of driving scene and object recognition result.

[0026] The filtering unit 112 filters the recognition results of the recognition unit 113, for example, by selectively passing, to the route planning unit 114, recognition results of objects whose risk index exceeds a specified value from among the recognition results of objects input from the recognition unit 113. Details of the risk index, risk information, and filtering process of the filtering unit 112 will be described later with reference to FIGS. 3 to 7.

[0027] The route planning unit 114 generates a travel route R for the vehicle V based on the recognition result of the object that has passed through the filtering unit 112. Furthermore, the route planning unit 114 may generate the travel route R based on, in addition to the recognition result of the object that has passed through the filtering unit 112, for example, map information acquired from the map information storage unit 180 and position information of the vehicle V acquired from the position sensor 190.

[0028] The route planning unit 114 generates, for example, a lane-level driving route R that specifies the lanes of the road along which the vehicle V will travel toward the destination. This enables the scene prediction unit 111 to predict driving scenes DS1, DS2, and DS3, such as lane changes, going straight and turning right or left at intersections, and passing through crosswalks, based on the driving route R generated by the route planning unit 114.

[0029] The motion planning unit 115 determines a target motion of the vehicle V, for example, based on the recognition result of the object that has passed through the filtering unit 112 and the travel route R generated by the route planning unit 114. The target motion of the vehicle V includes, for example, starting at a certain point, stopping, changing lanes, and avoiding an obstacle.

[0030] The driving route generation unit 116 generates a target driving route for the vehicle V, for example, based on the driving route R generated by the route planning unit 114 and the target motion determined by the motion planning unit 115. This target driving route is, for example, a target track or target trajectory for the vehicle V, and includes multiple nodes on the driving route R and multiple links connecting adjacent nodes, and is the route along which the vehicle V should actually travel.

[0031] The vehicle control unit 117, for example, calculates command values ​​for operating the vehicle V according to the target operation determined by the operation planning unit 115 along the target driving path generated by the driving path generating unit 116. The vehicle control unit 117, for example, calculates command values ​​for each of the control units, namely, the powertrain control unit 120, the brake control unit 130, and the steering control unit 140, and outputs the calculated command values ​​to each of the control units.

[0032] The powertrain control unit 120, for example, drives an actuator in accordance with a command value calculated by the vehicle control unit 117, thereby controlling the powertrain of the vehicle V. The brake control unit 130, for example, drives an actuator in accordance with a command value calculated by the vehicle control unit 117, thereby controlling the brakes of the vehicle V. The steering control unit 140, for example, drives an actuator in accordance with a command value calculated by the vehicle control unit 117, thereby controlling the steering of the vehicle V.

[0033] The operation of the electronic control unit 110 and the vehicle control system 100 of this embodiment will be described below.

[0034] For example, Ethernet (registered trademark) is used as a communication method in vehicle V. Ethernet (registered trademark) is often used in self-driving vehicles that handle large amounts of data. Ethernet (registered trademark) communication protocols are broadly divided into UDP (User Datagram Protocol) and TCP (Transmission Control Protocol).

[0035] UDP is a communication protocol that prioritizes communication speed, and the sender continues to send data without checking whether the destination has received the data. UDP does not require the destination to confirm receipt or resend data to the destination, so communication speed is higher than TCP. However, UDP does not guarantee that the destination will receive the data sent from the sender, so it is less reliable than TCP.

[0036] TCP is a communication protocol that prioritizes reliability, and it checks whether the destination has successfully received the data sent from the sender, and if the destination fails to receive the data, it resends the data from the sender to the destination. Therefore, although TCP has a slower communication speed than UDP, it has higher communication reliability because the data sent from the sender is reliably received by the destination.

[0037] That is, when UDP is used as a communication protocol for Ethernet (registered trademark) in the vehicle control system 100 and the electronic control device 110, there is a risk that a portion of the data being communicated will be lost, i.e., so-called packet loss will occur. For example, if packet loss occurs in the data of the recognition results of multiple objects around the vehicle V by the recognition unit 113, there is a risk that the safety of the vehicle V will be reduced.

