Vehicle control system
The vehicle control device addresses abrupt changes in vehicle behavior during updates by incorporating a correction mechanism for vehicle control amounts, ensuring a smooth transition and reducing driver discomfort.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- HITACHI LTD
- Filing Date
- 2022-10-27
- Publication Date
- 2026-07-29
AI Technical Summary
Existing vehicle control program updates can cause significant changes in vehicle behavior, leading to driver discomfort due to abrupt changes in vehicle control amounts.
A vehicle control device that includes a storage unit for first and second control programs, a vehicle control amount correction determination unit, and a vehicle control amount correction unit to determine and perform necessary corrections to the vehicle control amounts during updates, ensuring a smoother transition.
Reduces driver discomfort by gradually adjusting vehicle control amounts during updates, maintaining consistent vehicle behavior and reducing the sense of unfamiliarity.
Smart Images
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Abstract
Description
[Technical Field]
[0001] The present invention relates to a vehicle control device for controlling a vehicle's control program. [Background technology]
[0002] In recent years, it has become common to update control programs that enable various functions installed in vehicles using a communication technology called OTA (Over The Air). Furthermore, autonomous vehicles utilize this OTA technology to perform updates to their autonomous driving programs and other functions at appropriate times.
[0003] Specifically, this includes improving the sensing processing accuracy of various sensor devices by updating AI learning data, and updating vehicle control algorithms by updating driving trajectories, vehicle speed control, and various parameters under various conditions.
[0004] One example of a technology related to the update control of such vehicle control programs is Patent Document 1. Patent Document 1 describes obtaining the difference between the program before and after the update, and switching to the update program if the difference matches the updated part of the program. [Prior art documents] [Patent Documents]
[0005] [Patent Document 1] Patent No. 7013918 specification [Overview of the project] [Problems that the invention aims to solve]
[0006] However, in the invention described in Patent Document 1, even if significant changes are made to the program, the system is switched over as is. Depending on the content of the update, the vehicle's behavior may change drastically, potentially causing significant discomfort to the driver.
[0007] This invention has been made in view of the above problems, and aims to reduce the sense of discomfort that drivers experience when changes in vehicle behavior occur due to updates to the vehicle's control program. [Means for solving the problem]
[0008] To solve the above problems, the vehicle control device according to the present invention includes a storage unit that stores a first control program used for controlling a vehicle and a second control program which is an updated version of the first control program; a vehicle control amount correction determination unit that determines the necessity of correcting the vehicle control amount of the first control program based on the respective vehicle control amounts output when the same value is input to the first and second control programs; and a vehicle control amount correction unit that performs a correction process for the vehicle control amount of the first control program when it is determined that correction of the vehicle control amount is necessary. [Effects of the Invention]
[0009] According to the present invention, even with updates that involve significant changes to the control program, it becomes possible to reduce the sense of discomfort that the changes in vehicle behavior associated with the update cause to the driver. Further features related to the present invention will become apparent from the description herein and the accompanying drawings. Problems, configurations, and effects other than those described above will be revealed by the following description of the embodiments. [Brief explanation of the drawing]
[0010] [Figure 1] A schematic diagram showing the entire system, including a vehicle to which a vehicle control device according to one embodiment of the present invention is applied. [Figure 2] A block diagram showing the hardware configuration of the automated driving control system. [Figure 3] A functional block diagram showing the configuration of the vehicle control program. [Figure 4] A functional block diagram showing the detailed configuration of the control program. [Figure 5] A flowchart showing the processes executed in the vehicle control device according to Example 1. [Figure 6] A graph for explaining the vehicle control amount correction period during program update. [Figure 7] A diagram showing the processing performed by the vehicle control amount correction unit during program update when the vehicle control amount to be corrected is the acceleration at the time of entering a curve. [Figure 8] A diagram showing the processing performed by the vehicle control amount correction unit during program update when the vehicle control amount to be corrected is the steering angle. [Figure 9] A diagram showing the processing performed by the vehicle control amount correction unit during program update when the vehicle control amount to be corrected is the vehicle speed. [Figure 10] A flowchart showing the processing executed in the vehicle control device according to the second embodiment. [Figure 11] A flowchart showing the processing executed in the vehicle control device according to the third embodiment. [[ID=J18]] [Figure 12] A functional block diagram showing the configuration of the vehicle control program of the vehicle control device according to the fourth embodiment. [Figure 13] A diagram for explaining the processing executed when a plurality of drivers use one vehicle. [[ID=J23]] [Figure 14] A diagram for explaining the processing executed when one driver uses different vehicles of the same vehicle type. <J [Figure 15] A diagram for explaining the problems that may occur before and after program update when entering a curve. [Figure 16] A diagram for explaining the problems that may occur before and after program update when following a preceding vehicle. [Figure 17] A diagram for explaining the problems that may occur before and after program update when changing lanes. [Figure 18] A diagram for explaining the problems that may occur before and after program update when parking.
