Information processing device, information processing program, and information processing method

Abstract

To prevent a sudden change in actual acceleration of a vehicle when an arbitration result is switched.SOLUTION: A motion manager 45 of an information processor acquires an instruction value FD corresponding to an amount ACC of accelerator operation. The motion manager 45 acquires a requested acceleration ru. The motion manager 45 calculates an instruction value Fu by correcting the requested acceleration ru. The motion manager 45 selects one of the instruction value FD and the instruction value Fu as an arbitration result. The motion manager 45 outputs the arbitration result to a power train control unit 23 for controlling a power train device 71. When the instruction value FD is selected as the arbitration result, the motion manager 45 calculates the instruction value Fu as a value closer to the selected instruction value FD than the instruction value Fu acquired when the selected instruction value FD is acquired.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing program, and an information processing method. [Background technology]

[0002] The vehicle described in Patent Document 1 comprises an information processing device, a driver assistance device, a control device, and an engine. The engine is the power source of the vehicle. The information processing device receives a requested driving force from the driver assistance device for providing driver assistance. In addition to the requested driving force from the driver assistance device, the information processing device also receives a requested driving force corresponding to the amount the driver operates the accelerator pedal. Subsequently, the information processing device selects one of the received requested driving forces as the arbitration result. Furthermore, the information processing device outputs the arbitration result to the control device. The control device calculates the engine control amount according to the arbitration result. The control device then controls the engine according to the calculated control amount. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2007-120352 [Overview of the project] [Problems that the invention aims to solve]

[0004] In a vehicle like the one described in Patent Document 1, the requested driving force selected by the information processing device as the arbitration result may switch from one of several requested driving forces to another. If there is a difference in the magnitude of the two requested driving forces before and after the switch, the engine control amount calculated by the control device may change abruptly. As a result, in a vehicle like the one described in Patent Document 1, the actual acceleration of the vehicle may change abruptly due to the switch in the arbitration result. [Means for solving the problem]

[0005] An information processing device for solving the above problem is capable of acquiring a first required acceleration, which is one of the required accelerations of a vehicle; acquiring a second required acceleration, which is a required acceleration different from the first required acceleration; calculating a second corrected acceleration by correcting the second required acceleration; selecting either the first required acceleration or the second corrected acceleration as the arbitration result; and outputting the arbitration result to a control device for controlling the vehicle's actuators. When calculating the second corrected acceleration, if the first required acceleration is selected as the arbitration result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was acquired.

[0006] The information processing program for solving the above problem enables the information processing device to perform the following actions: acquire a first required acceleration, which is one of the required accelerations of the vehicle; acquire a second required acceleration, which is a required acceleration different from the first required acceleration; calculate a second corrected acceleration by correcting the second required acceleration; select either the first required acceleration or the second corrected acceleration as the arbitration result; and output the arbitration result to a control device for controlling the vehicle's actuators. When calculating the second corrected acceleration, if the first required acceleration is selected as the arbitration result, the program causes the second corrected acceleration to be calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was acquired.

[0007] An information processing method to solve the above problem is one in which an information processing device can perform the following actions: acquire a first required acceleration, which is one of the required accelerations of the vehicle; acquire a second required acceleration, which is a required acceleration different from the first required acceleration; calculate a second corrected acceleration by correcting the second required acceleration; select either the first required acceleration or the second corrected acceleration as the arbitration result; and output the arbitration result to a control device for controlling the actuators of the vehicle. When calculating the second corrected acceleration, if the first required acceleration is selected as the arbitration result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was acquired. [Effects of the Invention]

[0008] In the above configuration, for example, when the first required acceleration is selected as the arbitration result, the control unit calculates a control quantity corresponding to the first required acceleration. As a result, the actual acceleration changes according to the first required acceleration. Then, for example, when the arbitration result switches from the first required acceleration to the second corrected acceleration, the control unit calculates a control quantity corresponding to the second corrected acceleration. Here, when the first required acceleration was selected as the arbitration result, the second corrected acceleration is calculated so that the absolute value of the difference between the first required acceleration and the second corrected acceleration is small. As a result, compared to a configuration in which the second corrected acceleration is maintained at a constant value when the first required acceleration was selected as the arbitration result, for example, the rapid change in the control quantity when the arbitration result switches from the first required acceleration to the second corrected acceleration is suppressed. This suppresses a rapid change in the vehicle's actual acceleration. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram of the vehicle's configuration. [Figure 2] Figure 2 is a functional block diagram showing the peripheral configuration of the exercise manager. [Figure 3]Figure 3 is a functional block diagram of the motor manager related to mediation control. [Figure 4] Figure 4(a) is a time chart showing the change in acceleration according to this embodiment. Figure 4(b) is a time chart showing the change in the indicated value according to this embodiment. [Figure 5] Figure 5(a) is a time chart showing the change in acceleration for the comparative example. Figure 5(b) is a time chart showing the change in the indicated value for the comparative example. [Modes for carrying out the invention]

[0010] <Outline of the vehicle configuration> An embodiment of the present invention will be described below with reference to Figures 1 to 5. First, the general configuration of the vehicle 100 will be described.

[0011] As shown in Figure 1, the vehicle 100 is equipped with a powertrain unit 71, a steering unit 72, and a brake unit 73. In this embodiment, the powertrain unit 71, the steering unit 72, and the brake unit 73 are each actuators of the vehicle 100.

