Vehicle control system

This application is a continuation of International Patent Application No. PCT/JP2017/040212 filed on Nov. 8, 2017, which claims priority to and the benefit of Japanese Patent Application No. 2017-032536 filed on Feb. 23, 2017, the entire disclosures of which are incorporated herein by reference.

The present invention relates to a vehicle control technique.

To improve the reliability of automated driving control of a vehicle, providing of a monitor for a control apparatus (FIG. 11 of WO 2016/080452) and multiplexing of an apparatus (Japanese Patent Laid-Open No. 2003-015742) are proposed.

In a control system with advanced electronization, it is important to ensure a power supply from the viewpoint of improvement of reliability.

It is an object of the present invention to more reliably ensure a power supply and improve reliability.

According to an aspect of the present invention, there is provided a vehicle control system comprising: a first control apparatus configured to control a vehicle; a second control apparatus configured to control the vehicle; and a power supply, wherein the first control apparatus comprises: a first detection unit configured to detect a surrounding situation of the vehicle; and a first driving control unit capable of executing automated driving control of controlling driving, braking, and steering of the vehicle based on a detection result of the first detection unit, the second control apparatus comprises: a second detection unit configured to detect the surrounding situation of the vehicle; and a second driving control unit capable of executing control concerning braking and steering of the vehicle based on a detection result of the second detection unit, and the power supply comprises: a first power supply configured to supply power to the first control apparatus; and a second power supply configured to supply power to the second control apparatus.

Further features of the present invention will become apparent from the following description of exemplary embodiments (with reference to the attached drawings).

FIG. 1 is a block diagram of a vehicle control system according to an embodiment;

FIG. 2 is a block diagram of the vehicle control system according to the embodiment;

FIG. 3 is a block diagram of the vehicle control system according to the embodiment;

FIG. 4 is a flowchart showing an example of processing executed by the system according to the embodiment;

FIG. 5 is a flowchart showing an example of processing executed by the system according to the embodiment;

FIG. 6 is a flowchart showing an example of processing executed by the system according to the embodiment;

FIG. 7 is a flowchart showing an example of processing executed by the system according to the embodiment; and

FIG. 8 is a flowchart showing an example of processing executed by the system according to the embodiment.

FIGS. 1 to 3 are block diagrams of a vehicle control system 1 according to an embodiment of the present invention. The vehicle control system 1 controls a vehicle V. In each of FIGS. 1 and 2 , an outline of the vehicle V is shown in a plan view and a side view. As an example, the vehicle V is a sedan-type four-wheeled vehicle. The vehicle control system 1 includes a control apparatus 1 A and a control apparatus 1 B. FIG. 1 is a block diagram showing the control apparatus 1 A, and FIG. 2 is a block diagram showing the control apparatus 1 B. FIG. 3 mainly shows the arrangement of communication lines between the control apparatus 1 A and the control apparatus 1 B and power supplies.

The control apparatus 1 A and the control apparatus 1 B make some functions implemented by the vehicle V multiplexed or redundant. This can improve the reliability of the system. The control apparatus 1 A mainly performs automated driving control or normal operation control in manual driving, and the control apparatus 1 B mainly performs traveling support control concerning risk avoidance and the like.

The vehicle V according to this embodiment is a parallel hybrid vehicle. FIG. 2 schematically shows the arrangement of a power plant 50 that outputs a driving force to rotate the driving wheels of the vehicle V. The power plant 50 includes an internal combustion engine EG, a motor M, and an automatic transmission TM. The motor M is usable as a driving source to accelerate the vehicle V and is also usable as a power generator upon deceleration or the like (regenerative braking).

<Control Apparatus 1 A>

The arrangement of the control apparatus 1 A will be described with reference to FIG. 1 . The control apparatus 1 A includes an ECU group (control unit group) 2 A. The ECU group 2 A includes a plurality of ECUs 20 A to 28 A. Each ECU includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs to be executed by the processor, data to be used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, and interfaces. Note that the number of ECUs and the provided functions can appropriately be designed, and they can be subdivided or integrated as compared to this embodiment. Note that in FIGS. 1 and 3 , the names of the representative functions of the ECUs 20 A to 28 A are given. For example, the ECU 20 A is denoted by “automated driving ECU”.