Mode for Carrying Out the Invention
[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0012] Figure 1 is a schematic diagram showing the entire system including a vehicle to which a vehicle control device according to one embodiment of the present invention is applied. The vehicle control device includes, for example, a drive control device 120 mounted on the vehicle 100 that controls the drive of the engine 110, a brake control device 121 connected to the brake disc 111 that controls the brake drive, a steering control device 122 connected to the steering wheel (not shown), transmission 112, clutch 113, etc. that controls the steering of the vehicle, and an automatic driving control device 123 connected to these that controls automatic driving. In this embodiment, the automatic driving control device 123 will be described as the vehicle control device as a representative example.
[0013] The automatic driving control device 123 receives vehicle speed information from the vehicle speed sensor 130, vehicle position information from the GPS (Global Pointing System) sensor 131, and external information such as driving lanes, surrounding vehicles, and road signs from external recognition devices 132 such as cameras and LiDAR.
[0014] The automated driving control device 123 is further connected to a telematics device 124 and an infotainment device 125 for communication. The telematics device 124 is connected to a communication device 140 that can communicate with the outside world and receives necessary information (e.g., update programs) from a data center 150 where various data are stored. The infotainment device 125 is equipped with a monitor visible to the driver and presents the driver with necessary information.
[0015] The automated driving control device 123 configured in this way controls the automated driving of the vehicle 100, while also receiving partial input from the driver, according to the set level of automated driving.
[0016] Figure 2 is a block diagram showing the hardware configuration of the automatic driving control device 123. The automatic driving control device 123 includes a processor 201 that executes each program, a memory 202 that stores the vehicle control program 205, a non-volatile memory 203 that stores various vehicle data, and an I / O interface 204 that communicates with other devices.
[0017] Figure 3 is a block diagram showing the functional configuration of the vehicle control program 205 stored in memory 202. The vehicle control program 205 includes a first control program 301, which is currently in operation before the update, and a second control program 302, which is the update program, as programs to be executed. It also includes a vehicle control amount correction determination unit 303 and a vehicle control amount correction unit 304, which receive the vehicle control amounts that are the execution results of these programs.
[0018] The output results of the first and second control programs, which are output to the vehicle control amount correction determination unit 303 and the vehicle control amount correction unit 304, are the same values related to the driving environment that are input to the first and second control programs and output as a result. Here, values related to the driving environment include, for example, the distance to the preceding vehicle in the image captured by the camera or Lidar, traffic signal information, number of lanes, and the vehicle's speed / acceleration.
[0019] This embodiment is characterized by the inclusion of a vehicle control amount correction determination unit 303 and a vehicle control amount correction unit 304, as will be described in detail later. In this embodiment, the second control program 302, which is an update program, is received from the data center 150 via the telematics device 124. However, it may also be downloaded by physical means such as USB.
[0020] The vehicle control amount correction determination unit 303 compares the respective vehicle control amounts received from the first and second control programs, determines whether correction is necessary during the update, and transmits the result to the vehicle control amount correction unit 304. If the received result indicates that correction is necessary, the vehicle control amount correction unit 304 corrects the vehicle control amount and outputs it; if the received result indicates that correction is not necessary, it outputs the vehicle control amount as is without correction. The specific method for this will be described later.