[0012] The powertrain system 71 includes an engine, a motor generator, and a transmission, etc. The engine can provide driving force to the drive wheels of the vehicle 100 via the transmission. The motor generator can also provide driving force to the drive wheels of the vehicle 100 via the transmission.

[0013] An example of a steering device 72 is a rack and pinion type electric steering device. The steering device 72 can change the direction of the steering wheels of the vehicle 100 by controlling a rack and pinion (not shown).

[0014] The brake device 73 is a so-called mechanical brake device that mechanically brakes the wheels of the vehicle 100. In this embodiment, an example of the brake device 73 is a disc brake.

[0015] As shown in Figure 1, the vehicle 100 is equipped with a central ECU 10, a powertrain ECU 20, a steering ECU 30, a brake ECU 40, and an advanced driver assistance ECU 50. The vehicle 100 is also equipped with a first external bus 61, a second external bus 62, a third external bus 63, and a fourth external bus 64. "ECU" is an abbreviation for Electronic Control Unit.

[0016] The central ECU 10 controls the entire vehicle 100. The central ECU 10 includes an execution unit 11 and a storage device 12. An example of the execution unit 11 is a CPU. The storage device 12 includes a read-only ROM, a read and write volatile RAM, and a read and write non-volatile storage. The storage device 12 pre-stores various programs and various data. The execution unit 11 performs various processes by executing the programs stored in the storage device 12.

[0017] The powertrain ECU 20 can communicate with the central ECU 10 via the first external bus 61. The powertrain ECU 20 controls the powertrain device 71 by outputting control signals to the powertrain device 71. The powertrain ECU 20 includes an execution device 21 and a storage device 22. An example of the execution device 21 is a CPU. The storage device 22 includes ROM, RAM, and storage. The storage device 22 pre-stores various programs and various data. Specifically, the storage device 22 pre-stores the powertrain application 23A as one of the various programs. The powertrain application 23A is application software for controlling the powertrain device 71. The execution device 21 realizes the function of a powertrain control unit 23, which will be described later, by executing the powertrain application 23A stored in the storage device 22. In this embodiment, the powertrain ECU 20 is a control device for controlling the powertrain device 71.

[0018] The steering ECU 30 can communicate with the central ECU 10 via the second external bus 62. The steering ECU 30 controls the steering device 72 by outputting control signals to the steering device 72. The steering ECU 30 includes an execution device 31 and a storage device 32. An example of the execution device 31 is a CPU. The storage device 32 includes ROM, RAM, and storage. The storage device 32 pre-stores various programs and various data. Specifically, the storage device 32 pre-stores the steering application 33A as one of the various programs. The steering application 33A is application software for controlling the steering device 72. The execution device 31 realizes the function of a steering control unit 33, which will be described later, by executing the steering application 33A stored in the storage device 32. In this embodiment, the steering ECU 30 is a control device for controlling the steering device 72.

[0019] The brake ECU 40 can communicate with the central ECU 10 via the third external bus 63. The brake ECU 40 controls the brake device 73 by outputting control signals to the brake device 73. The brake ECU 40 includes an execution device 41 and a storage device 42. An example of the execution device 41 is a CPU. The storage device 42 includes ROM, RAM, and storage. The storage device 42 pre-stores various programs and various data. Specifically, the storage device 42 pre-stores the brake application 43A as one of the various programs. The brake application 43A is application software for controlling the brake device 73. Furthermore, the storage device 42 pre-stores the motion manager application 45A as one of the various programs. The motion manager application 45A is application software for mediating multiple motion requests. The execution device 41 realizes the function of the brake control unit 43, which will be described later, by executing the brake application 43A stored in the storage device 42. Furthermore, the execution device 41 realizes the function of a motion manager 45, which will be described later, by executing the motion manager application 45A stored in the storage device 42. In this embodiment, the brake ECU 40 is an information processing device. The motion manager application 45A is an information processing program. That is, the execution device 41 of the brake ECU 40 executes various processes in the information processing method by executing the motion manager application 45A. Furthermore, the brake ECU 40 is a control device for controlling the brake device 73.

[0020] The advanced driver assistance ECU 50 can communicate with the central ECU 10 via the fourth external bus 64. The advanced driver assistance ECU 50 performs various types of driver assistance. The advanced driver assistance ECU 50 is equipped with an execution device 51 and a storage device 52. An example of the execution device 51 is a CPU. The storage device 52 includes ROM, RAM, and storage. The storage device 52 pre-stores various programs and various data. The various programs include a first assistance application 56A and a second assistance application 57A. An example of the first assistance application 56A is application software for limiting the upper limit of the vehicle 100's speed, a so-called speed limiter. In other words, an example of the first assistance application 56A is application software for limiting the upper limit of the vehicle 100's acceleration. An example of the second assistance application 57A is application software for adaptive cruise control (ACC), which maintains a constant distance from a preceding vehicle traveling ahead of the vehicle 100. In other words, an example of the second support application 57A is application software for limiting the lower limit of the acceleration of the vehicle 100. The execution device 51 realizes the function of the first support unit 56, which will be described later, by executing the first support application 56A stored in the storage device 52. The execution device 51 also realizes the function of the second support unit 57, which will be described later, by executing the second support application 57A stored in the storage device 52.