The ECU 20 A executes control associated with automated driving of the vehicle V. In automated driving, driving (acceleration of the vehicle V by the power plant 50 , and the like), steering, and braking of the vehicle V are automatically performed without requiring the operation of the driver.

The ECU 21 A is an environment recognition unit configured to recognize the traveling environment of the vehicle V based on the detection results of detection units 31 A and 32 A that detect the surrounding situation of the vehicle V. In this embodiment, the detection unit 31 A is a camera (to be sometimes referred to as the camera 31 A hereinafter) configured to capture the front side of the vehicle V, and is provided on the roof front portion of the vehicle V. When images captured by the camera 31 A are analyzed, the contour of a target or a division line (a white line or the like) of a lane on a road can be extracted. In this embodiment, the detection unit 32 A is a lidar (light detection and ranging) (to be sometimes referred to as the lidar 32 A hereinafter), and detects an object around the vehicle V or measures the distance to a target. In this embodiment, five lidars 32 A are provided; one at each corner of the front portion of the vehicle V, one at the center of the rear portion, and one on each side of the rear portion.

The ECU 22 A is a steering control unit configured to control an electric power steering device 41 A. The electric power steering device 41 A includes a mechanism that steers the front wheels in accordance with the driving operation (steering operation) of the driver on a steering wheel ST. The electric power steering device 41 A includes a motor that generates a driving force to assist the steering operation or automatically steer the front wheels, a sensor that detects the rotation amount of the motor, a torque sensor that detects the steering torque on the driver, and the like.

The ECU 23 A is a braking control unit configured to control a hydraulic device 42 A. A braking operation of the driver on a brake pedal BP is converted into a fluid pressure by a brake master cylinder BM and transmitted to the hydraulic device 42 A. The hydraulic device 42 A is an actuator capable of controlling, based on the fluid pressure transmitted from the brake master cylinder BM, the fluid pressure of hydraulic oil to be supplied to a brake device (for example, a disc brake device) 51 provided in each of the four wheels. The ECU 23 A performs driving control of a solenoid valve and the like provided in the hydraulic device 42 A. In this embodiment, the ECU 23 A and the hydraulic device 42 A form an electric servo brake. The ECU 23 A controls, for example, the distribution of a braking force by the four brake devices 51 and a braking force by regenerative braking of the motor M.

The ECU 24 A is a stop maintaining control unit configured to control an electric parking lock device 50 a provided in the automatic transmission TM. The electric parking lock device 50 a includes a mechanism that mainly locks the internal mechanism of the automatic transmission TM when the P range (parking range) is selected. The ECU 24 A can control lock and unlock by the electric parking lock device 50 a.

The ECU 25 A is an in-vehicle notification control unit configured to control an information output device 43 A that notifies information in the vehicle. The information output device 43 A includes, for example, a display device such as a head-up display and a voice output device. The information output device 43 A may further include a vibration device. The ECU 25 A causes the information output device 43 A to output, for example, various kinds of information such as a vehicle speed and an atmospheric temperature and information such as a path guidance.

The ECU 26 A is an external notification control unit configured to control an information output device 44 A that notifies information outside the vehicle. In this embodiment, the information output device 44 A is a direction indicator (hazard lamp). The ECU 26 A controls blinking of the information output device 44 A serving as a direction indicator, thereby notifying the exterior of the vehicle of the advancing direction of the vehicle V. In addition, the ECU 26 A controls blinking of the information output device 44 A serving as a hazard lamp, thereby increasing the attention of the exterior to the vehicle V.