[0021] Figure 4 is a functional block diagram showing the detailed functions of the first control program 301. The second control program 302, which is an update program, has the same configuration. As shown in Figure 4, the first control program 301 has a signal recognition unit 401 that recognizes surrounding signals, a road information acquisition unit 402 that acquires road information such as the roughness of the road surface and the wetness during rainfall, an obstacle recognition unit 403 that recognizes obstacles such as litter and fallen trees on the road, a lane recognition unit 404 that recognizes lanes, a self-position estimation unit 405 that estimates its own current position based on position information received from the GPS sensor 131, and a turn signal information acquisition unit 406 that acquires information related to turn signals as means for acquiring information necessary for automatic driving control.
[0022] The information acquired through the above functions is transmitted to the automatic driving control unit 407, which is a calculation unit. The automatic driving control unit 407 performs calculations based on the received information and outputs the target steering angle and target braking force necessary to start / continue automatic driving as vehicle control quantities. In addition, if the acquired information includes information that may pose a danger, such as information about fallen trees, it issues a warning instruction to the driver, and if it receives information such as it getting dark after sunset or entering a tunnel, it issues a lighting command to the lighting system.
[0023] In the following sections, we will describe the detailed processing performed by the vehicle control amount correction determination unit 303 and the vehicle control amount correction unit 304, which are features of the present invention. First, we will explain the necessity of correcting the vehicle control amount using Figure 15-18. Figure 15-18 illustrates a problem that may occur before and after a program update, in which the behavior of the vehicle changes significantly before and after an update of the vehicle control program, and updating the program without correction would cause the driver to feel a great sense of unease.
[0024] First, Figure 15 shows the problems that can occur before and after updating the vehicle control program when entering a curve. As shown in the position-velocity graph in Figure 15, the vehicle speed calculated by the updated program starts decelerating closer to the curve entrance than the vehicle speed calculated by the pre-update program. From the driver's perspective, if the vehicle control amount (in this case, vehicle speed / acceleration) is not corrected when the program is updated, deceleration will not start at the point where it would have started according to the pre-update program, but will start closer to the curve entrance. This can lead to anxiety that the vehicle may enter the curve without decelerating for a short period of time.
[0025] Next, Figure 16 shows the problems that can occur before and after updating the vehicle control program when following a preceding vehicle. As shown in the time-speed graph in Figure 16, the vehicle speed calculated by the updated program starts decelerating closer to the preceding vehicle than the vehicle speed calculated by the pre-update program. From the driver's perspective, if the vehicle control amount (in this case, vehicle speed / acceleration) is not corrected when the program is updated, deceleration will not start at the point where it would have started according to the pre-update program, but will start at a point closer to the preceding vehicle. This can cause anxiety, even if only for a short time, that a collision with the preceding vehicle might occur.
[0026] Next, Figure 17 shows the problems that can occur before and after updating the vehicle control program during lane changes. As shown by the solid arrows in Figure 17, the driving trajectory calculated by the updated program starts the lane change closer to the preceding vehicle compared to the driving trajectory calculated by the pre-update program, shown by the dashed arrows. From the driver's perspective, if the vehicle control amount (in this case, the steering angle control amount) is not corrected when the program is updated, the lane change will not start at the point where it would have started according to the pre-update program, but will start at a point closer to the preceding vehicle. This can lead to a slight anxiety that the lane change may fail and result in a rear-end collision with the preceding vehicle.
[0027] Finally, Figure 18 shows potential problems that may arise before and after updating the vehicle control program during automatic parking. According to the program before the update, the path to the target parking position is calculated with a margin set to account for sensor errors in order to avoid contact with the wall within the parking space. However, with the updated program, which has been modified to improve sensor accuracy, there is no need to set such a margin, and therefore the path is calculated to utilize the entire parking space more than before the update. Consequently, from the driver's perspective, if the vehicle control amount (in this case, the steering angle control amount) is not corrected when the program is updated, the path will be closer to the wall than the path calculated by the program before the update, which can cause anxiety that the vehicle might come into contact with the wall, even if only for a short time.
[0028] Since the above-mentioned problems may occur before and after updating the vehicle control program, in this embodiment, as previously described, the vehicle control amount is corrected as needed.
[0029] [Example 1] Figure 5 is a flowchart showing the vehicle control amount correction process performed by the vehicle control device according to Embodiment 1. First, in step S501, the vehicle control amount correction determination unit 303 acquires the vehicle control amount of the first control program. Similarly, in step S502, the vehicle control amount correction determination unit 303 acquires the vehicle control amount of the second control program. In step S503, the vehicle control amount correction determination unit 303 compares the vehicle control amounts acquired in steps S501 and S502 and determines whether the difference is greater than or equal to a predetermined value. The vehicle control amount correction determination unit 303 transmits the determination result to the vehicle control amount correction unit 304.
