Vehicle control device, control method, and vehicle control system

Abstract

This vehicle control device: stores a plurality of control applications that generate control information for implementing prescribed vehicle control; communicatively connects to a remote control system capable of executing a generation process to generate control information; determines whether or not the remote control system can execute a generation process for each type of vehicle control; stores the determination results; when an opportunity for executing any vehicle control is detected or an execution period is reached, determines, on the basis of the determination results, whether or not the remote control system can execute the generation process corresponding to that vehicle control; and transmits a request to execute the generation process to the remote control system if the remote control system can execute the generation process, or executes a control application corresponding to the vehicle control if the remote control system cannot execute the generation process.

Description

Vehicle control device, control method, and vehicle control system Incorporation by Reference

[0001] This application claims priority from Japanese Patent Application No. 2023-156421, filed on September 21, 2023, the contents of which are incorporated herein by reference.

[0002] The present invention relates to a vehicle control device that controls a vehicle based on control information transmitted from a remote control device.

[0003] In the automotive field, electronic control devices that control sensors and actuators for managing the driving state of a vehicle are widely used. With the recent development of autonomous driving technology and electrification of power sources, the functionality required of electronic control devices has increased, and there is a growing need for high-performance electronic control devices using remote control devices outside the vehicle.

[0004] For example, Patent Document 1 discloses a technology in which a remote instruction request is transmitted from an autonomous vehicle to a remote instruction device, and the traveling of the autonomous vehicle is controlled based on the remote instructions transmitted from the remote instruction device.

[0005] Japanese Patent Application Laid-Open No. 2021-33612

[0006] In Patent Document 1, when there is a delay in communication between a remote instruction device and an autonomous vehicle, the autonomous vehicle rejects the remote instruction, thereby suppressing driving control of the autonomous vehicle based on inappropriate remote instructions.

[0007] However, if the remote command is rejected, vehicle control based on vehicle information, including information about the outside world, will not be implemented, which may result in the vehicle being unable to respond to changes in the outside world, such as surrounding road conditions.

[0008] An object of the present invention is to provide a technology for reliably controlling vehicle travel even in cases where remote control is difficult.

[0009] A representative example of the invention disclosed in this application is as follows. That is, a vehicle control device comprising a processor and a memory connected to the processor, wherein the memory stores a plurality of control applications that generate control information for realizing a predetermined vehicle control, the vehicle control device is communicatively connected to a remote control system that can execute a generation process to generate the control information, the processor acquires vehicle information including values ​​related to the state of the vehicle in which the vehicle control device is installed, stores the vehicle information in the memory, transmits the vehicle information to the remote control system, determines for each type of vehicle control whether the remote control system can execute the generation process, stores the results of the determination in the memory, and when an execution trigger for any of the vehicle control is detected or an execution period for any of the vehicle control is reached, determines based on the result of the determination whether the remote control system can execute the generation process corresponding to the vehicle control, and if the remote control system can execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, sends a request to the remote control system to execute the generation process, and if the remote control system cannot execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, executes the control application corresponding to the vehicle control.

[0010] According to the present invention, even in cases where remote control is difficult, it is possible to reliably control the running of a vehicle. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments.

[0011] FIG. 1 is a diagram illustrating an example of the configuration of a vehicle control system according to a first embodiment; FIG. 2 is a diagram illustrating an example of the data structure of vehicle control management information according to a first embodiment; FIG. 3 is a diagram illustrating an example of the data structure of remote processing time information according to a first embodiment; FIG. 4 is a flowchart illustrating an example of processing executed by an ECU according to a first embodiment; FIG. 5 is a flowchart illustrating an example of processing executed by an ECU according to a first embodiment; FIG. 6 is a flowchart illustrating an example of remote control processing executed by a remote control device according to a first embodiment; FIG. 7 is a flowchart illustrating an example of remote control determination processing executed by an ECU according to a first embodiment.

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention should not be construed as being limited to the description of the embodiments shown below. Those skilled in the art will readily understand that the specific configuration can be changed without departing from the concept or spirit of the present invention.