The ECU 27 A is a driving control unit configured to control the power plant 50 . In this embodiment, one ECU 27 A is assigned to the power plant 50 . However, one ECU may be assigned to each of the internal combustion engine EG, the motor M, and the automatic transmission TM. The ECU 27 A controls the output of the internal combustion engine EG or the motor M or switches the gear range of the automatic transmission TM in correspondence with, for example, the driving operation of the driver detected by an operation detection sensor 34 a provided on an accelerator pedal AP or an operation detection sensor 34 b provided on the brake pedal BP, the vehicle speed, or the like. Note that as a sensor that detects the traveling state of the vehicle V, a rotation speed sensor 39 that detects the rotation speed of the output shaft of the automatic transmission TM is provided in the automatic transmission TM. The vehicle speed of the vehicle V can be calculated from the detection result of the rotation speed sensor 39 .

The ECU 28 A is a position recognition unit configured to recognize the current position or the route of the vehicle V. The ECU 28 A performs control of a gyro sensor 33 A, a GPS sensor 28 b , and a communication device 28 c and information processing of a detection result or a communication result. The gyro sensor 33 A detects the rotary motion of the vehicle V. The route of the vehicle V can be determined based on the detection result of the gyro sensor 33 A, and the like. The GPS sensor 28 b detects the current position of the vehicle V. The communication device 28 c performs wireless communication with a server configured to provide map information and traffic information, and acquires these pieces of information. A database 28 a can store accurate map information. The ECU 28 A can more accurately specify the position of the vehicle V on a lane based on the map information and the like.

An input device 45 A is arranged in the vehicle such that the driver can operate it, and accepts input of an instruction or information from the driver.

<Control Apparatus 1 B>

The arrangement of the control apparatus 1 B will be described with reference to FIG. 2 . The control apparatus 1 B includes an ECU group (control unit group) 2 B. The ECU group 2 B includes a plurality of ECUs 21 B to 25 B. Each ECU includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs to be executed by the processor, data to be used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, and interfaces. Note that the number of ECUs and the provided functions can appropriately be designed, and they can be subdivided or integrated as compared to this embodiment. Note that in FIGS. 2 and 3 , the names of the representative functions of the ECUs 21 B to 25 B are given, like the ECU group 2 A.

The ECU 21 B is an environment recognition unit configured to recognize the traveling environment of the vehicle V based on the detection results of detection units 31 B and 32 B that detect the surrounding situation of the vehicle V, and also serves as a traveling support unit configured to execute control associated with traveling support (in other words, driving support) of the vehicle V. In this embodiment, the detection unit 31 B is a camera (to be sometimes referred to as the camera 31 B hereinafter) configured to capture the front side of the vehicle V, and is provided on the roof front portion of the vehicle V. When images captured by the camera 31 B are analyzed, the contour of a target or a division line (a white line or the like) of a lane on a road can be extracted. In this embodiment, the detection unit 32 B is a millimeter wave radar (to be sometimes referred to as the radar 32 B hereinafter), and detects a target around the vehicle V or measures the distance to a target. In this embodiment, five radars 32 B are provided; one at the center of the front portion of the vehicle V, one at each corner of the front portion, and one at each corner of the rear portion.

As the contents of traveling support, the ECU 21 B can execute control of, for example, a collision reduction brake, a lane departure suppression system, and the like. If the possibility of collision against an obstacle ahead rises, the collision reduction brake instructs the ECU 23 B to be described later to operate the brake device 51 , thereby supporting collision avoidance. If the possibility of departure of the vehicle V from a traveling lane rises, the lane departure suppression system instructs the ECU 22 B to be described later to operate an electric power steering device 41 B, thereby supporting lane departure avoidance.

The ECU 22 B is a steering control unit configured to control the electric power steering device 41 B. The electric power steering device 41 B includes a mechanism that steers the front wheels in accordance with the driving operation (steering operation) of the driver on the steering wheel ST. The electric power steering device 41 B includes a motor that generates a driving force to assist the steering operation or automatically steer the front wheels, a sensor that detects the rotation amount of the motor, a torque sensor that detects the steering torque on the driver, and the like. In addition, a steering angle sensor 37 is electrically connected to the ECU 22 B through a communication line L 2 to be described later, and the electric power steering device 41 B can be controlled based on the detection result of the steering angle sensor 37 . The ECU 22 B can acquire the detection result of a sensor 36 that detects whether the driver is gripping the steering handle ST, and can monitor the gripping state of the driver.