[0021] As shown in Figure 1, the vehicle 100 is equipped with an acceleration sensor 81, an accelerator pedal operation amount sensor 86, a steering angle sensor 87, and a brake operation amount sensor 88. The acceleration sensor 81 is a so-called three-axis sensor. That is, the acceleration sensor 81 measures longitudinal acceleration g. x , left and right acceleration g y , and vertical acceleration g z It is possible to detect longitudinal acceleration g. x g is the acceleration along the longitudinal axle of vehicle 100. Lateral acceleration g y g is the acceleration along the left and right axes of vehicle 100. zis the acceleration along the vertical axis of the vehicle 100. Here, the front-rear, left-right, and up-down directions refer to the directions when viewed from the driver's seat of the vehicle 100.

[0022] The accelerator operation amount sensor 86 detects an accelerator operation amount ACC, which is the operation amount of the accelerator pedal operated by the driver. The steering angle sensor 87 detects a steering angle RA, which is the angular position of the steering shaft operated by the driver. The brake operation amount sensor 88 detects a brake operation amount BRA, which is the operation amount of the brake pedal operated by the driver.

[0023] The power train ECU 20 acquires a signal indicating the accelerator operation amount ACC from the accelerator operation amount sensor 86. The steering ECU 30 acquires a signal indicating the steering angle RA from the steering angle sensor 87. The brake ECU 40 acquires a signal indicating the longitudinal acceleration g x and the lateral acceleration g y and the vertical acceleration g z from the acceleration sensor 81. The brake ECU 40 acquires a signal indicating the brake operation amount BRA from the brake operation amount sensor 88. The brake ECU 40 can acquire various values including the accelerator operation amount ACC and the steering angle RA via the central ECU 10.

[0024] <Peripheral Configuration of the Motion Manager> Next, referring to FIG. 2, the peripheral configuration of the motion manager 45 will be described. As shown in FIG. 2, the motion manager 45 can communicate with the first support unit 56 and the second support unit 57. Also, the motion manager 45 can communicate with the power train control unit 23, the steering control unit 33, and the brake control unit 43. Further, the motion manager 45 can acquire the longitudinal acceleration g x and the like. In the present embodiment, the longitudinal acceleration g xThis is an example of the actual acceleration of vehicle 100. The motion manager 45 can also acquire the accelerator pedal input amount ACC, steering angle RA, and brake input amount BRA via the powertrain control unit 23, steering control unit 33, and brake control unit 43. The powertrain control unit 23 calculates the control amount for the powertrain device 71. The powertrain control unit 23 then controls the powertrain device 71 by outputting a control signal to the powertrain device 71 according to the calculated control amount. Similarly, the steering control unit 33 controls the steering device 72. Similarly, the brake control unit 43 controls the brake device 73.

[0025] <Mediation and Control> Next, with reference to Figure 3, the arbitration control performed by the motion manager 45 will be explained. Below, as an example of arbitration control, the arbitration control for controlling the powertrain device 71 will be described. In arbitration control, the motion manager 45 receives multiple motion requests and controls the vehicle 100 by arbitrating them. Here, the motion requests are the requested acceleration r from the first support unit 56. u , the requested acceleration r from the 2nd support unit 57 l , and accelerator pedal input amount ACC. Note that the required acceleration r u This is the required acceleration along the longitudinal axle of vehicle 100. Also, the required acceleration r l This is the required acceleration along the longitudinal axle of vehicle 100. u and required acceleration r l These are all examples of the second requested acceleration. In this embodiment, the motion manager 45, as part of arbitration control, requests the acceleration r u and longitudinal acceleration g x Feedback control, also known as PI control, is performed based on the difference and the integral value of that difference. In addition, as part of arbitration control, the motion manager 45 performs the required acceleration r l and longitudinal acceleration g x Feedback control, also known as PI control, is performed based on the difference and the integral value of that difference.

[0026] As shown in Figure 3, the motion manager 45 is equipped with various arithmetic units as functional blocks. Specifically, the motion manager 45 is equipped with first arithmetic units 46A to 6th arithmetic units 46F. The motion manager 45 is equipped with first multipliers 47A to 4th multipliers 47D. The motion manager 45 is equipped with an integrator 48A and a converter 48B. The motion manager 45 is equipped with a first arbitrator 49A and a second arbitrator 49B.

[0027] The first arithmetic unit 46A receives the requested acceleration r from the first support unit 56. u Obtain the required acceleration r. u This is the required value of acceleration along the longitudinal axle of the vehicle 100. The first arithmetic unit 46A calculates the longitudinal acceleration g x The first arithmetic unit 46A then obtains the requested acceleration r. u From the longitudinal acceleration g x Subtract it.

[0028] The first multiplier 47A obtains the value calculated by the first arithmetic unit 46A. Then, the first multiplier 47A multiplies the value calculated by the first arithmetic unit 46A by a predetermined coefficient P and outputs the result to the first intermediate value FB. Pu The coefficient P is calculated as follows. Here, the coefficient P is a value predetermined through experiments and simulations. Note that the coefficient P is a positive value.

