JP7276122B2 - Operation control system - Google Patents

Description

The present invention relates to a driving control system mounted on a vehicle.

Various driving control systems including driving support devices that support driving of vehicles have been proposed. Driving assistance includes, for example, automatic driving based on a driving plan that defines a driving route, collision avoidance for improving safety, and the like.

In a vehicle equipped with a plurality of driving support devices, there is a device called a motion manager that performs arbitration processing to determine which of the control commands from the plurality of driving support devices is actually used for controlling each actuator of the vehicle. to be installed.

In this regard, Japanese Patent Laid-Open No. 2002-200000 discloses a motion that arbitrates which actuator to drive or how to distribute the control amount when the same controlled object is controlled by driving different actuators. Disclosed manager.

In addition, driving control systems are required to have high robustness, especially in automatic driving in which the vehicle is continuously controlled regardless of the user's will.

In this regard, Japanese Patent Application Laid-Open No. 2002-200000 discloses making the motion control function for obtaining a target state of the vehicle for achieving a target path of the vehicle redundant and robust.

JP 2012-96619 A JP 2019-156091 A

In a driving control system including a motion manager, when an abnormality occurs in the motion manager, the function of the driving support device cannot be exhibited, and there is a possibility that the vehicle cannot be properly controlled.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robust operation control system including a motion manager.

In order to solve the above problems, one aspect of the present invention provides a first driving assistance device that generates and outputs a control command for controlling a vehicle without based on a driving plan, and a control command for controlling the vehicle. A second driving assistance device that generates and outputs based on the driving plan, and a backup device for the second driving assistance device, and a third that generates and outputs a control command for controlling the vehicle based on the driving plan. Among the control commands acquired from the driving support device, the first driving support device, and the second driving support device, conflicting control commands are arbitrated, the control commands are output based on the arbitration result, and the control commands do not conflict with each other. a motion manager for outputting a control command based on a control command; and an actuator control device for controlling the actuator. and controls the actuator based on the control command output by the third driving support device when the motion manager is not normal.

According to the present invention, a highly robust driving control system that can maintain the driving support function even if an abnormality occurs in the motion manager by providing a backup driving support device that controls the actuator without going through the motion manager. can be provided.

A diagram showing functional blocks and information flow of an operation control system according to an embodiment of the present invention. A diagram showing the flow of information used for normal processing according to an embodiment of the present invention. FIG. 4 is a diagram showing the flow of information used for processing when an abnormality occurs in the motion manager according to one embodiment of the present invention; FIG. 2 is a diagram showing the flow of information used for processing when an abnormality occurs in the driving support device according to one embodiment of the present invention; FIG. 4 is a diagram showing the flow of information used for processing when an actuator malfunction occurs according to an embodiment of the present invention;

(embodiment)
BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the driving control system according to this embodiment, redundant driving support devices having an automatic driving function are provided. When an abnormality occurs in the motion manager or the driving assistance device, the backup driving assistance device controls the actuator without going through the motion manager. Further, by making the actuator control device redundant as appropriate, a spare actuator is operated when an abnormality occurs in the actuator.

<Configuration>
FIG. 1 shows functional blocks of an operation control system 100 according to this embodiment. The motion control system includes, for example, a first driving assistance device 11, a second driving assistance device 12, a third driving assistance device 13, a motion manager 21, an acceleration control device 22, a parking brake control device 31, steering control devices 32 and 34. , a shift control device 33 and a power train control device 35 . Arrows indicate the flow of information that can be exchanged between functional blocks.

The first driving support device 11 decelerates the vehicle to avoid collisions with other vehicles, pedestrians, and obstacles, based on information representing the state of the surroundings of the vehicle, which is obtained from various sensors provided in the vehicle. Or it has a function called advanced safety, such as a collision avoidance function that stops. In the present embodiment, as an example, the first driving support device 11 generates and outputs a requested acceleration value of the vehicle as a control command. Note that the function of the first driving support device 11 is not limited to collision avoidance, and may be, for example, a function of following a vehicle in front of the vehicle while maintaining a constant inter-vehicle distance.