[0013] In the configuration of the invention described below, the same or similar configurations or functions are denoted by the same reference numerals, and redundant explanations will be omitted.

[0014] FIG. 1 is a diagram illustrating an example of the configuration of a vehicle control system according to a first embodiment.

[0015] The vehicle control system 1 includes a vehicle 10 , a remote control device 20 installed outside the vehicle 10 , and a communication path 30 .

[0016] The vehicle 10 includes a sensor 13 , an ECU 11 , an actuator 14 , and a TCU (Telematics Control Unit) 12 .

[0017] The sensors 13 are, for example, wheel speed sensors, acceleration sensors, gyro sensors, accelerator sensors, brake sensors, steering angle sensors, cameras, radar, LiDAR, etc., and measure data related to the vehicle's running state and the external environment. The TCU 12 controls communication between the ECU 11 and the outside. The actuator 14 controls the vehicle based on control information for realizing predetermined vehicle control.

[0018] The ECU 11 (vehicle control device) includes a processor 111 that executes calculation processing and a memory 112 that stores calculation results, measurement results, and the like. The memory 112 stores multiple control applications, vehicle control management information 200, and remote processing time information 300. The control applications are programs, and a control application is provided for each type of vehicle control. The ECU 11 loads the control application program stored in the memory 112 using the processor 111 and executes the control application corresponding to the type of vehicle control, thereby generating control information based on vehicle information including measurement results acquired from the sensors 13. The vehicle information includes, for example, vehicle speed, vehicle acceleration, steering angle, current position, on-board camera images, and peripheral object information. The control information includes, for example, vehicle speed, vehicle acceleration, steering angle, and the like, which are target values ​​for vehicle control (control signals for the actuators 14).

[0019] The remote control device 20 includes a processor 21 that executes arithmetic processing, a memory 22 that stores the calculation results and various data, and a network interface 23 that controls communication with the outside. The remote control device 20 is capable of executing a generation process that generates control information. Note that if the remote control device 20 has more abundant calculation resources than the ECU 11 or can use vehicle information from other vehicles 10, it can execute advanced arithmetic processing and generate control information that enables more accurate vehicle control.

[0020] The functions of the remote control device 20 may be realized using a virtual computer generated from cloud computing resources. Also, the remote control device 20 may be realized using a system configured from multiple computers.

[0021] FIG. 2 is a diagram illustrating an example of a data structure of the vehicle control management information 200 according to the first embodiment.

[0022] The vehicle control management information 200 stores entries including an ID 201, a control type 202, an execution period 203, a deadline time 204, a remote control time 205, a worst case execution time 206, and a remote control flag 207. There is one entry for each vehicle control type.

[0023] The ID 201 is a field that stores the ID of the entry. The control type 202 is a field that stores a value that indicates the type of vehicle control.

[0024] The execution period 203 is a field for storing the execution period of the vehicle control. The deadline time 204 is a field for storing the time (deadline time) by which the vehicle control should be completed. The remote control time 205 is a field for storing the deadline (remote control time) for receiving the processing result from the remote control device 20 that executes the control information generation process. The worst execution time 206 is a field for storing the maximum value of the calculation time when the ECU 11 executes the control application.

[0025] The remote control flag 207 is a field for storing a flag indicating whether or not the execution of the generation process can be requested from the remote control device 20. For example, if the execution of the generation process cannot be requested from the remote control device 20, "0" is stored, and if the execution of the generation process can be requested from the remote control device 20, "1" is stored.

[0026] For example, vehicle control with ID 201 "1" is control of the vehicle's driving trajectory and is used in automated driving and advanced driving assistance systems. This vehicle control is executed every 1000 milliseconds, with a deadline of 800 milliseconds, and the calculation result, i.e., the driving trajectory target value, must be obtained within 800 milliseconds from the start of the generation process. Furthermore, when the remote control device 20 executes the generation process, it must receive the calculation result (remote control information) within 400 milliseconds from sending a remote control request.