The ECU 23 B is a braking control unit configured to control a hydraulic device 42 B. A braking operation of the driver on the brake pedal BP is converted into a fluid pressure by the brake master cylinder BM and transmitted to the hydraulic device 42 B. The hydraulic device 42 B is an actuator capable of controlling, based on the fluid pressure transmitted from the brake master cylinder BM, the fluid pressure of hydraulic oil to be supplied to the brake device 51 of each wheel. The ECU 23 B performs driving control of a solenoid valve and the like provided in the hydraulic device 42 B.

In this embodiment, a wheel speed sensor 38 provided in each of the four wheels, a yaw rate sensor 33 B, and a pressure sensor 35 configured to detect the pressure in the brake master cylinder BM are electrically connected to the ECU 23 B and the hydraulic device 42 B, and based on the detection results of these, an ABS function, traction control, and the posture control function for the vehicle V are implemented. For example, the ECU 23 B adjusts the braking force of each wheel based on the detection result of the wheel speed sensor 38 provided in each of the four wheels, thereby suppressing skid of each wheel. In addition, the ECU 23 B adjusts the braking force of each wheel based on the rotation angular speed about the vertical axis of the vehicle V detected by the yaw rate sensor 33 B, thereby suppressing an abrupt posture change of the vehicle V.

The ECU 23 B also functions as an external notification control unit configured to control an information output device 43 B that notifies information outside the vehicle. In this embodiment, the information output device 43 B is a brake lamp, and the ECU 23 B can light the brake lamp at the time of braking or the like. This can increase the attention of a following vehicle to the vehicle V.

The ECU 24 B is a stop maintaining control unit configured to control an electric parking brake device (for example, a drum brake) 52 provided in each rear wheel. The electric parking brake device 52 includes a mechanism that locks the rear wheel. The ECU 24 B can control lock and unlock of the rear wheels by the electric parking brake devices 52 .

The ECU 25 B is an in-vehicle notification control unit configured to control an information output device 44 B that notifies information in the vehicle. In this embodiment, the information output device 44 B includes a display device arranged on the instrument panel. The ECU 25 B can cause the information output device 44 B to output various kinds of information such as a vehicle speed and fuel consumption.

An input device 45 B is arranged in the vehicle such that the driver can operate it, and accepts input of an instruction or information from the driver.

<Communication Lines>

An example of communication lines of the control system 1 , which communicably connect the ECUs, will be described with reference to FIG. 3 . The control system 1 includes communication lines L 1 to L 5 of wired communication. The ECUs 20 A to 27 A of the control apparatus 1 A are connected to the communication line L 1 . Note that the ECU 28 A may also be connected to the communication line L 1 .

The ECUs 21 B to 25 B of the control apparatus 1 B are connected to the communication line L 2 . The ECU 20 A of the control apparatus 1 A is also connected to the communication line L 2 . The communication line L 3 connects the ECU 20 A and the ECU 21 B. The communication line L 5 connects the ECU 20 A, the ECU 21 A, and the ECU 28 A.

The protocols of the communication lines L 1 to L 5 may be identical or different, and may be changed in accordance with the communication environment such as a communication speed, a communication amount, and durability. For example, the communication lines L 3 and L 4 may be Ethernet® from the viewpoint of communication speed. For example, the communication lines L 1 , L 2 , and L 5 may be CAN.

The control apparatus 1 A includes a gateway GW. The gateway GW relays the communication line L 1 and the communication line L 2 . For this reason, for example, the ECU 21 B can output a control instruction to the ECU 27 A through the communication line L 2 , the gateway GW, and the communication line L 1 .

<Power Supply>

The power supply of the control system 1 will be described with reference to FIG. 3 . The control system 1 includes a large capacity battery 6 , a power supply 7 A, and a power supply 7 B. The large capacity battery 6 is a battery used to drive the motor M and charged by the motor M.