For example, the second driving support device 12 creates a driving plan representing a driving route based on information representing the vehicle and its surroundings obtained from various sensors and the like, map data, etc., and based on the driving plan, the vehicle It has an automatic driving function that controls the acceleration/deceleration and steering of the vehicle. In the present embodiment, as an example, the second driving assistance device 12 generates and outputs the requested values of the acceleration, steering angle, and shift range of the vehicle as the control command. Note that the second driving support device 12 may acquire at least part of the driving plan from a navigation system or the like. The second driving assistance device 12 differs from the first driving assistance device 11 in that the driving plan is not used for processing.

The third driving assistance device 13 has functions equivalent to those of the second driving assistance device 12 . The second driving support device 12 is a main device, and the third driving support device 13 is a sub-system device provided as a backup for the second driving support device 12 .

The motion manager 21 mediates between the control command output by the first driving support device 11 and the control command output by the second driving support device 12 . The arbitration means that when the control command output by the first driving support device 11 and the control command output by the second driving support device 12 are of conflicting types, which control command is actually used for controlling the vehicle. This is the process of determining whether or not the In this embodiment, the motion manager 21 uses, as a control command, an acceleration request value output by the first driving support device 11 for the advanced safety function and an acceleration request output by the second driving support device 12 for automatic driving. Therefore, for example, it is determined that the advanced safety function is prioritized and the acceleration request value output by the first driving support device 11 is used for vehicle control.

The motion manager 21 is provided integrally with the brake control device that controls the service brake device in this embodiment. The motion manager 21 derives the braking force to be generated in the service brakes and the driving force to be generated in the power train in order to realize the acceleration determined to be used for controlling the vehicle through mediation. For example, the motion manager 21 causes the power train to generate driving force if the acceleration represents generating positive driving force, and the acceleration represents generating braking force (negative driving force). If so, the power train generates as much negative driving force as possible and the insufficient braking force is generated in the service brakes.

The motion manager 21 notifies the integrated brake control device of the braking force to be generated in the service brake as a control command, and outputs the driving force to be generated in the power train as a control command. This brake control device controls the service brake to generate a braking force in accordance with a control command representing the braking force.

In addition, when the control command output by the first driving support device 11 and the control command output by the second driving support device 12 are non-conflicting control commands, the exercise manager 21 outputs each control command. In the present embodiment, the motion manager 21 uses the steering angle and shift range request values output by the second driving assistance device 12 as control commands for automatic driving as acceleration and acceleration, which are control commands for the first driving assistance device 11 . Since there is no competition, it is determined that the requested values of the steering angle and the shift range output by the second driving support device 12 are used for controlling the vehicle, and these requested values are output as a control command.

The motion manager 21 issues a control command indicating operation or release (on/off) of the parking brake based on, for example, the acceleration request value and the vehicle speed among the control commands output by the second driving support device 12. Generate and output.

The acceleration control device 22 acquires the required acceleration value among the control commands output by the third driving support device 13, and similar to the motion manager 21 described above, the acceleration control device 22 causes the braking force to be generated in the service brake and the power train. Derive the driving force. In this embodiment, the acceleration control device 22 is provided integrally with a brake control device that controls the service brake device. While the brake control device provided with the motion manager 21 is a main device, this brake control device is a backup sub-system device. The functions of the sub-system brake control device may be limited compared to the main-system brake control device. For example, the main system brake control device has VSC (Vehicle Stability Control), ABS (Antilock Braking System), and TRC (Traction Control System) functions, and the sub system brake control device has the ABS function. VSC and TRC functions may not be provided.

The acceleration control device 22 notifies the integrated brake control device of the braking force to be generated in the service brake as a control command, and outputs the driving force to be generated in the power train as a control command. This brake control device controls the service brake to generate a braking force in accordance with a control command representing the braking force.

The parking brake control device 31 controls the parking brake according to a control command representing ON/OFF obtained from the motion manager 21 .

The steering control device 32 controls the steering device (electric power steering device) according to a control command representing the steering angle obtained from the motion manager 21 . The steering control device 34 controls the steering device in accordance with a control command representing the steering angle obtained from the third driving support device 13 . The steering control device and the steering device are provided in two systems having equivalent functions. The steering device controlled by the control device 34 is a standby subsystem device.

The shift control device 33 controls the shift position based on the control command representing the shift range obtained from the motion manager 21 or the third driving support device 13 .