[0029] The second arithmetic unit 46B receives the requested acceleration r from the second support unit 57. l Obtain the required acceleration r. l This is the required value of acceleration along the longitudinal axle of vehicle 100. The second arithmetic unit 46B calculates the longitudinal acceleration g. x The second arithmetic unit 46B then obtains the requested acceleration r. l From the longitudinal acceleration g x Subtract it.

[0030] The second multiplier 47B obtains the value calculated by the second arithmetic unit 46B. Then, the second multiplier 47B multiplies the value calculated by the second arithmetic unit 46B by a predetermined coefficient P and outputs the result to the second intermediate value FB. PlThe calculation is performed as follows. Note that the coefficient P used by the second multiplier 47B is the same as the coefficient P used by the first multiplier 47A.

[0031] The third arithmetic unit 46C obtains the value calculated by the first arithmetic unit 46A. The third arithmetic unit 46C also obtains the adjustment value AV, which is calculated by the fourth multiplier 47D. Then, the third arithmetic unit 46C subtracts the adjustment value AV calculated by the fourth multiplier 47D from the value calculated by the first arithmetic unit 46A. In other words, the third arithmetic unit 46C calculates the required acceleration r. u and longitudinal acceleration g x The adjustment value AV is subtracted from the difference. The fourth multiplier 47D will be discussed later.

[0032] The integrator 48A obtains the value calculated by the third arithmetic unit 46C. Then, the integrator 48A multiplies the value calculated by the third arithmetic unit 46C. In other words, the integrator 48A calculates an integral value based on the two values ​​obtained by the third arithmetic unit 46C.

[0033] The third multiplier 47C obtains the value calculated by the integrator 48A. The third multiplier 47C multiplies the value calculated by the integrator 48A by a predetermined coefficient I and assigns this value to the third intermediate value FB. Iu The coefficient I is calculated as follows: Here, the coefficient I is a value predetermined through experiments and simulations. Note that the coefficient I is a positive value.

[0034] The fourth arithmetic unit 46D is the first intermediate value FB Pu The fourth arithmetic unit 46D obtains the third intermediate value FB. Iu The fourth arithmetic unit 46D obtains the first intermediate value FB. Pu and the third median value FB Iu The value obtained by adding these two values ​​is the indicated value F. u It is calculated as follows. Therefore, the motion manager 45 determines the required acceleration r u By correcting the indicated value F u The indicated value F is calculated. In this embodiment, the indicated value F u This is an example of the second corrected acceleration. Then, in PI control, the motion manager 45 calculates the adjustment value AV as described later, and the required acceleration ru and longitudinal acceleration g x Feedback control is performed based on the value obtained by subtracting the adjustment value AV from the difference and then integrating the result, thereby controlling the second correction acceleration, which is the indicated value F. u Calculate.

[0035] The fifth arithmetic unit 46E is the second intermediate value FB. Pl The fifth arithmetic unit 46E obtains the third intermediate value FB. Iu The fifth arithmetic unit 46E then obtains the second intermediate value FB. Pl and the third median value FB Iu The value obtained by adding these two values ​​is the indicated value F. l It is calculated as follows. Therefore, the motion manager 45 determines the required acceleration r l By correcting the indicated value F l The indicated value F is calculated. In this embodiment, the indicated value F l This is an example of a second corrected acceleration.

[0036] The converter 48B acquires the accelerator pedal operation amount ACC. The converter 48B then receives an instruction value F corresponding to the accelerator pedal operation amount ACC. D The converter 48B calculates the instruction value F corresponding to the accelerator operation amount ACC. D By calculating the indicated value F, D In this embodiment, the larger the accelerator operation amount ACC, the larger the indicated value F of the converter 48B. D The result is calculated. Therefore, the indicated value F D This value has a positive correlation with the accelerator pedal input (ACC). Here, the indicated value F D The indicated value F u and indicated value F l It is a value of the same dimension. In other words, the indicated value F D This indicates the required acceleration along the longitudinal axle of vehicle 100. Note that the indicated value F D This is an example of the first required acceleration.

[0037] The first mediator 49A indicates the value F l It obtains the value F. Also, the first mediator 49A receives the indicated value F. D It obtains the value F. Then, the first mediator 49A receives the indicated value F.l and indicated value F D Select the largest value from among them.

[0038] The second mediator 49B indicates the value F u The second mediator 49B obtains the value selected by the first mediator 49A. The second mediator 49B then obtains the indicated value F. u The smallest value among the values ​​selected by the first mediator 49A and the second mediator 49B is selected. Therefore, the first mediator 49A and the second mediator 49B select the indicated value F u , indicated value F l , and indicated value F D One of these is selected as the mediation result. Furthermore, the second mediator 49B outputs the mediation result to the powertrain control unit 23. At this time, the powertrain control unit 23 calculates the control amount of the powertrain device 71 according to the mediation result from the second mediator 49B. Then, the powertrain control unit 23 outputs a control signal to the powertrain device 71 according to the calculated control amount. As a result, the powertrain device 71 is controlled, and the longitudinal acceleration g, which is the actual acceleration of the vehicle 100, is controlled. x This can change.

[0039] The sixth arithmetic unit 46F is assigned the instruction value F u The sixth arithmetic unit 46F obtains the arbitration result of the second arbitrator 49B. In other words, the sixth arithmetic unit 46F obtains the value selected by the second arbitrator 49B as the arbitration result. The sixth arithmetic unit 46F then obtains the indicated value F u Subtract the value selected as the mediation result from the total.