[0038] In particular, the recognition results of multiple objects around the vehicle V, which are output by the recognition unit 113, have a large communication capacity, which increases or decreases depending on the driving scenes DS1, DS2, and DS3. For example, when the vehicle V is traveling on a highway or a motorway, the number of objects detected by the external sensor 150 is relatively small, and therefore the communication capacity of the recognition results of the recognition unit 113 is relatively small. However, when the vehicle V is traveling in an urban area or a busy shopping district, the number of objects detected by the external sensor 150 increases, and therefore the communication capacity of the recognition results of the recognition unit 113 increases, making packet loss more likely to occur.

[0039] 3 to 7, the operation of the filtering unit 112 that prevents the occurrence of packet loss as described above in the electronic control unit 110 and vehicle control system 100 of this embodiment will be described in detail. Fig. 3 is a flow chart showing the flow of processing by the filtering unit 112 of Fig. 1.

[0040] 3 starts, filtering unit 112 executes, for example, a process P1 for reading from a transmission buffer. In this process P1, filtering unit 112 accumulates, in the transmission buffer, asynchronous data relating to the recognition results of a plurality of objects that is output from recognition unit 113 and sequentially input to filtering unit 112. Furthermore, filtering unit 112 reads, for example, the data relating to the recognition results of a plurality of objects accumulated in the transmission buffer at a predetermined cycle.

[0041] Next, the filtering unit 112 executes, for example, a communication capacity determination process P2. In this process P2, the filtering unit 112 calculates, for example, a total communication capacity CC_total, which is the sum of the communication capacities of all the data read in the transmission buffer read process P1. Furthermore, the filtering unit 112 reads a maximum communication capacity CC_max stored in advance in memory, and determines whether the total communication capacity CC_total is equal to or less than the maximum communication capacity CC_max. Note that it is desirable to set the maximum communication capacity CC_max to as large a value as possible within a range in which the frequency of packet loss is low.

[0042] Assume that in this determination process P2, the filtering unit 112 determines that the total communication capacity CC_total exceeds the maximum communication capacity CC_max, that is, that the inequality CC_total≦CC_max is not satisfied (NO). In this case, for example, as shown in Fig. 3, the total communication capacity CC_total, which is the sum of the communication capacities of data related to the recognition results of multiple objects, exceeds the maximum communication capacity CC_max that can be communicated without causing packet loss. Therefore, the filtering unit 112 executes the next filtering process P3.

[0043] In this filtering process P3, the filtering unit 112 uses, for example, the driving scenes DS1, DS2, and DS3, the recognition results of multiple objects, and the risk information acquired from the scene prediction unit 111, the recognition unit 113, and the risk information storage unit 170 shown in FIG. 1. Then, the filtering unit 112 selectively passes data related to the recognition results of objects whose risk indexes exceed a specified value among the recognition results of multiple objects. By this filtering process P3, as shown in FIG. 3, it is possible to make the total communication capacity CC_total of data transmitted from the filtering unit 112 to the route planning unit 114 in the next transmission process P4 equal to or less than the maximum communication capacity CC_max.

[0044] The risk index, risk information, and filtering process P3 will be described in detail below with reference to Figures 4 to 7. Figures 4 and 5 are tables showing examples of risk indexes and risk information used in the filtering process P3 of Figure 3. Figures 6 and 7 are plan views explaining an example of the filtering process P3 of Figure 3.

[0045] As shown in Table T5 of FIG. 5 , the risk information used in the filtering process P3 defines a risk index for each type of signal (Sgn1, Sgn2, Sgn3, . . . , SgnN) related to the driving scene and object recognition results. The risk index indicates the level of risk that the safety of the vehicle V will be affected if, for example, a recognition result for a certain object is missing. The risk index increases in order from "QM," which poses the lowest risk to vehicle safety, to "A," "B," "C," and "D." Such risk indexes are defined, for example, in the automotive functional safety standard ISO 26262. In the risk information shown in Table T5, the risk index may be dynamically updated, for example, by learning the recognition result of the missing object through machine learning.