The power train control device 35 applies a driving force (negative driving force) to the power train including the engine and the transmission or the electric motor based on the control command representing the driving force acquired from the motion manager 21 or the acceleration control device 22. (including generating a certain braking force by engine braking or regenerative braking).

Each functional block is implemented in a computer, typically called an ECU (Electric Control Unit), which includes a processor and memory. In addition, each functional block, various sensors provided in the vehicle, other ECUs (not shown), etc. are typically connected to each other via a bus, and exchange information other than those shown in the figure to perform each process. It is possible to appropriately acquire information necessary for performing. Although FIG. 1 shows a control device for controlling actuators such as a brake, a steering device, a power train, a parking brake, and a service brake, illustration of these actuators is omitted. Also, the first driving assistance device 11 may be omitted, in which case the motion manager 21 does not mediate.

<Processing>
Processing according to the present embodiment will be described below.

(Normal): Processing when each functional block is operating normally will be described. In FIG. 2, among the information flows shown in FIG. 1, the information flow used in this case is indicated by a thick line. In each case below, each device may appropriately suppress output or appropriately suppress acquisition of information that is not used for processing.

The motion manager 21 acquires the control command representing the acceleration output by the first driving support device 11 and the control command representing the acceleration, steering angle, and shift range output by the second driving support device 12, and based on this, , and controls the brake control device of the main system to generate a braking force using the service brake, and outputs a control command representing ON/OFF of the parking brake, driving force, steering angle, and shift range.

The parking brake control device 31, the steering control device 32, the shift control device 33, and the power train control device 35 receive control commands output from the motion manager 21, which indicate parking brake on/off, steering angle, shift range, and driving force. Control based on

(Movement Manager Abnormality): Processing when the motion manager 21 does not operate normally due to some abnormality or failure will be described. In FIG. 3, among the information flows shown in FIG. 1, the flow of information used in this case is indicated by thick lines, and the functional blocks that are not operating normally and the flow of information that may stop are indicated by dotted lines. is.

The acceleration control device 22 acquires the control command representing the acceleration output by the third driving support device 13, and based on this, controls the sub system brake control device to generate a braking force using the service brake. , to output a control command representing the driving force.

The steering control device 34 and the shift control device 33 perform control based on control commands representing the steering angle and the shift range, respectively, output by the third driving support device 13 . Also, the power train control device 35 performs control based on the control command representing the driving force output by the acceleration control device 22 .

It should be noted that a self-diagnostic device provided in the exercise manager 21 can detect that the exercise manager 21 is not operating normally. Each functional block detects that the motion manager 21 is not operating normally by acquiring a notification from the motion manager 21 indicating that the motion manager 21 is not operating normally or by detecting communication interruption from the motion manager 21 . It can be detected and the processing content can be switched.

As described above, in this embodiment, even when the motion manager 21 is not operating normally, the vehicle is controlled according to the control command from the third driving support device 13, and the automatic driving function is continuously executed. can be done.

(Driving assistance device abnormality): A process when the second driving assistance device 12 is not operating normally due to some kind of abnormality or failure will be described. In FIG. 4, among the information flows shown in FIG. 1, the thick lines indicate the information flow used in this case, and the dotted lines indicate functional blocks that are not operating normally and information flows that may stop. is.

The motion manager 21 acquires the control command representing the acceleration output by the first driving support device 11 and the control command representing the acceleration output by the third driving support device 13, and based on this, performs main system brake control. It controls the device to generate a braking force using the service brake, and outputs a control command indicating ON/OFF of the parking brake and driving force.

The steering control device 34 and the shift control device 33 perform control based on the control commands representing the steering angle and shift range output from the third driving support device 13, respectively. Also, the parking brake control device 31 and the power train control device 35 perform control based on the control commands representing ON/OFF of the parking brake and driving force, respectively, output by the motion manager 21 .

A self-diagnostic device included in the second driving assistance device 12 can detect that the second driving assistance device 12 is not operating normally. Each functional block receives a notification indicating that it is not operating normally from the second driving assistance device 12 directly or via the motion manager 21 or the like, and detects communication disruption from the second driving assistance device 12. By doing so, it is possible to detect that the second driving support device 12 is not operating normally, and switch the processing content.