[0030] If it is determined that correction of the vehicle control amount of the first control program is unnecessary (the difference in the vehicle control amount is less than a predetermined value) (No in step S503), the vehicle control amount correction unit 304 does not correct the vehicle control amount and terminates the process. If it is determined that correction of the vehicle control amount of the first control program is necessary (the difference in the vehicle control amount is greater than or equal to a predetermined value) (Yes in step S503), the process proceeds to step S504, and the vehicle control amount correction unit 304 corrects the vehicle control amount at the time of program update.
[0031] Figure 6 is a graph illustrating the process by which the vehicle control amount correction unit 304 corrects the vehicle control amount of the first control program. When correcting the vehicle control amount, the vehicle control amount correction unit 304 prefers to set a vehicle control amount correction period, as shown in Figure 6, and correct the vehicle control amount by changing it gradually (continuously), because instantaneously switching the value would have a high potential to adversely affect the vehicle's behavior. At the end of the vehicle control correction period, the vehicle control amount correction unit 304 updates the vehicle control program from the first control program to the second control program. In this way, it becomes possible to update the control program without informing the vehicle operator.
[0032] This vehicle control amount correction period can be automatically calculated, for example, when the vehicle control amount correction determination unit 303 determines that a correction of the vehicle control amount is necessary, based on the magnitude of the difference in the vehicle control amount. In Figure 6, the vehicle control amount of the second control program is larger than that of the first control program, but this is just one example, and the reverse relationship is also possible.
[0033] Next, the calculation process performed by the vehicle control amount correction unit will be explained for each vehicle control amount using Figure 7-9. First, Figure 7 shows the case where the vehicle control amount to be corrected is the target acceleration when entering a curve.
[0034] If the vehicle control amount correction determination unit 303 determines that correction is necessary, the vehicle control amount correction unit 304, as shown in Figure 7, will adjust the acceleration a of the pre-update program. beforeto the correction acceleration a comp The target longitudinal acceleration a to which is added final is calculated. The correction acceleration a comp is obtained by multiplying the absolute value of the difference in acceleration due to program update by a predetermined gain Gain. The initial value of the gain Gain can be arbitrarily set within the range of 0 to 1, and it is gradually increased toward 1 in correspondence with the vehicle control amount correction period described in FIG. 6.
[0035] FIG. 8 shows a case where the vehicle changes lanes and the vehicle control amount to be corrected is the steering angle.
[0036] When it is determined by the vehicle control amount correction determination unit 303 that correction is necessary, as shown in FIG. 8(a), the vehicle control amount correction unit 304 sets a path T calculated by the pre-update program before to the corrected path w n z is added to obtain the target trajectory T final The corrected path w n z is, as shown in FIG. 8(b), obtained by setting N nodes for each trajectory calculated by the program and multiplying the sum of the trajectory position differences D N before and after update at each node by the evaluation function represented by the sum and the weight W N The weight W N is set with an arbitrary value as the initial value and gradually approaches 0 in correspondence with the vehicle control amount correction period described in FIG. 6.
[0037] FIG. 9 shows a case where the vehicle control amount to be corrected is the vehicle speed. When it is determined by the vehicle control amount correction determination unit 303 that correction is necessary, as shown in FIG. 9, the vehicle control amount correction unit 304 sets the vehicle speed V calculated by the pre-update program t_before to the corrected vehicle speed V comp is added to obtain the target vehicle speed V t [[ID=4o]]The corrected vehicle speed V comp is obtained by multiplying the absolute value of the difference in vehicle speed due to program update by a predetermined gain Gain. The gain Gain can be arbitrarily set within the range of 0 to 1, and it is gradually increased toward 1 in correspondence with the vehicle control amount correction period described in FIG. 6.
[0038] [Example 2] Next, the process performed by the vehicle control device according to Embodiment 2 will be explained using Figure 10. The vehicle control device according to this embodiment differs from Embodiment 1 in that it considers whether the automatic driving control requires operator monitoring. Specifically, in addition to the process shown in Figure 5, step S1001 in Figure 10 is further executed. Here, automatic driving control requiring operator monitoring refers to a control state in which automatic driving control is performed only for some functions, and operator operation is required for other functions.