[0046] The risk indexes in the risk information shown in Table T5 of Fig. 5 are defined for each type of driving scene and object recognition result according to, for example, the severity, controllability of vehicle V, and exposure probability shown in Tables T1 to T4 of Fig. 4. The severity indexes S0 to S3 shown in Table T1 of Fig. 4 are indexes that represent, for example, the magnitude of the impact on the safety of vehicle V, with index S0 having no impact on the safety of vehicle V, and index S3 having a significant impact on the safety of vehicle V.

[0047] Furthermore, the controllability indices C0 to C3 shown in Table T2 of Figure 4 are indices that represent the ease of control of vehicle V. Index C0 indicates the highest controllability, making it easy for even an average driver to control vehicle V, whereas index C2 indicates low controllability, making it difficult for even an experienced driver to control vehicle V, and index C3 indicates no controllability, making it impossible to control vehicle V. Furthermore, the exposure probability indices E0 to E4 shown in Table T3 of Figure 4 are indices that represent the frequency of occurrence of events that affect the safety of vehicle V. Index E0 indicates the lowest occurrence frequency, indicating an event that occurs extremely rarely, while index E4 indicates the highest occurrence frequency, indicating an event that occurs frequently.

[0048] As shown in Table T4 of FIG. 4, the risk indicators QM, A, B, C, and D are defined, for example, according to the combination of the severity indicators S0 to S3, the controllability indicators C0 to C3, and the exposure probability indicators E0 to E4 shown in Tables T1 to T3 of FIG. 4. Note that if the severity indicator is S0, the controllability indicator is C0, or the exposure probability indicator is E0, the risk indicator is "QM," and therefore these are omitted in Table T4. As shown in Table T4, the greater the severity, the lower the controllability, and the higher the exposure probability, the higher the risk indicated by the risk indicator. The risk indicators in the risk information shown in Table T5 of FIG. 5 are defined, for example, for each type of driving scene and object recognition result according to the combination of severity, controllability, and exposure probability shown in Table T4 of FIG. 4.

[0049] For example, as shown in Fig. 6, assume that vehicle V is traveling in the center lane of a road with three lanes on each side, and the next driving scene predicted by the scene prediction unit 111 is a "lane change" from the center lane to the right lane. In this case, among the recognition results of multiple objects around vehicle V by the recognition unit 113, for example, the recognition result of another vehicle OV surrounded by a dashed line in Fig. 6 corresponds to the driving scene "lane change" and type "Sgn3" in the risk information table T5 of Fig. 5, and has the highest risk index "D". In other words, when the driving scene of vehicle V is a lane change to the right lane, for example, the highest risk index is specified for type Sgn3 of the recognition result corresponding to a vehicle OV traveling within a predetermined range ahead of the same lane and a vehicle OV traveling within a predetermined range before and after the right lane.

[0050] 6, the risk index for the recognition result type corresponding to a vehicle OV traveling on the left side of vehicle V or a vehicle OV traveling outside a predetermined range ahead in the right lane is set to, for example, a lower risk index of "A." Furthermore, in the example shown in FIG. 6, the risk index for the recognition result types Sgn1 and SgnN corresponding to a vehicle OV traveling behind the left lane of vehicle V, a vehicle OV parked in the shoulder of the left lane of vehicle V, and a pedestrian P on the sidewalk on the left side of the road is set to the lowest risk index of "QM."

[0051] In such a case, the filtering unit 112 can predefine a predetermined risk index that serves as a threshold for the above-mentioned filtering process P3 to, for example, "QM," "A," "B," or "C," which have a lower risk than "D." This allows the filtering unit 112 to selectively pass to the route planning unit 114, among the recognition results of multiple objects, the recognition result of a vehicle OV with a risk index of "D," which exceeds the predefined risk index, in the above-mentioned filtering process P3.