As described above, in this embodiment, even when the second driving support device 12 is not operating normally, the vehicle is controlled according to the control command from the third driving support device 13, and the automatic driving function is continued. can be executed. Further, by using the arbitration function of the motion manager 21, the control of the vehicle according to the control command from the first driving support device 11 can be continued.

(Actuator Abnormality): A description will be given of the processing when the steering control device 32 or the steering device, which is an actuator controlled by the steering control device 32, has some abnormality or failure and does not operate normally. In FIG. 5, among the information flows shown in FIG. 1, the flow of information used in this case is indicated by thick lines, and functional blocks that are not operating normally are indicated by dotted lines.

The motion manager 21 acquires the control command representing the acceleration output by the first driving support device 11 and the control command representing the acceleration, steering angle, and shift range output by the second driving support device 12, and based on this, , control the brake control device of the main system to generate a braking force using the service brake, and output a control command representing ON/OFF of the parking brake, driving force, and shift range.

The steering control device 34 performs control based on the control command representing the steering angle output by the third driving support device 13 . The parking brake control device 31, the shift control device 33, and the power train control device 35 perform control based on the control commands output from the motion manager 21, which indicate the ON/OFF of the parking brake, the shift range, and the driving force. .

A self-diagnostic device provided in the steering control device 32 can detect that the steering control device 32 or the steering device controlled by the steering control device 32 is not operating normally. Each functional block acquires a notification indicating that it is not operating normally from the steering control device 32 or via the motion manager 21 or the like, and detects communication interruption from the steering control device 32. , it is possible to detect that the steering control device 32 or the steering device controlled by the steering control device 32 is not operating normally, and switch the processing contents.

Thus, in this embodiment, even if the steering control device 32 or the steering device controlled by the steering control device 32 is not operating normally, the control command from the third driving support device 13 can The steering angle is controlled by the steering control device 34, and the automatic driving function can be continuously executed. Further, by using the arbitration function of the motion manager 21 , it is possible to continue controlling the acceleration of the vehicle according to the control command from the first driving support device 11 . It should be noted that other actuators and their control devices can also perform similar processing if they have a two-system redundant configuration like the steering control device and the steering device.

<effect>
In the driving control system according to this embodiment, redundancy is provided by providing two driving support devices having an automatic driving function. Further, redundancy is provided by providing two actuators and their control devices for the brake function and the steering function, for example. As described above, even if one of the motion manager, driving support device, actuator and its control device does not operate normally, the redundant configuration can be used to perform the driving support functions (acceleration, steering angle, shift range, etc.). control) can be executed continuously. As a result, the driving control system can have high robustness that can maintain appropriate control of the vehicle even if an abnormality occurs in the motion manager or the like.

Although one embodiment of the present invention has been described above, the present invention can be modified and implemented as appropriate. In addition, the present invention provides not only an operation control system, but also an operation control method, an operation control program, and a computer-readable non-temporary program storing an operation control program executed by a computer comprising a processor and a memory that constitute the operation control system. It can be regarded as a storage medium, a vehicle equipped with an operation control system, or the like.

INDUSTRIAL APPLICABILITY The present invention is useful for a driving control system mounted on a vehicle or the like.

11 first driving assistance device 12 second driving assistance device 13 third driving assistance device 21 motion manager 22 acceleration control device 31 parking brake control device 32 steering control device 33 shift control device 34 steering control device 35 power train control device 100 driving control system

Claims (1)

a first driving assistance device that generates and outputs a control command for controlling a vehicle without being based on a driving plan;
a second driving assistance device that generates and outputs a control command for controlling the vehicle based on the driving plan;
a third driving assistance device that is a backup device for the second driving assistance device and that generates and outputs a control command for controlling the vehicle based on a driving plan;
Among the control commands obtained from the first driving support device and the second driving support device, conflicting control commands are arbitrated, the control commands are output based on the results of the arbitration, and the control commands that do not conflict with each other are output. a motion manager that outputs a control command based on
an actuator control device for controlling the actuator,
The actuator control device is
if the motion manager is normal, controlling the actuator based on the control command output by the motion manager;
A driving control system that controls the actuator based on the control command output by the third driving support device when the motion manager is not normal.

Images