[0040] The fourth multiplier 47D obtains the value calculated by the sixth arithmetic unit 46F. Then, the fourth multiplier 47D calculates the adjustment value AV by dividing the value calculated by the sixth arithmetic unit 46F by a predetermined coefficient P. In other words, the adjustment value AV is the second correction acceleration, which is the indicated value F. uIt is a value obtained by dividing the difference in the mediation result by a predetermined coefficient P. The coefficient P used by the fourth multiplier 47D is the same as the coefficient P used by the first multiplier 47A and the second multiplier 47B. As described above, the adjustment value AV calculated by the fourth multiplier 47D is acquired by the third arithmetic unit 46C.

[0041] <Operation by arbitration control> Next, referring to FIG. 3, the operation by arbitration control will be described. First, the case where the indicated value F u is selected as the arbitration result will be described. In this case, the indicated value F u is expressed by the following formula (1).

[0042]

Equation

[0043] As in the above formula (1), when the indicated value F u is selected as the arbitration result, the indicated value F u is the same as the value calculated by general PI control. That is, the indicated value F u is the same as the value calculated by feedback control based on the difference between the required acceleration r u and the front and rear accelerations g x and the integral value of the difference.

[0044] Also, when the indicated value F u is selected as the arbitration result as described above, the indicated value F l is expressed by the following formula (2).

[0045]

Equation

[0046] Here, the second term of the indicated value F l in formula (2) is the same as the second term of the indicated value F u in formula (1). Next, the indicated value F lThe case where u is selected will be described. In this case, the indicated value F

[0047]

Number

[0048] Also, as described above, when the indicated value F l is selected, the indicated value F l is represented by the following formula (4).

[0049]

Number

[0050] As in the above formula (4), when the indicated value F l is selected, the indicated value F l is the same as the value calculated by general PI control. That is, the indicated value F l is the same as the value calculated by feedback control based on the difference between the required acceleration r l and the longitudinal and lateral accelerations g x and the integral value of the difference. Also, the second term of the indicated value F l in formula (4) is the same as the second term of the indicated value F u in formula (3).

[0051] Furthermore, the case where the indicated value F D is selected as the mediation result will be described. In this case, the indicated value F u is represented by the following formula (5).

[0052]

Number

[0053] Also, as described above, when the indicated value F D is selected, the indicated value F l is represented by the following formula (6).

[0054]

number

[0055] Here, as shown in Figure 3, the indicated value F u This is the first median value FB Pu and the third median value FB Iu It is the sum of the above. Also, the indicated value F l This is the second median value FB Pl and the third median value FB Iu It is the sum of the two. And the indicated value F in equation (5) u The second and third terms are the third median value FB Iu This corresponds to the indicated value F in equation (6). l The second and third terms are the third median value FB Iu This corresponds to the indicated value F in equation (5). u The second and third terms of this equation are the indicated value F in equation (6). l This is the same as the second and third terms of the equation. And the indicated value F in equation (5) u The second and third terms, i.e., the third median value FB. Iu Focusing on this, it can be expressed by the following equation (7).

[0056]

number

[0057] Then, differentiating both sides of equation (7) with respect to time t, we derive the following equation (8).

[0058]

number

[0059] Equation (8) above is a differential equation in terms of time t. Here, the third intermediate value FB at time t is given by Iu The value of Iu Let (t) be the third median value FB at time t "0". IuThe initial value is FB Iu Let (0). Then, solving the differential equation (8) above, we derive the following equation (9).

[0060]

number

[0061] As shown in equation (9) above, the third intermediate value FB at time t Iu The value of FB Iu (t) is the initial value FB Iu (0), and indicated value F D It is determined solely by the third median value FB at time t. In other words, it depends solely on the third median value FB at time t. Iu The value of FB Iu (t) is the required acceleration r u , required acceleration r l , and longitudinal acceleration g x Regardless, the decision will be made.

[0062] Therefore, the mediation result is an indicated value F D If selected, the indicated value F in equation (5) u The second and third terms, i.e., the third median value FB. Iu However, fluctuations like those in the integral value calculated by general PI control are suppressed. And the indicated value F u The indicated value F u and the indicated value F D It is calculated so that the absolute value of the difference is small. In other words, the exercise manager 45 adjusts the instruction value F as the mediation result. D If selected, the selected indicator value F D The instruction value F obtained when the acquisition was made. u Compared to the indicated value F u The selected instruction value F D It is calculated as a value close to it. At this time, the indicated value F D This corresponds to the first required acceleration. Also, the required acceleration r u This corresponds to the second required acceleration. Furthermore, the instruction value F u This corresponds to the second corrected acceleration.

[0063] Similarly, the mediation result is an indicated value F. D If selected, the indicated value F in equation (6) l The second and third terms, i.e., the third median value FB. Iu However, fluctuations like those in the integral value calculated by general PI control are suppressed. And the indicated value F l The indicated value F l and the indicated value F D It is calculated so that the absolute value of the difference is small. In other words, the exercise manager 45 adjusts the instruction value F as the mediation result. D If selected, the selected indicator value F D The instruction value F obtained when the acquisition was made. l Compared to the indicated value F l The selected instruction value F D It is calculated as a value close to it. At this time, the indicated value F D This corresponds to the first required acceleration. Also, the required acceleration r l This corresponds to the second required acceleration. Furthermore, the instruction value F l This corresponds to the second corrected acceleration.