[0027] The present invention is not limited to vehicle control that is executed periodically. Vehicle control that is executed in response to the occurrence of an event may also be used. In this case, a field for storing a start condition may be provided instead of the execution period.

[0028] The vehicle control management information 200 does not have to be data in a table format, but may be data in an XML format or a CSV format, for example.

[0029] FIG. 3 is a diagram illustrating an example of the data structure of the remote processing time information 300 according to the first embodiment.

[0030] The remote processing time information 300 stores entries including an ID 301, a control type 302, a remote processing time (99%) 303, a remote processing time (99.9%) 304, a remote processing time (99.99%) 305, and a remote processing time (99.999%) 306. There is one entry for each vehicle control type.

[0031] The ID 301 is a field that stores the ID of the entry. The control type 302 is a field that stores a value that indicates the type of vehicle control.

[0032] Remote processing time (99%) 303, remote processing time (99.9%) 304, remote processing time (99.99%) 305, and remote processing time (99.999%) 306 are fields that store the time (remote processing time) until the remote control device 20 completes the generation process.

[0033] The remote control device 20 can update the remote processing time information 300 by recording the processing time of the generation process and performing statistical processing using the history.

[0034] The remote processing time varies depending on the load and communication status of the remote control device 20. Therefore, the remote processing time is managed for each statistical reliability. For example, the generation process corresponding to the control of the travel path is completed within 10 milliseconds with a 99% reliability (probability), and is completed within 500 milliseconds with a 99.999% reliability (probability).

[0035] The remote processing time information 300 does not have to be data in a table format, but may be data in an XML format or a CSV format, for example.

[0036] 4, 5, and 6 are flowcharts illustrating an example of processing executed by the ECU 11 according to the first embodiment.

[0037] 4 is a flowchart showing the vehicle information acquisition process. After the engine is started, the ECU 11 starts the process described below.

[0038] In step S101, the ECU 11 acquires vehicle information such as vehicle speed, vehicle acceleration, steering angle, current position, in-vehicle camera image, and peripheral object information from the sensor 13 at a predetermined timing. The vehicle information may be acquired when an opportunity to execute vehicle control is detected or periodically. Note that the present invention is not limited to the timing of acquiring the vehicle information.

[0039] In step S102 , the ECU 11 stores the acquired vehicle information in the memory 112 .

[0040] In step S103, the ECU 11 transmits the vehicle information to the remote control device 20. The ECU 11 may transmit the vehicle information when the amount of data is greater than a threshold or when a certain period of time has elapsed. The ECU 11 may also acquire and transmit vehicle information necessary for the generation process when transmitting a remote control request.

[0041] When the remote control device 20 receives the vehicle information, it stores the vehicle information in the memory 22 in association with the identification information of the vehicle 10 .

[0042] 5 is a flowchart showing a remote control determination process for determining whether or not remote control is available. After starting the engine, the ECU 11 starts the following processes for each vehicle control.

[0043] In step S111, the ECU 11 executes a remote control determination process for the target vehicle control. The details of the remote control determination process will be described later. The processing result is reflected in the remote control flag 207.

[0044] The remote control determination process is executed periodically or when an opportunity to execute vehicle control is detected. When the remote control determination process is executed periodically, an execution cycle may be set for each type of vehicle control. This reduces discrepancies with the execution cycle of vehicle control.

[0045] 6 is a flowchart showing the vehicle control process. When the ECU 11 detects an opportunity to execute any vehicle control or when a predetermined execution period is reached, the ECU 11 executes the process described below.

[0046] In step S121, the ECU 11 determines whether or not remote control is available for vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached.

[0047] Specifically, the ECU 11 refers to the vehicle control management information 200 and determines whether the remote control flag 207 of the entry corresponding to the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached is "1." If the remote control flag 207 is "1," the ECU 11 determines that remote control is available for the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached.

[0048] If it is determined that remote control is not available for a vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached, in step S122, the ECU 11 reads vehicle information necessary for generating control information from the memory 112. Here, the vehicle information read is vehicle information acquired before or at the time of detection of the execution trigger, or vehicle information acquired before or at the time the predetermined execution period has been reached. Note that vehicle information acquired within a certain period after detection of the execution trigger may also be read.