[0052] 7, for example, assume that vehicle V is traveling in the left-turn and straight-ahead lane toward an intersection, and the next driving scene predicted by the scene prediction unit 111 is "turning left at the intersection" followed immediately by "crossing a crosswalk." In this case, the filtering unit 112 may perform filtering process P3 by regarding these driving scenes as occurring simultaneously. In the example shown in FIG. 7, among the recognition results of a plurality of objects around vehicle V by the recognition unit 113, for example, the recognition results of a traffic light TS1 for automobiles ahead of vehicle V, surrounded by a dashed line, and vehicle OV traveling in the lane after turning left, correspond to the driving scene "turning left at an intersection," type "Sgn1," and the highest risk index "D" in the risk information table T5 of FIG. 5.

[0053] Furthermore, among the recognition results of multiple objects around the vehicle V by the recognition unit 113, for example, the recognition result of a pedestrian P surrounded by a dashed line on a crosswalk that the vehicle passes when turning left corresponds to the driving scene "crossing a crosswalk" and the type "Sgn1" or "SgnN" in the risk information table T5, and the risk index is the highest "D". Furthermore, among the recognition results of multiple objects around the vehicle V by the recognition unit 113, the recognition result of a pedestrian P surrounded by a dashed line on a sidewalk adjacent to a crosswalk that the vehicle passes when turning left, the risk index based on the driving scene "crossing a crosswalk", and the risk information is, for example, a relatively high "C". Furthermore, among the recognition results of multiple objects around the vehicle V by the recognition unit 113, for example, the recognition results of a pedestrian traffic light TS2, a vehicle OV, and a pedestrian P that are not surrounded by a dashed line correspond to the driving scene "crossing a crosswalk" and the type "Sgn3" in the risk information table T5, and the risk index is the lowest "QM".

[0054] In such a case, the filtering unit 112 can predefine a predetermined risk index that serves as a threshold for the above-mentioned filtering process P3 to, for example, "QM," "A," or "B," which have a lower risk than "C." This allows the filtering unit 112 to selectively pass to the route planning unit 114, among the recognition results of multiple objects in the above-mentioned filtering process P3, the recognition results of the traffic light TS1, the vehicle OV, and the pedestrian P that have risk indexes C or D that exceed the predefined risk index.

[0055] Note that the filtering unit 112 may selectively pass recognition results of objects with risk indices exceeding a specified risk index, and then pass recognition results of objects with risk indices equal to or less than the specified risk index, as appropriate. Furthermore, when there are multiple recognition results of objects with risk indices exceeding a specified risk index and the sum of the communication capacities of these recognition results exceeds the maximum communication capacity CC_max, the filtering unit 112 may pass the results through the filtering unit 112 in order of earliest input to the transmission buffer. Furthermore, in such a case, the filtering unit 112 may appropriately change the order in which the recognition results of the same priority type Sgn1, Sgn2, Sgn3, ..., SgnN are passed.

[0056] Thereafter, the filtering unit 112 executes a transmission process P4 shown in FIG. 3, and transmits the data of the recognition result of the object that was selectively passed in the filtering process P3 to, for example, the route planning unit 114 shown in FIG.

[0057] On the other hand, if the filtering unit 112 determines in the aforementioned determination process P2 that the total communication capacity CC_total is equal to or less than the maximum communication capacity CC_max, that is, that the inequality CC_total≦CC_total is satisfied (YES), the filtering unit 112 executes a transmission process P4. In this transmission process P4, the filtering unit 112 transmits the recognition results of the multiple objects having a total communication capacity CC_total that is smaller than the maximum communication capacity CC_max read in the aforementioned process P1 to, for example, the route planning unit 114 shown in FIG.

[0058] The operation of the electronic control unit 110 and the vehicle control system 100 of this embodiment will be described below.

[0059] As described above, the electronic control device 110 of this embodiment is mounted on the vehicle V and includes a scene prediction unit 111 and a filtering unit 112. As described above, the scene prediction unit 111 predicts driving scenes DS1, DS2, and DS3 that the vehicle V will encounter based on the position information of the vehicle V, map information about the surroundings of the vehicle V, and the driving route R of the vehicle V. The filtering unit 112 derives a risk index for each recognition result of the object based on the driving scenes DS1, DS2, and DS3, recognition results of multiple objects around the vehicle V, and risk information in which a risk index is defined for each type of the driving scenes DS1, DS2, and DS3 and the recognition results of the objects. Furthermore, the filtering unit 112 selectively passes recognition results of objects whose risk index exceeds a specified value.