The power supply 7 A is a power supply that supplies power to the control apparatus 1 A, and includes a power supply circuit 71 A and a battery 72 A. The power supply circuit 71 A is a circuit that supplies the power of the large capacity battery 6 to the control apparatus 1 A, and, for example, lowers the output voltage (for example, 190 V) of the large capacity battery 6 to a reference voltage (for example, 12 V). The battery 72 A is a lead battery of, for example, 12 V. Since the battery 72 A is provided, the power can be supplied to the control apparatus 1 A even in a case in which the power supply of the large capacity battery 6 or the power supply circuit 71 A is shut down or lowers.

The power supply 7 B is a power supply that supplies power to the control apparatus 1 B, and includes a power supply circuit 71 B and a battery 72 B. The power supply circuit 71 B is a circuit that is similar to the power supply circuit 71 A and supplies the power of the large capacity battery 6 to the control apparatus 1 B. The battery 72 B is a battery similar to the battery 72 A, and is a lead battery of, for example, 12 V. Since the battery 72 B is provided, the power can be supplied to the control apparatus 1 B even in a case in which the power supply of the large capacity battery 6 or the power supply circuit 71 B is shut down or lowers.

<Redundancy>

Functions common to the control apparatus 1 A and the control apparatus 1 B will be described. When the same functions are made redundant, the reliability of the control system 1 can be improved. In addition, some redundant functions provide different functions, instead of multiplexing the same functions. This suppresses an increase in cost caused by the redundancy of functions.

[Actuator System]

Steering

The control apparatus 1 A includes the electric power steering device 41 A and the ECU 22 A that controls this. The control apparatus 1 B also includes the electric power steering device 41 B and the ECU 22 B that controls this.

Braking

The control apparatus 1 A includes the hydraulic device 42 A and the ECU 23 A that controls this. The control apparatus 1 B includes the hydraulic device 42 B and the ECU 23 B that controls this. All of these can be used for braking of the vehicle V. On the other hand, the main function of the braking mechanism of the control apparatus 1 A is the distribution of the braking force by the brake device 51 and the braking force by the regenerative braking of the motor M. On the other hand, the main function of the braking mechanism of the control apparatus 1 B is posture control and the like. Although the functions are common concerning braking, functions different from each other are provided.

Stop Maintaining

The control apparatus 1 A includes the electric parking lock device 50 a and the ECU 24 A that controls this. The control apparatus 1 B includes the electric parking brake device 52 and the ECU 24 B that controls this. All of these can be used to maintain the stop of the vehicle V. On the other hand, although the electric parking lock device 50 a is a device that functions when the P range of the automatic transmission TM is selected, the electric parking brake device 52 is a device that locks a rear wheel. Although the functions are common concerning stop maintaining of the vehicle V, functions different from each other are provided.

In-Vehicle Notification

The control apparatus 1 A includes the information output device 43 A and the ECU 25 A that controls this. The control apparatus 1 B includes the information output device 44 B and the ECU 25 B that controls this. All of these can be used to notify the driver of information. On the other hand, the information output device 43 A is, for example, a head-up display, and the information output device 44 B is a display device such as a measuring instrument. Although the functions are common concerning in-vehicle notification, display devices different from each other can be employed.

External Notification

The control apparatus 1 A includes the information output device 44 A and the ECU 26 A that controls this. The control apparatus 1 B includes the information output device 43 B and the ECU 23 B that controls this. All of these can be used to notify information outside the vehicle. On the other hand, the information output device 44 A is a direction indicator (hazard lamp), and the information output device 43 B is a brake lamp. Although the functions are common concerning external notification, functions different from each other are provided. Note that a form in which the control apparatus 1 B controls the hazard lamp, and the control apparatus 1 A controls the brake lamp can also be employed.

Different Points

The control apparatus 1 A includes the ECU 27 A that controls the power plant 50 . However, the control apparatus 1 B does not include an ECU that controls the power plant 50 . In this embodiment, both the control apparatuses 1 A and 1 B can solely perform steering, braking, and stop maintaining. Even if one of the control apparatus 1 A and the control apparatus 1 B suffers performance degradation, power supply shutdown, or communication interruption, it is possible to decelerate and maintain the stop state while suppressing lane departure. Since the control apparatus 1 B does not include an ECU that controls the power plant 50 , an increase in cost can be suppressed.