[0049] In step S123, the ECU 11 generates control information by executing a control application using the read vehicle information. The control information includes control target values ​​such as speed and steering angle. Note that, in addition to the latest vehicle information, past vehicle information and past control information may be used to generate the control information.

[0050] In step S127, the ECU 11 saves the control information in the memory 112. Here, the control information generated by the ECU 11 is stored in the memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information. For example, the actuator 14 is controlled based on the control target value. Thereafter, the ECU 11 ends the vehicle control process.

[0051] If it is determined in step S121 that remote control is available for the vehicle control for which an execution trigger has been detected or a predetermined execution period has been reached, in step S124, the ECU 11 transmits a remote control request to the remote control device 20 via the TCU 12. The remote control request includes information indicating the type of vehicle control. At this time, the ECU 11 may transmit vehicle information again. Alternatively, the ECU 11 may transmit past control information.

[0052] After transmitting the remote control request, the ECU 11 starts timer monitoring. In step S125, the ECU 11 determines whether the remote control timeout period has elapsed. Specifically, the ECU 11 determines whether the elapsed time since the start of timer monitoring is shorter than the remote control time limit.

[0053] If the remote control timeout period has not elapsed, in step S126, the ECU 11 determines whether or not remote control information has been received. Here, the remote control information is control information generated by the remote control device 20. The ECU 11 may also execute a process to check the consistency of the remote control information. If the remote control information is inconsistent, the ECU 11 determines that the remote control information has not been received.

[0054] If the remote control information has not been received, the ECU 11 returns to step S125 and continues monitoring the timer.

[0055] If the remote control information is received, in step S127, the ECU 11 saves the control information in the memory 112. Here, the remote control information generated by the remote control device 20 is stored in the memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information.

[0056] If the remote control timeout period has elapsed in step S125, then in step S122, the ECU 11 reads vehicle information from the memory 112. In step S123, the ECU 11 generates control information by executing a control application using the read vehicle information. In step S127, the ECU 11 stores the generated control information in the memory 112. In step S128, the ECU 11 controls the vehicle 10 based on the control information.

[0057] In this way, by having the remote control device 20 execute the generation process, the computational load on the ECU 11 can be reduced. If the control information cannot be received within the timeout period due to a communication abnormality or an abnormality in the remote control device 20, the ECU 11 executes the control application itself, generates the control information, and performs vehicle control based on the control information. This ensures reliable vehicle control. Furthermore, if the remote control device 20 has more abundant computational resources than the ECU 11 or can use vehicle information from other vehicles 10, it can execute advanced computational processing. This generates control information that enables highly accurate vehicle control.

[0058] Since the ECU 11 stores vehicle information in the memory 112, the ECU 11 can acquire the vehicle information necessary to generate the control information when the process of generating the control information is switched from the remote control device 20 to the ECU 11. This reduces sampling jitter required for real-time performance and improves reliability.

[0059] FIG. 7 is a flowchart illustrating an example of a remote control process executed by the remote control device 20 according to the first embodiment.

[0060] After being started up or when an execution instruction is received, the remote control device 20 starts monitoring for a remote control request.

[0061] In step S201, the remote control device 20 determines whether or not a remote control request has been received.

[0062] If no remote control request has been received, the remote control device 20 continues to monitor for a remote control request.

[0063] If a remote control request has been received, the remote control device 20 reads the vehicle information received from the vehicle 10 from the memory 22 in step S202.

[0064] In step S203, the remote control device 20 generates control information (remote control information) using the read vehicle information.

[0065] In step S204, the remote control device 20 transmits the control information to the vehicle 10. Thereafter, the remote control device 20 continues to monitor for a remote control request.

[0066] FIG. 8 is a flowchart illustrating an example of a remote control determination process executed by the ECU 11 according to the first embodiment.