[0064] <Operation of this embodiment> First, let's explain the comparative example. Here, the motion manager 45 receives the requested acceleration r from the second support unit 57. l And, the accelerator input amount ACC from the driver of vehicle 100 is accepted. Then, as shown by the dashed line in Figure 5(a), from time t11 onwards, the accelerator input amount ACC is used to request acceleration r l The required acceleration r converted to a value of the same dimension D However, the required acceleration r l It becomes larger than that. Then, as shown by the dashed line in Figure 5(b), the instruction value F is calculated from the accelerator operation amount ACC. D The required acceleration r l The indicated value F is calculated from this. l It becomes larger than that. Therefore, as shown by the solid line in Figure 5(b), the motion manager 45 adjusts the instruction value F calculated from the accelerator operation amount ACC. DThis is selected as the mediation result Z. As a result, as shown by the solid line in Figure 5(a), the longitudinal acceleration g is the actual acceleration of vehicle 100. x This is the required acceleration r indicated by the accelerator pedal input (ACC). D It approaches this. In the comparative example, the indicated value F is used as the mediation result Z. D When selected, the required acceleration r l and longitudinal acceleration g x The execution of feedback control, also known as PI control, based on the difference and the integral value of that difference is stopped. As a result, as shown by the dashed line in Figure 5(b), the required acceleration r l The indicated value F is calculated from this. l It is maintained at a constant value.

[0065] Then, as shown by the dashed line in Figure 5(a), at time t12, which is later than time t11, the accelerator operation amount ACC is the required acceleration r l The required acceleration r converted to a value of the same dimension D However, the required acceleration r l It becomes smaller than that. Then, as shown by the dashed line in Figure 5(b), the instruction value F calculated from the accelerator operation amount ACC is D The required acceleration r l The indicated value F is calculated from this. l It becomes smaller than . Therefore, as shown by the solid line in Figure 5(b), the motion manager 45 controls the required acceleration r l The indicated value F is calculated from this. l Select this as mediation result Z. In the comparative example, the indicated value F is selected as mediation result Z. l When selected, the required acceleration r l and longitudinal acceleration g x The execution of feedback control, so-called PI control, based on the difference and the integral value of that difference, is resumed. Here, before time t12, the required acceleration r l and longitudinal acceleration g x The absolute value of the difference is large for a prolonged period. Therefore, the required acceleration r l and longitudinal acceleration g xThe integral value in PI control becomes excessively large due to a prolonged period in which the absolute value of the difference is large. As a result, the required acceleration r l Even if the indicated value F does not change, as shown by the dashed line in Figure 5(b), l It decreases rapidly. As a result, as shown by the solid line in Figure 5(a), the longitudinal acceleration g, which is the actual acceleration of vehicle 100, becomes smaller. x It also shrinks rapidly.

[0066] Next, this embodiment will be described. Similar to the above, as shown by the dashed line in Figure 4(a), from time t11 onwards, the accelerator operation amount ACC is set to the required acceleration r l The required acceleration r converted to a value of the same dimension D However, the required acceleration r l It becomes larger than that. Then, as shown by the dashed line in Figure 4(b), the instruction value F is calculated from the accelerator operation amount ACC. D The required acceleration r l The indicated value F is calculated from this. l It becomes larger than that. Therefore, as shown by the solid line in Figure 4(b), the motion manager 45 receives the instruction value F calculated from the accelerator operation amount ACC. D This is selected as the mediation result Z. As a result, as shown by the solid line in Figure 4(a), the longitudinal acceleration g is the actual acceleration of vehicle 100. x This is the required acceleration r indicated by the accelerator pedal input (ACC). D It approaches. At this time, the exercise manager 45 gives the instruction value F as the mediation result. D If selected, the selected indicator value F D The instruction value F obtained when the acquisition was made. l Compared to the indicated value F l The selected instruction value F D It is calculated as a value close to it. Therefore, for example, as in the comparative example, the indicated value F is the result of the mediation. D When selected, the indicated value F l Compared to a configuration in which the indicated value F is maintained at a constant value, as shown by the dashed line in Figure 4(b), D and the indicated value F l The absolute value of the difference between the two becomes smaller.

[0067] Then, as shown by the dashed line in Figure 4(a), at time t12, which is later than time t11, the accelerator operation amount ACC is the required acceleration r l The required acceleration r converted to a value of the same dimension D However, the required acceleration r l It becomes smaller than that. Then, as shown by the dashed line in Figure 4(b), the instruction value F calculated from the accelerator operation amount ACC is D The required acceleration r l The indicated value F is calculated from this. l It becomes smaller than . Therefore, as shown by the solid line in Figure 4(b), the motion manager 45 controls the required acceleration r l The indicated value F is calculated from this. l Select this as the mediation result Z. Here, before time t12, the indicated value F D and the indicated value F l Because the absolute value of the difference is relatively small, the integral value in PI control is also relatively small. Therefore, for example, as in the comparative example, the instruction value F can be set as the arbitration result Z. D When selected, the indicated value F l Compared to a configuration where is maintained at a constant value, the arbitration result Z at time t12 is the indicated value F D From the indicated value F l When switching, the indicated value F l Rapid changes in this area are suppressed.