[0060] With this configuration, the electronic control device 110 of this embodiment can predict, by the scene prediction unit 111, driving scenes DS1, DS2, and DS3 that are likely to increase the total communication capacity of the recognition results by the recognition unit 113, such as going straight or turning right or left at an intersection in a residential area or a busy downtown. Then, the filtering unit 112 can derive a risk index for each type Sgn1, Sgn2, Sgn3, ... SgnN of the object recognition result, based on the predicted driving scenes DS1, DS2, and DS3, the recognition results of multiple objects around the vehicle V, and risk information such as that shown in Table T5 in Fig. 5.

[0061] 3, the filtering unit 112 can perform filtering processing P3 to selectively pass the recognition results of objects whose risk index exceeds a specified value. As a result, the total communication capacity CC_total, which exceeds the maximum communication capacity CC_max and which may result in packet loss, is reduced to the total communication capacity CC_total which is equal to or less than the maximum communication capacity CC_max, thereby preventing the loss of recognition results of objects which may affect the safety of the vehicle V. Therefore, according to this embodiment, it is possible to provide an electronic control unit 110 which can handle an increase in communication load due to an increase in objects to be monitored and an increase in processing load when obtaining perimeter monitoring information.

[0062] In addition, in the electronic control device 110 of this embodiment, the risk indicators QM, A, B, C, and D in the risk information shown in Table T5 of Figure 5 are defined for each type of driving scene and object recognition result Sgn1, Sgn2, Sgn3, ..., SgnN according to the severity, controllability of the vehicle V, and exposure probability, as shown in Table T4 of Figure 4.

[0063] With this configuration, the electronic control device 110 of this embodiment can use the filtering unit 112 to identify the type of recognition result of an object that affects the safety of the vehicle for each driving scene and selectively pass the recognition result, thereby improving the safety of the vehicle V. In addition, the filtering unit 112 can further improve the safety of the vehicle V by preferentially passing the type of recognition result that is more serious, less controllable, and more likely to be exposed.

[0064] In the electronic control device 110 of this embodiment, the driving scene includes going straight through an intersection, turning left and right, changing lanes, and passing through a crosswalk.

[0065] With this configuration, the electronic control device 110 of this embodiment can set a risk index for the object recognition result according to each driving scene, such as going straight at an intersection, turning left or right, changing lanes, and passing through a crosswalk, thereby further improving the safety of the vehicle V in each driving scene.

[0066] The electronic control device 110 of this embodiment also includes a recognition unit 113 and a route planning unit 114. The recognition unit 113 recognizes a plurality of objects around the vehicle V using the detection results of an external sensor 150 mounted on the vehicle V and outputs the recognition results to the filtering unit 112. The route planning unit 114 generates a travel route R for the vehicle V based on the recognition results of the objects that have passed through the filtering unit 112.

[0067] With this configuration, the electronic control device 110 of this embodiment can filter the recognition results of objects recognized by the recognition unit 113 using the filtering unit 112, and pass the recognition results of objects whose risk index exceeds a specified value to the route planning unit 114. This prevents the recognition results of objects that may affect the safety of the vehicle V from being omitted, and enables the route planning unit 114 to generate a safer driving route R.

[0068] Moreover, the electronic control device 110 of this embodiment includes a motion planning unit 115, a driving path generating unit 116, and a vehicle control unit 117. The motion planning unit 115 determines a target motion of the vehicle V based on the recognition result of the object that has passed through the filtering unit 112 and the driving route R. The driving path generating unit 116 generates a target driving path for the vehicle V based on the driving route R and the target motion. The vehicle control unit 117 calculates a command value for operating the vehicle V according to the target motion.

[0069] With this configuration, in the electronic control device 110 of this embodiment, the action planning unit 115, the travel path generating unit 116, and the vehicle control unit 117 generate a target action and a target travel path based on the travel route R generated by the route planning unit 114, and calculate a command value. Here, the travel route R generated by the route planning unit 114 is, as described above, a highly safe travel route R that reflects objects exceeding a predetermined risk index according to the driving scene. Therefore, by controlling the vehicle V based on this travel route R, the safety of the vehicle V can be further improved.