[0067] Here, it is assumed that the reliability of the remote processing time is specified in advance in the ECU 11.

[0068] In step S11101, the ECU 11 determines whether the remote control device 20 is in a state where it can perform remote control. Specifically, the following process is executed.

[0069] (S11101-1) The ECU 11 determines whether or not the communication state of the communication path 30 is good. If the communication state of the communication path 30 is not good, the ECU 11 determines that the remote control device 20 is not in a state where remote control can be performed.

[0070] (S11101-2) If the communication state of the communication path 30 is good, the ECU 11 determines whether the load on the remote control device 20 is light. For example, it determines whether the utilization rate of the processor 21 is lower than a threshold. If the load on the remote control device 20 is heavy, the ECU 11 determines that the remote control device 20 is not in a state where it can perform remote control.

[0071] (S11101-3) When the load on the remote control device 20 is small, the ECU 11 determines that the remote control device 20 is in a state in which it can perform remote control.

[0072] If the remote control device 20 is not in a state where remote control can be performed, the ECU 11 determines in step S11107 that remote control is unavailable. At this time, the ECU 11 references the vehicle control management information 200 and sets the remote control flag 207 of the entry corresponding to the vehicle control to "0." Then, the ECU 11 ends the remote control determination process.

[0073] If the remote control device 20 is in a state where remote control can be performed, in step S11102, the ECU 11 obtains the remote processing time from the remote processing time information 300. Specifically, the ECU 11 searches for an entry corresponding to vehicle control and obtains the value of the field corresponding to the reliability of the entry.

[0074] In step S11103, the ECU 11 determines whether the remote processing time is shorter than the remote time limit.

[0075] If the remote processing time is equal to or greater than the remote control time limit, the ECU 11 determines in step S11107 that remote control is not available, and then ends the remote control determination process.

[0076] If the remote processing time is shorter than the remote time limit, in step S11104, the deadline time is obtained from the vehicle control management information 200. Specifically, the ECU 11 obtains the value of the deadline time 204 of the entry corresponding to the vehicle control in the vehicle control management information 200.

[0077] In step S11105, the ECU 11 determines whether the generation process will be completed within the deadline time.

[0078] Specifically, after transmitting a remote control request to the remote control device 20, the ECU 11 determines whether the predicted end time of the control application corresponding to the vehicle control due to a timeout is shorter than the deadline. The predicted end time is calculated using, for example, equation (1).

[0079] Remote time limit + worst case execution time...(1)

[0080] It is also possible to use the time obtained by adding a margin time to the value of equation (1). The margin time can be set arbitrarily.

[0081] If the generation process is not completed within the deadline, the ECU 11 determines in step S11107 that remote control is unavailable, and then ends the remote control determination process.

[0082] If the generation process is completed within the deadline, the ECU 11 determines in step S11106 that remote control is available. At this time, the ECU 11 references the vehicle control management information 200 and sets the remote control flag 207 of the entry corresponding to the vehicle control to "1." Then, the ECU 11 ends the remote control determination process.

[0083] If there is no need to monitor the reception of control information after transmitting a remote control request, the processing of steps S11104 and S11105 can be omitted.

[0084] If the determination process of step S11103 determines that the execution time of the generation process by the remote control device 20 is equal to or greater than the remote time limit, the ECU 11 can be controlled to execute the control application. If the communication state or the operating state of the remote control device 20 is normal, the execution time of the generation process is shorter than the remote time limit, and if the communication state or the operating state of the remote control device 20 is abnormal, the execution time of the generation process is equal to or greater than the remote time limit. Therefore, the execution entity that generates the control information can be switched depending on the communication state or the operating state of the remote control device 20. This allows the ECU 11 to reliably control the vehicle's driving even when remote control by the remote control device 20 is difficult.

[0085] The determination process in step S11105 determines whether remote control is available only if the ECU 11 can execute the control application after the remote control request is sent. This ensures reliable execution of vehicle control. This determination uses the worst-case execution time that reflects the processing performance of the ECU 11, making it possible to determine whether remote control is available while reflecting the processing performance of the ECU 11.