[0068] <Effects of this embodiment> (1) According to this embodiment, as shown by the dashed line in Figure 4(b), the indicated value F is at time t12. l Because rapid changes are suppressed, the control amount of the powertrain device 71 calculated by the powertrain control unit 23 is suppressed from changing rapidly. As a result, at time t12, the arbitration result Z is the indicated value F D From the indicated value F l Even after switching, as shown by the solid line in Figure 4(a), the actual acceleration of the vehicle 100, which is the longitudinal acceleration g, remains unchanged. x This can suppress rapid changes.

[0069] (2) As described above, before time t12, the instruction value F is calculated from the accelerator operation amount ACC as the arbitration result Z. D This is selected. At this time, the required acceleration r l and longitudinal acceleration g x A period of time during which the absolute value of the difference is large persists. Therefore, assuming the required acceleration r l and longitudinal acceleration g x If feedback control is simply performed based on the integral value of the difference between the two, the integral value of the feedback control tends to become excessively large due to the continuation of the above period. As a result, the required acceleration r l The indicated value F is calculated from this. l When this changes excessively, the indicated value F l and the indicated value F D The absolute value of the difference between them can sometimes become excessively large.

[0070] In this respect, according to this embodiment, the exercise manager 45 outputs an instruction value F as a result of mediation. D If selected, the selected indicator value F D The instruction value F obtained when the acquisition was made. l Compared to the indicated value F l The selected instruction value F D It is calculated as a value close to it. Therefore, the indicated value F l and the indicated value F D The absolute value of the difference between the two values ​​is prevented from becoming excessively large. Therefore, this technology is particularly suitable for configurations that perform feedback control.

[0071] (3) Generally, the accelerator pedal input amount ACC is prone to fluctuation. Therefore, the instruction value F calculated from the accelerator pedal input amount ACC may fluctuate. D and the required acceleration r l The indicated value F is calculated from this. l The absolute value of the difference tends to be large. As a result, at time t12, the mediation result Z is equal to the indicated value F. D From the indicated value F l When switching to, the indicated value F D and the indicated value F lThe absolute value of the difference between the two can sometimes be excessively large.

[0072] In this respect, according to this embodiment, the exercise manager 45 outputs an instruction value F as a result of mediation. D If selected, the selected indicator value F D The instruction value F obtained when the acquisition was made. l Compared to the indicated value F l The selected instruction value F D It is calculated as a value close to the indicated value F. Therefore, at time t12, the mediation result Z is equal to the indicated value F. D From the indicated value F l When switching to, the indicated value F D and the indicated value F l It is unlikely that the absolute value of the difference between the two is excessively large. Therefore, the instruction value F calculated from the accelerator operation amount ACC as the mediation result D It is particularly preferable to use this technology when [this option] is selected.

[0073] (4) In this embodiment, the fourth arithmetic unit 46D receives the third intermediate value FB calculated by the third multiplier 47C. Iu The fourth arithmetic unit 46D obtains the first intermediate value FB. Pu and the third median value FB Iu The value obtained by adding these two values ​​is the indicated value F. u The calculation is performed as follows. Then, the fifth arithmetic unit 46E, like the fourth arithmetic unit 46D, calculates the third intermediate value FB calculated by the third multiplier 47C. Iu The fifth arithmetic unit 46E obtains the second intermediate value FB. Pl and the third median value FB Iu The value obtained by adding these two values ​​is the indicated value F. l It is calculated as follows. In other words, in PI control, the motion manager 45 calculates the required acceleration r u and longitudinal acceleration g x Feedback control is performed based on the value obtained by subtracting the adjustment value AV from the difference and then integrating the result, thereby controlling the second correction acceleration, which is the indicated value F. u In addition to calculating the second correction acceleration, the indicated value F lThis calculates the second corrected acceleration, which is the indicated value F. l There is no need to prepare solely for the purpose of calculating this. This simplifies the configuration of the motion manager 45. Furthermore, as described in the section on operation by arbitration control, even if two sets of the sixth arithmetic unit 46F etc. are not provided, the second corrected acceleration, the instructed value F, can be calculated in the same way as when two sets of the sixth arithmetic unit 46F etc. are provided. l It is possible to calculate this.

[0074] <Example of changes> This embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0075] In the above embodiment, the mediation control may be modified. For example, the mediation methods used by the first mediator 49A and the second mediator 49B may be changed. As a specific example, the first mediator 49A and the second mediator 49B use the indicated value F. u , indicated value F l , and indicated value F D The largest value among them may be selected as the mediation result. Also, as a specific example, the first mediator 49A and the second mediator 49B use the indicated value F u , indicated value F l , and indicated value F D The smallest of these values ​​may be selected as the mediation result. Furthermore, as a specific example, the first mediator 49A and the second mediator 49B use the indicated value F u , indicated value F l , and indicated value F D The mediation result may be selected after converting the value to a value of another dimension. An example of a value of another dimension is the driving force. Also, as a specific example, one mediator may perform the mediation instead of the first mediator 49A and the second mediator 49B.