[Sensor System]

Detection of Surrounding Situation

The control apparatus 1 A includes the detection units 31 A and 32 A. The control apparatus 1 B includes the detection units 31 B and 32 B. All of these can be used to recognize the traveling environment of the vehicle V. On the other hand, the detection unit 32 A is a lidar, and the detection unit 32 B is a radar. The lidar is generally advantageous in detecting a shape. Additionally, the radar is generally more advantageous than the lidar from the viewpoint of cost. When these sensors of different characteristics are used, it is possible to improve target recognition performance and reduce the cost. Both the detection units 31 A and 31 B are cameras. Cameras of different characteristics may be used. For example, one of them may be a camera of a resolution higher than the other. In addition, the angles of view may be different from each other.

Vehicle Speed

The control apparatus 1 A includes the rotation speed sensor 39 . The control apparatus 1 B includes the wheel speed sensor 38 . Both can be used to detect the vehicle speed. On the other hand, the rotation speed sensor 39 detects the rotation speed of the output shaft of the automatic transmission TM, and the wheel speed sensor 38 detects the rotation speed of the wheels. Although the sensors are common concerning the capability of detecting the vehicle speed, the detection targets are different from each other.

Yaw Rate

The control apparatus 1 A includes the gyro 33 A. The control apparatus 1 B includes the yaw rate sensor 33 B. Both can be used to detect the angular velocity about the vertical axis of the vehicle V. On the other hand, the gyro 33 A is used to determine the route of the vehicle V, and the yaw rate sensor 33 B is used for posture control of the vehicle V, and the like. Although the sensors are common concerning the capability of detecting the angular velocity of the vehicle V, the use purposes are different from each other.

Steering Angle and Steering Torque

The control apparatus 1 A includes a sensor that detects the rotation amount of the motor of the electric power steering device 41 A. The control apparatus 1 B can acquire the detection result of the steering angle sensor 37 without an intervention of the gateway GW. Both can be used to detect the steering angle of the front wheels. In the control apparatus 1 A, an increase in cost can be suppressed by using the sensor that detects the rotation amount of the motor of the electric power steering device 41 A, instead of additionally providing the steering angle sensor 37 . However, the steering angle sensor 37 may additionally be provided in the control apparatus 1 A. In the electric power steering devices 41 A and 41 B, one or both of the steering angle sensor 37 and the sensor that detects the rotation amount of the motor may be made redundant.

In addition, when both the electric power steering devices 41 A and 41 B include torque sensors, the steering torque can be recognized in both the control apparatuses 1 A and 1 B.

Braking Operation Amount

The control apparatus 1 A includes the operation detection sensor 34 b . The control apparatus 1 B includes the pressure sensor 35 . Both can be used to detect the braking operation amount of the driver. On the other hand, the operation detection sensor 34 b is used to control the distribution of the braking force by the four brake devices 51 and the braking force by regenerative braking of the motor M, and the pressure sensor 35 is used for posture control and the like. Although the sensors are common concerning detection of the braking operation amount, the use purposes are different from each other.

[Power Supply]

The control apparatus 1 A receives power supply from the power supply 7 A, and the control apparatus 1 B receives power supply from the power supply 7 B. Since the power is supplied to any one of the control apparatuses 1 A and 1 B even in a case in which the power supply of one of the power supply 7 A and the power supply 7 B is shut down or lowers, it is possible to more reliably ensure the power supply and improve the reliability of the control system 1 . If the power supply of the power supply 7 A is shut down or lowers, it is difficult to perform communication between the ECUs through the gateway GW provided in the control apparatus 1 A. However, in the control apparatus 1 B, the ECU 21 B can communicate with the ECUs 22 B to 24 B and the information output device 44 B through the communication line L 2 .

<Example of Control>

An example of control of the control system 1 will be described. FIG. 4 is a flowchart showing driving mode switching processing executed by the ECU 20 A.