[0039] As shown in Figure 10, in this embodiment, step S1001 is executed before acquiring the vehicle control amount of the first control program, and the vehicle control amount correction determination unit 303 determines whether or not the automatic driving control requires operator monitoring. If the control being executed requires operator monitoring, the process proceeds to step S501.
[0040] In other words, if the automated driving control being executed does not require operator monitoring, the processes from step S501 onwards are not executed. Correction of the vehicle control amount is performed when the vehicle control amount changes so significantly before and after a program update that it causes discomfort to the operator. However, if the automated driving control does not require operator monitoring, even if the vehicle control amount changes significantly, it is not subject to operator monitoring and does not cause discomfort, so there is no need to perform correction. According to this embodiment, if the vehicle control amount does not cause discomfort to the operator, no correction is performed, thus reducing the number of calculations and saving resources.
[0041] [Example 3] Next, the process executed by the vehicle control device according to Embodiment 3 will be explained with reference to Figure 11. In addition to Embodiment 2, the vehicle control device according to this embodiment also takes into account the type of application being executed. Specifically, if the answer to step S1001 of the process described in Figure 10 is "Yes", steps S1101 and S1102 are executed.
[0042] As shown in Figure 11, if the result of step S1001 is "Yes", in step S1101 the vehicle control amount correction determination unit 303 obtains the type of automated driving control application being executed. Then, in step S1102 the vehicle control amount correction determination unit 303 determines whether or not the application relates to collision avoidance control or collision warning control.
[0043] Then, the process proceeds to step S501 only if the application type is not related to collision avoidance control or collision warning control; if it is, the process terminates without performing any corrections.
[0044] In the previously described embodiment, it was explained that the vehicle control amount is corrected to reduce the discomfort felt by the operator. However, because collision avoidance control or collision warning control is highly urgent, even if the vehicle control amount changes significantly before and after the update (for example, if the distance to the preceding vehicle that triggers a collision warning becomes shorter), the priority is to ensure safety, and the vehicle control amount correction unit 304 outputs the updated vehicle control amount without correction.
[0045] [Example 4] Next, the vehicle control device according to Embodiment 4 will be described with reference to Figure 12. As shown in Figure 12, while the vehicle control amount correction unit 304 of the vehicle control device according to this embodiment is correcting the vehicle control amount, it outputs a notification indicating this. Specifically, it outputs that the vehicle control amount is being corrected on the monitor of the infotainment device 125 shown in Figure 1. It also outputs a similar notification when the correction is completed. According to this embodiment, the operator can recognize that the control program is being updated, making it easy to adapt to the gradually changing behavior of the vehicle that accompanies the correction of the vehicle control amount. Furthermore, by referring to this display, the operator can also select the timing for switching the control program themselves.
[0046] [Differentiation] Finally, the processes performed by the modified vehicle control device will be explained using Figures 13 and 14. Figure 13 shows an example of applying the vehicle control device according to the present invention to a so-called car-sharing system in which a single vehicle is jointly owned by multiple users.
[0047] As shown in Figure 13, first, user A uses vehicle A, and the control program is updated during use. Then, user B uses vehicle A after user A, and the control program is updated again during use. In this case, we consider a scenario where user A uses vehicle A again.
[0048] In this scenario, if the control program was version 1 when user A last stopped using vehicle A, but has now been updated to version 2 when user A starts using vehicle A again, then if there are significant changes to the vehicle control parameters before and after the update from Ver1 to Ver2, user A may feel something is off with the acceleration and steering operations, potentially leading to an accident due to operational error.
[0049] Therefore, to avoid such a situation and to maintain the same operational feel for user A as when they last finished using vehicle A, when user A uses vehicle A for the second time, the control program is reverted to the same version as when user A last finished using it. Then, during user A's second use, the control program can be updated without causing user A any discomfort by correcting the vehicle control parameters as needed. To achieve this, the data center stores the user's vehicle usage history and control program history linked together. When user A uses vehicle A next time, they can query the data center to use the appropriate control program.