[0076] For example, the motion manager 45 may perform arbitration control for other devices. Specifically, the motion manager 45 may perform arbitration control for the brake device 73. In this case, the motion manager 45 may accept the brake operation amount BRA instead of the accelerator operation amount ACC. Also, specifically, the motion manager 45 may perform arbitration control for the steering device 72. In this case, the motion manager 45 may accept the steering angle RA instead of the accelerator operation amount ACC. Furthermore, the motion manager 45 may accept the requested value of acceleration along the left and right axes of the vehicle 100 from the first support unit 56, etc. In addition, the motion manager 45 may accept the longitudinal acceleration g x Instead, the lateral acceleration g y All that is needed is to obtain that. In other words, this technology can also be applied to arbitration control for other accelerations.

[0077] For example, the types of the first and second required accelerations may be changed. Specifically, the first required acceleration may be the acceleration requirement value from the application software. Also, specifically, the first required acceleration may be the driving force requirement value from the application software. In other words, the first required acceleration can be changed as long as it has a positive correlation with the required acceleration of the vehicle 100. The second required acceleration can be changed in the same way as the first required acceleration.

[0078] For example, the feedback control performed by the motion manager 45 may be changed. Specifically, the motion manager 45 may have the same configuration as above, in addition to the sixth arithmetic unit 46F, the fourth multiplier 47D, the third arithmetic unit 46C, the integrator 48A, and the third multiplier 47C, for the second corrected acceleration, which is the indicated value F l It may be prepared to calculate this. Also, as a specific example, the motor manager 45 may perform so-called PID control instead of PI control.

[0079] For example, the motion manager 45 may omit feedback control. Specifically, feedback control may be omitted if the only goal is to suppress a sudden change in the actual acceleration of the vehicle 100 when the arbitration result changes.

[0080] • In the above embodiment, the configuration of the vehicle 100 may be changed. For example, the ECU that implements the functions of the motion manager 45 may be something other than the brake ECU 40. Specifically, instead of the brake ECU 40, the execution device 11 of the central ECU 10 may implement the functions of the motion manager 45 by executing the motion manager application 45A stored in the storage device 12. In other words, the central ECU 10, powertrain ECU 20, steering ECU 30, brake ECU 40, and advanced driver assistance ECU 50 can be used as information processing devices. [Explanation of Symbols]

[0081] 10…Central ECU 20…Powertrain ECU 23…Powertrain Control Unit 30…Steering ECU 33…Steering Control Unit 40…Brake ECU 43…Brake Control Unit 45…Motion Manager 45A…Motion Manager App 46A…First arithmetic unit 46B…Second arithmetic unit 46C…Third arithmetic unit 46D…Fourth arithmetic unit 46E…Fifth arithmetic unit 46F…Sixth arithmetic unit 47A…First multiplier 47B…Second multiplier 47C…Third multiplier 47D…Fourth multiplier 48A…Integrator 48B…Converter 49A…First arbitrator 49B…Second arbitrator 50…Advanced driver assistance ECU 56…First support unit 57…Second support unit 71…Powertrain device 72…Steering device 73…Brake device 81…Accelerometer 86...Accelerator pedal input sensor 87...Steering angle sensor 88...Brake input sensor 100...Vehicle

Claims

1. To obtain the first required acceleration, which is one of the required accelerations for the vehicle, To obtain a second required acceleration, which is a different required acceleration from the first required acceleration, The second corrected acceleration is calculated by correcting the second required acceleration, Selecting either the first required acceleration or the second corrected acceleration as the mediation result, The mediation result is output to a control device for controlling the actuators of the vehicle, It is possible to do this, When calculating the second corrected acceleration, if the first required acceleration is selected as the arbitration result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was acquired. Information processing device.

2. It is possible to obtain the actual acceleration of the vehicle, The control for calculating the second corrected acceleration is PI control based on the difference between the second required acceleration and the actual acceleration. In the PI control described above, an adjustment value is calculated by dividing the difference between the second corrected acceleration and the arbitration result by a predetermined coefficient, and feedback control is performed based on a value obtained by integrating the difference between the second required acceleration and the actual acceleration minus the adjustment value. The information processing apparatus according to claim 1.

3. The first required acceleration is a value that has a positive correlation with the amount of pedal operation performed by the driver of the vehicle. The information processing apparatus according to claim 1.

4. In an information processing device, To obtain the first required acceleration, which is one of the required accelerations for the vehicle, To obtain a second required acceleration, which is a different required acceleration from the first required acceleration, The second corrected acceleration is calculated by correcting the second required acceleration, Selecting either the first required acceleration or the second corrected acceleration as the mediation result, The mediation result is output to a control device for controlling the actuators of the vehicle, Make it possible to do so When calculating the second corrected acceleration, if the first required acceleration is selected as the arbitration result, the second corrected acceleration is calculated to be closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was acquired. Information processing program.

5. Information processing device, To obtain the first required acceleration, which is one of the required accelerations for the vehicle, To obtain a second required acceleration, which is a different required acceleration from the first required acceleration, The second corrected acceleration is calculated by correcting the second required acceleration, Selecting either the first required acceleration or the second corrected acceleration as the mediation result, The mediation result is output to a control device for controlling the actuators of the vehicle, It is possible to do this, When calculating the second corrected acceleration, if the first required acceleration is selected as the arbitration result, the second corrected acceleration is calculated as a value closer to the selected first required acceleration than the second corrected acceleration obtained when the selected first required acceleration was acquired. Information processing methods.

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