[0086] The present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.

[0087] Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations. Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. Furthermore, the above-described configurations, functions, etc. may be implemented in software by a processor interpreting and executing a program that implements each function. Information such as programs, tables, and files that implement each function can be stored in the processor's built-in memory or in a recording device such as an external flash memory or SSD (Solid State Drive).

Claims

1. A vehicle control device comprising a processor and a memory connected to the processor, wherein the memory stores a plurality of control applications that generate control information for realizing a predetermined vehicle control, the vehicle control device is communicatively connected to a remote control system capable of executing a generation process to generate the control information, the processor: acquires vehicle information including values ​​related to the state of a vehicle in which the vehicle control device is mounted, stores the vehicle information in the memory, transmits the vehicle information to the remote control system, determines for each type of vehicle control whether the remote control system can execute the generation process, and stores the result of the determination in the memory, when an execution trigger for any of the vehicle controls is detected or an execution period for any of the vehicle controls is reached, determines based on the result of the determination whether the remote control system can execute the generation process corresponding to the vehicle control, when an execution trigger for any of the vehicle controls is detected or an execution period for any of the vehicle controls is reached, sends a request to the remote control system to execute the generation process, and when the remote control system cannot execute the generation process corresponding to the vehicle control for which an execution trigger is detected or an execution period is reached, executes the control application corresponding to the vehicle control.

2. A vehicle control device as described in claim 1, characterized in that, after sending the execution request to the remote control system, if the processor cannot receive the control information from the remote control system within a certain period of time, it executes the control application corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached.

3. A vehicle control device according to claim 2, characterized in that the processor acquires the vehicle information used by the control application from the memory.

4. A vehicle control device as described in claim 1, wherein the memory stores information for managing the time limit of the generation process for each type of vehicle control, and the processor: determines whether the remote control system is in a state where it is able to execute the generation process; if the remote control system is not in a state where it is able to execute the generation process, determines that the remote control system cannot execute the generation process; if the remote control system is in a state where it is able to execute the generation process, identifies a processing time for the generation process; determines whether the processing time is greater than the time limit; if the processing time is greater than the time limit, determines that the remote control system cannot execute the generation process; and if the processing time is equal to or less than the time limit, determines that the remote control system can execute the generation process.

5. A vehicle control device as described in claim 1, wherein the memory stores information for managing, in association with each of the vehicle control types, a deadline indicating the time by which the vehicle control should be completed and a time limit for the generation process, and the processor determines whether the remote control system is in a state capable of executing the generation process; if the remote control system is not in a state capable of executing the generation process, determines that the remote control system is unable to execute the generation process; if the remote control system is in a state capable of executing the generation process, specifies a processing time for the generation process; determines whether the processing time is greater than the time limit; if the processing time is greater than the time limit, determines that the remote control system is unable to execute the generation process; if the processing time is less than or equal to the time limit, determines whether a predicted end time required for generation of the control information when the control application corresponding to the vehicle control is executed after sending the execution request is greater than the deadline; if the predicted end time is greater than the deadline, determines that the remote control system is unable to execute the generation process; and if the predicted end time is less than or equal to the deadline, determines that the remote control system is able to execute the generation process.

6. A vehicle control device according to claim 1, characterized in that the processor determines whether the remote control system can execute the generation process at different execution cycles for each type of vehicle control.

7. A control method executed by a vehicle control device having a processor and a memory connected to the processor, wherein the memory stores a plurality of control applications that generate control information for realizing a predetermined vehicle control, and the vehicle control device is communicatively connected to a remote control system capable of executing a generation process for generating the control information, and the control method includes a first step in which the processor acquires vehicle information including values ​​related to a state of a vehicle in which the vehicle control device is mounted and stores the vehicle information in the memory; a second step in which the processor transmits the vehicle information to the remote control system; a third step in which the processor determines whether or not the remote control system can execute the generation process for each type of vehicle control and stores the result of the determination in the memory; and a fourth step in which, when an execution trigger for any of the vehicle controls is detected or an execution period for any of the vehicle controls is reached, the processor determines whether or not the remote control system can execute the generation process corresponding to the vehicle control based on the result of the determination. A control method comprising: a fifth step of the processor sending a request to the remote control system to execute the generation process when the remote control system is able to execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached; and a sixth step of the processor executing the control application corresponding to the vehicle control when the remote control system is unable to execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached.