[0050] Figure 14 shows an example of applying the vehicle control device according to the present invention when a single user uses different vehicles of the same make and model on separate occasions.
[0051] As shown in Figure 14, we assume a scenario where the user first uses vehicle A, during which time the control program is updated, and then the user uses vehicle B, which is the same model as vehicle A but a different vehicle, on another occasion.
[0052] In this case, as in the example in Figure 13, if the control program used when the user starts using vehicle B is different from the control program used when the user finishes using vehicle A, the user may feel uneasy and make an operational error.
[0053] Therefore, when a user begins using vehicle B, the control program for vehicle B is downloaded from the data center so that it is the same version as the one used when vehicle A was discontinued. This prevents users from experiencing any sense of unfamiliarity when using different vehicles of the same make and model.
[0054] The embodiments of the present invention described above provide the following effects. (1) The vehicle control device according to the present invention includes a storage unit that stores a first control program used for controlling a vehicle and a second control program which is an updated version of the first control program; a vehicle control amount correction determination unit that determines the need to correct the vehicle control amount of the first control program based on the respective vehicle control amounts output when the same value is input to the first and second control programs; and a vehicle control amount correction unit that performs a correction process for the vehicle control amount of the first control program when it is determined that correction of the vehicle control amount is necessary.
[0055] With the above configuration, even in updates that involve significant changes to the control program, it becomes possible to reduce the sense of unfamiliarity that changes in vehicle behavior associated with the update may cause to the driver.
[0056] (2) The vehicle control amount correction determination unit determines that correction of the vehicle control amount in the first control program is necessary when the difference between the respective vehicle control amounts output when the same value is input to the first and second control programs is greater than or equal to a predetermined value. This makes it possible to suitably utilize the present invention by setting an appropriate threshold depending on the type of vehicle control amount.
[0057] (3) The vehicle control amount correction determination unit determines that the vehicle is performing automatic driving control that requires operator monitoring, and that the difference between the vehicle control amounts output when the same value is input to the first and second control programs is greater than or equal to a predetermined value, and that correction of the vehicle control amount in the first control program is necessary. As a result, the vehicle control amount is not corrected when operator monitoring is not required, thus reducing the computational burden.
[0058] (4) The vehicle control amount correction determination unit determines that correction of the vehicle control amount of the first control program is necessary when it determines that the vehicle is performing automatic driving control that requires operator monitoring, and the first and second control programs are control programs related to vehicle control other than collision avoidance control and collision warning, and the difference between the respective vehicle control amounts output when the same value is input to the first and second control programs is greater than or equal to a predetermined value. This makes it possible to prioritize and ensure safety.
[0059] (5) The vehicle control quantities to be corrected are acceleration, the turning position or the vehicle's attitude angle at the turning position, or the position error when entering an adjacent lane or the position error along the path. The present invention particularly targets these control quantities, which are important in automated driving control.
[0060] (6) When the vehicle control quantity correction unit determines that correction of the vehicle control quantity is necessary, it provides a correction period in which it gradually changes the vehicle control quantity of the first control program to the vehicle control quantity of the second control program for at least one of the vehicle control quantities among the target acceleration, target trajectory, target steering angle, and target vehicle speed. This gradually closes the large difference between the output results of the control programs, making it easier for the operator to adapt.
[0061] (7) When the vehicle control amount correction unit determines that correction of the vehicle control amount of the first control program is necessary, it sets a weight for the difference between the vehicle control amounts output by the first and second control programs, and performs the correction multiple times during the correction period while decreasing the weight. The control in (6) is specifically carried out in this manner.
[0062] (8) The system further includes an information notification unit that notifies the operator of information using voice or display, and when it is determined that the vehicle control amount of the first control program is being corrected during a program update, it notifies the operator. This allows the operator to recognize that the vehicle control amount is being corrected and to select the timing of the program switch themselves.
[0063] (9) The system further includes means for acquiring user information and means for receiving the program used by the user by transmitting the user information to a distribution server, and sets the program received based on the user information into the first control program. This allows the user to resume use in the state in which they last finished using the system.
[0064] (10) The system further includes means for acquiring user information and means for receiving the program used by the user by sending the user information to a distribution server. If the program received based on the user information is older than the program before the update, the program before the update is set as the second control program, and the program received based on the user information is set as the first control program. This allows the system to start using the system in the same state as when it last finished using it, as in (9).