[0070] The vehicle control system 100 of this embodiment also includes the electronic control device 110 described above, a powertrain control unit 120, a brake control unit 130, and a steering control unit 140. The powertrain control unit 120 controls the powertrain of the vehicle V in accordance with the command value output from the vehicle control unit 117. The brake control unit 130 controls the brakes of the vehicle V in accordance with the command value output from the vehicle control unit 117. The steering control unit 140 controls the steering of the vehicle V in accordance with the command value output from the vehicle control unit 117.

[0071] With this configuration, the vehicle control system 100 of this embodiment can prevent, by the electronic control device 110, the absence of recognition results of objects that exceed a predetermined risk index according to the driving scene, from being omitted from the object recognition results by the recognition unit 113. Furthermore, based on the recognition results of objects that exceed the predetermined risk index, a driving route R, target operation, target driving path, and command values ​​for the vehicle V can be generated, and the powertrain, brakes, and steering of the vehicle V can be controlled to perform advanced driving assistance or autonomous driving. Therefore, according to this embodiment, it is possible to provide a vehicle control system 100 that can handle an increase in communication load due to an increase in monitored objects and an increase in processing load when acquiring surrounding monitoring information.

[0072] The above has described in detail embodiments of the electronic control device and vehicle control system according to the present disclosure using the drawings, but the specific configuration is not limited to this embodiment, and even if there are design changes, etc., within the scope that does not deviate from the gist of the present disclosure, they are included in the present disclosure. [Explanation of symbols]

[0073] 100 Vehicle Control System 110 Electronic control device 111 Scene Prediction Unit 112 Filtering section 113 Recognition part 114 Route Planning Department 115 Motion Planning Department 116 Travel route generation unit 117 Vehicle control unit 120 Powertrain Control Unit 130 Brake control unit 140 Steering control unit 150 External Sensor A Risk Indicator B. Risk Indicators C Risk Indicators D. Risk Indicators DS1 Driving Scene DS2 Driving Scene DS3 driving scene QM Risk Indicators R Driving Route V vehicle

Claims

1. An electronic control device mounted on a vehicle, a scene prediction unit that predicts driving scenes that the vehicle will encounter based on position information of the vehicle, map information around the vehicle, and a driving route of the vehicle; a filtering unit that derives a risk index for each object recognition result based on the driving scene, recognition results of a plurality of objects around the vehicle, and risk information in which a risk index is defined for each type of the driving scene and object recognition result, and selectively passes recognition results of objects whose risk index exceeds a defined value; the risk index is defined for each type of the driving scene and the recognition result according to a severity, a controllability of the vehicle, and an exposure probability; The severity is an index representing the magnitude of the impact on the safety of the vehicle, The controllability is an index representing ease of control of the vehicle, The exposure probability is an index representing the frequency of occurrence of an event that affects the safety of the vehicle. An electronic control device characterized by:

2. The electronic control device according to claim 1 , wherein the driving scenes include going straight through an intersection, turning left and right, changing lanes, and passing through a pedestrian crossing.

3. a recognition unit that recognizes a plurality of objects around the vehicle using detection results from an external sensor mounted on the vehicle and outputs the recognition results to the filtering unit; 2. The electronic control device according to claim 1, further comprising: a route planning unit that generates a travel route for the vehicle based on the recognition result of the object that has passed through the filtering unit.

4. an action planning unit that determines a target action of the vehicle based on the object recognition result that has passed through the filtering unit and the travel route; a travel route generation unit that generates a target travel route for the vehicle based on the travel route and the target operation; a vehicle control unit that calculates a command value for operating the vehicle according to the target operation; 4. The electronic control device according to claim 3, further comprising:

5. The electronic control device according to claim 4; a powertrain control unit that controls a powertrain of the vehicle in accordance with the command value; a brake control unit that controls the brakes of the vehicle in accordance with the command value; a steering control unit that controls the steering of the vehicle in accordance with the command value; A vehicle control system comprising:

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