8. A control method as described in claim 7, characterized in that the fifth step includes a seventh step of executing the control application corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached if the processor is unable to receive the control information from the remote control system within a certain period of time after sending the execution request to the remote control system.

9. A control method according to claim 7, wherein the memory stores information for managing, in association with each of the vehicle control types, a deadline indicating the time by which the vehicle control should be completed and a time limit for the generation process, and the fourth step includes the steps of: determining by the processor whether or not the remote control system is in a state in which it is possible to execute the generation process; if the remote control system is not in a state in which it is possible to execute the generation process, determining by the processor that the remote control system is unable to execute the generation process; if the remote control system is in a state in which it is possible to execute the generation process, specifying a processing time for the generation process; determining by the processor whether or not the processing time is greater than the time limit; if the processing time is greater than the time limit, determining by the processor that the remote control system is unable to execute the generation process; if the processing time is equal to or less than the time limit, determining by the processor whether or not a predicted completion time required for generation of the control information when the control application corresponding to the vehicle control is executed after transmitting the execution request is greater than the deadline. A control method comprising: if the predicted completion time is greater than the deadline time, the processor determines that the remote control system cannot execute the generation process; and if the predicted completion time is equal to or less than the deadline time, the processor determines that the remote control system can execute the generation process.

10. A vehicle control system comprising a vehicle control device and a remote control system, wherein the vehicle control device has a processor and a memory connected to the processor, the memory stores a plurality of control applications that generate control information for realizing a predetermined vehicle control, the remote control system is capable of executing a generation process to generate the control information, the vehicle control device: acquires vehicle information including values ​​related to a state of a vehicle on which the vehicle control device is mounted, stores the vehicle information in the memory, transmits the vehicle information to the remote control system, determines for each type of vehicle control whether the remote control system can execute the generation process, and stores the result of the determination in the memory, when an execution trigger for any of the vehicle controls is detected or an execution period for any of the vehicle controls is reached, determines based on the result of the determination whether the remote control system can execute the generation process corresponding to the vehicle control, and when the remote control system can execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, transmits a request to execute the generation process to the remote control system, A vehicle control system characterized in that, when the remote control system is unable to execute the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, the remote control system executes the control application corresponding to the vehicle control, and when the remote control system receives the execution request, the remote control system generates the control information by executing the generation process corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached, and transmits the control information to the vehicle control device.

11. A vehicle control system as described in claim 10, characterized in that, after transmitting the execution request to the remote control system, the vehicle control device executes the control application corresponding to the vehicle control for which an execution trigger has been detected or an execution period has been reached if the control information cannot be received from the remote control system within a certain period of time.

12. A vehicle control system according to claim 10, wherein the memory stores information for managing, in association with each of the vehicle control types, a deadline indicating the time by which the vehicle control should be completed and a time limit for the generation process, and the vehicle control device: determines whether the remote control system is in a state capable of executing the generation process; if the remote control system is not in a state capable of executing the generation process, determines that the remote control system is unable to execute the generation process; if the remote control system is in a state capable of executing the generation process, specifies a processing time for the generation process; determines whether the processing time is greater than the time limit; if the processing time is greater than the time limit, determines that the remote control system is unable to execute the generation process; if the processing time is equal to or less than the time limit, determines whether a predicted completion time required for generation of the control information when the control application corresponding to the vehicle control is executed after transmitting the execution request is greater than the deadline; and if the predicted completion time is greater than the deadline, determines that the remote control system is unable to execute the generation process; A vehicle control system, comprising: a remote control system that determines that the generation process can be executed when the predicted end time is equal to or shorter than the deadline time.

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