[0065] The technical scope of the present invention is not limited to the embodiments described above, and various modifications are included without departing from the main features of the invention. Therefore, the above-described embodiments are merely illustrative and should not be interpreted restrictively. Furthermore, it is possible to add, delete, or replace some of the components of each embodiment with other components, all of which remain within the scope of the present invention. [Explanation of Symbols]
[0066] 100 Vehicle, 123 Automated driving control device (vehicle control device), 125 Infotainment device (information notification unit), 301 First control program, 302 Second control program, 303 Vehicle control amount correction determination unit, 304 Vehicle control amount correction unit
Claims
1. A vehicle control device that allows for the updating of its control program, A storage unit that stores a first control program used for controlling the vehicle and a second control program which is an update program for the first control program, A vehicle control amount correction determination unit compares the respective vehicle control amounts output when the same value is input to the first and second control programs, and determines whether or not correction of the vehicle control amount in the first control program is necessary when updating from the first control program to the second control program. A vehicle control amount correction unit performs a vehicle control amount correction process of the first control program when it is determined that correction of the vehicle control amount is necessary. It has, The correction process performed by the vehicle control amount correction unit is as follows: A vehicle control device characterized by a process that, when updating from the first control program to the second control program, provides a correction period to continuously and gradually change the vehicle control amount of the first control program to the vehicle control amount of the second control program.
2. A vehicle control device according to claim 1, The vehicle control amount correction determination unit determines that correction of the vehicle control amount in the first control program is necessary when the difference between the respective vehicle control amounts output when the same value is input to the first and second control programs is greater than or equal to a predetermined value. A vehicle control device characterized by the following features.
3. A vehicle control device according to claim 1, The vehicle control amount correction determination unit determines that the vehicle is performing automatic driving control that requires operator monitoring, and that the difference between the respective vehicle control amounts output when the same value is input to the first and second control programs is greater than or equal to a predetermined value, and that correction of the vehicle control amount in the first control program is necessary. A vehicle control device characterized by the following features.
4. A vehicle control device according to claim 1, The vehicle control amount correction determination unit determines that correction of the vehicle control amount of the first control program is necessary when it determines that the vehicle is performing automatic driving control that requires operator monitoring, and the first and second control programs are control programs related to vehicle control other than collision avoidance control and collision warning, and the difference between the respective vehicle control amounts output when the same value is input to the first and second control programs is greater than or equal to a predetermined value. A vehicle control device characterized by the following features.
5. A vehicle control device according to claim 1, The vehicle control quantities to be corrected are acceleration, the turning position or the vehicle's attitude angle at the turning position, or the position error or path position error when entering an adjacent lane. A vehicle control device characterized by the following features.
6. A vehicle control device according to claim 1, When the vehicle control amount correction unit determines that correction of the vehicle control amount is necessary, it provides a correction period in which it gradually changes the vehicle control amount of the first control program to the vehicle control amount of the second control program for at least one of the vehicle control amounts, including target acceleration, target trajectory, target steering angle, and target vehicle speed. A vehicle control device characterized by the following features.
7. A vehicle control device according to claim 6, When the vehicle control amount correction unit determines that correction of the vehicle control amount of the first control program is necessary, it sets a weight for the difference between the vehicle control amounts output by the first and second control programs, and performs the correction multiple times during the correction period while decreasing the weight. A vehicle control device characterized by the following features.
8. A vehicle control device according to claim 1, It further includes an information notification unit that notifies the operator of information using voice or display, When it is determined that the vehicle control amount of the first control program is being corrected during a program update, the operator is notified. A vehicle control device characterized by the following features.
9. A vehicle control device according to claim 1, Furthermore, means of obtaining user information, The system includes means for receiving programs used by a user by transmitting the aforementioned user information to a distribution server. The program received based on the user information is set in the first control program. A vehicle control device characterized by the following features.
10. A vehicle control device according to claim 1, Furthermore, means of obtaining user information, The system includes means for receiving programs used by a user by transmitting the aforementioned user information to a distribution server. If the program received based on the user information is older than the program before the update, the program before the update is set to the second control program, and the program received based on the user information is set to the first control program. A vehicle control device characterized by the following features.