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1. (WO2018225352) VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL SYSTEM
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Pub. No.: WO/2018/225352 International Application No.: PCT/JP2018/013121
Publication Date: 13.12.2018 International Filing Date: 29.03.2018
IPC:
B60W 50/02 (2012.01) ,G05B 9/02 (2006.01) ,G05B 9/03 (2006.01) ,G06F 11/18 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
W
CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50
Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
02
Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
9
Safety arrangements
02
electric
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
9
Safety arrangements
02
electric
03
with multiple-channel loop, i.e. redundant control systems
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
11
Error detection; Error correction; Monitoring
07
Responding to the occurrence of a fault, e.g. fault tolerance
16
Error detection or correction of the data by redundancy in hardware
18
using passive fault-masking of the redundant circuits, e.g. by quadding or by majority decision circuits
Applicants:
日立オートモティブシステムズ株式会社 HITACHI AUTOMOTIVE SYSTEMS, LTD. [JP/JP]; 茨城県ひたちなか市高場2520番地 2520, Takaba, Hitachinaka-shi, Ibaraki 3128503, JP
Inventors:
坂本 英之 SAKAMOTO Hideyuki; JP
堀口 辰也 HORIGUCHI Tatsuya; JP
山川 猛 YAMAKAWA Takeshi; JP
Agent:
戸田 裕二 TODA Yuji; JP
Priority Data:
2017-11117205.06.2017JP
Title (EN) VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL SYSTEM
(FR) APPAREIL ET SYSTÈME DE COMMANDE DE VÉHICULE
(JA) 車両制御装置および車両制御システム
Abstract:
(EN) The present invention achieves a vehicle control apparatus capable of seamless autonomous driving control and improved safety even in the event of an operational anomaly in a calculation processing unit of the vehicle control apparatus. Two microcomputers 11b and 12b synchronously execute a process to calculate an actuator control command. A monitoring circuit 11m, on detecting an anomaly in the microcomputer 11b, latches to the disabled state a communication circuit 11c for communicating the actuator control command from the microcomputer 11b to a brake control unit 13 or the like, and transmits to the brake control unit 13 or the like via a communication circuit 12c the actuator control command from the microcomputer 12b. The disabled state of the communication circuit 11c is maintained until the ignition switch or autonomous driving switch of the vehicle is toggled, and until then, the actuator control command from the microcomputer 12b is transmitted to the brake control unit 13 or the like. Control shifts from the microcomputer 11b to the microcomputer 12b and then to the microcomputer 11b, the emergence of a gap in control can be controlled against during each of the multiple transitions of control, enabling seamless automatic operation control to be maintained.
(FR) La présente invention permet d'obtenir un appareil de commande de véhicule capable d'une commande de conduite autonome continue et d'une sécurité améliorée même en cas d'anomalie de fonctionnement dans une unité de traitement de calcul de l'appareil de commande de véhicule. Deux micro-ordinateurs 11b et 12b exécutent de manière synchrone un processus pour calculer une instruction de commande d'actionneur. Un circuit de surveillance 11m, lors de la détection d'une anomalie dans le micro-ordinateur 11b, verrouille à l'état désactivé un circuit de communication 11c pour communiquer l'instruction de commande d'actionneur du micro-ordinateur 11b à une unité de commande de frein 13 ou analogue, et transmet à l'unité de commande de frein 13 ou analogue par l'intermédiaire d'un circuit de communication 12c l'instruction de commande d'actionneur provenant du micro-ordinateur 12b. L'état désactivé du circuit de communication 11c est maintenu jusqu'à ce que le commutateur d'allumage ou le commutateur d'entraînement autonome du véhicule bascule, et jusqu'à ce que l'instruction de commande d'actionneur provenant du micro-ordinateur 12b soit transmise à l'unité de commande de frein 13 ou analogue. La commande passe du micro-ordinateur 11b au micro-ordinateur 12b et ensuite au micro-ordinateur 11b, l'apparition d'une lacune dans la commande peut être commandée pendant chacune des multiples transitions de commande, permettant de maintenir une commande de fonctionnement automatique continue.
(JA) 車両制御装置における演算処理部に動作異常が発生した場合でも、シームレスな自動運転制御ができ、安全性の向上が可能な車両制御装置を実現する。 アクチュエータ制御指令の演算処理をマイコン11bと12bの2つのマイコンが同期して実行しマイコン11bの異常を監視回路11mが検知するとマイコン11bのアクチュエータ制御指令をブレーキ制御部13等に通信する通信回路11cをディセーブルにラッチし、イコン12bからのアクチュエータ制御指令をブレーキ制御部13等に通信回路12cを介して送信する。通信回路11cのディセーブル状態を車両のIGNSWまたは自動運転SWがトグルするまで維持し、それまではマイコン12bからのアクチュエータ制御指令をブレーキ制御部13等に送信する。制御がマイコン11b→マイコン12b→マイコン11bと移動し、複数回の制御移行の度に制御ギャップが発生することを抑制できシームレスな自動運転制御を維持可能となる。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)