In step S 1 , it is determined whether a driving mode switching operation is performed by the driver. The driver can input a switching instruction between an automated driving mode and a manual driving mode by, for example, an operation on the input device 45 A. If the switching operation is performed, the process advances to step S 2 . Otherwise, the processing is ended.

In step S 2 , it is determined whether the switching operation instructs automated driving. If the switching operation instructs automated driving, the process advances to step S 3 . If the switching operation instructs manual driving, the process advances to step S 5 . In step S 3 , the automated driving mode is set. In step S 4 , automated driving control is started. In step S 5 , the manual driving mode is set. In step S 6 , manual driving control is started.

In manual driving control, driving, steering, and braking of the vehicle V are performed in accordance with the driving operation of the driver. The ECU 21 B appropriately executes driving support control in accordance with the detection results of the detection units 31 B and 32 B.

In automated driving control, the ECU 20 A outputs a control instruction to the ECUs 22 A, 23 A, and 27 A to control steering, braking, and driving of the vehicle V, thereby causing the vehicle V to automatically travel without depending on the driving operation of the driver. The ECU 20 A sets the traveling path of the vehicle V, and causes the vehicle V to travel along the set traveling path by referring to the position recognition result of the ECU 28 A or a target detection result.

As the target detection result, target data that integrates the detection results of the detection units 31 A and 32 A and the detection results of the detection units 31 B and 32 B is used. FIGS. 5 to 7 show examples of processing concerning target data generation.

FIG. 5 shows target data generation/updating processing periodically executed by the ECU 21 A. In step S 11 , the detection results of the detection units 31 A and 32 A are acquired. In step S 12 , the detection results acquired in step S 11 are analyzed to recognize individual targets. In step S 13 , target data is generated or updated. The ECU 21 A stores target data D 1 generated by it in an internal storage device and independently manages the target data D 1 . The target data D 1 is generated for each target. If a target is recognized as an existing target in step S 12 , the contents of the corresponding target data D 1 that is stored are updated as needed. If a target is recognized as a new target in step S 12 , corresponding target data D 1 is newly generated.

The exemplified target data D 1 includes an ID assigned to each target, position information of the target, the information of the moving speed of the target, the information of the shape of the target, and the classification of the target (fixed object, moving object, or the like).

FIG. 6 shows target data generation/updating processing periodically executed by the ECU 21 B. The processing is basically similar to the processing of the ECU 21 A. In step S 21 , the detection results of the detection units 31 B and 32 B are acquired. In step S 22 , the detection results acquired in step S 21 are analyzed to recognize individual targets. In step S 23 , target data is generated or updated. Even the ECU 21 B stores target data D 2 generated by it in an internal storage device and independently manages the target data D 2 . The target data D 2 is generated for each target. If a target is recognized as an existing target in step S 22 , the contents of the corresponding target data D 2 that is stored are updated as needed. If a target is recognized as a new target in step S 22 , corresponding target data D 2 is newly generated.

The exemplified target data D 2 has a structure similar to that of the target data D 1 , and includes an ID assigned to each target, position information of the target, the information of the moving speed of the target, the information of the shape of the target, and the classification of the target. In the target data D 1 and the target data D 2 , the items of information may be the same or may be different, as in this embodiment.

FIG. 7 shows target data integration processing periodically executed by the ECU 20 A. The ECU 20 A generates target data D 3 that integrates the target data D 1 and the target data D 2 , and executes control based on the target data D 3 at the time of automated driving control.

In step S 31 , the target data D 1 is acquired from the ECU 21 A, and the target data D 2 is acquired from the ECU 21 B. In step S 32 , the target data D 1 and the target data D 2 acquired in step S 31 are integrated to generate the target data D 3 . The target data D 3 is stored in an internal storage device and independently managed. Note that if the target data D 1 and the target data D 2 acquired in step S 31 are existing targets, the contents of the corresponding target data D 3 that is stored are updated as needed.

The exemplified target data D 3 has a structure similar to that of the target data D 1 and D 2 , and includes an ID assigned to each target, position information of the target, the information of the moving speed of the target, the information of the shape of the target, the classification of the target, and the information of association. The information of association is information representing the target data D 1 and D 2 corresponding to the target data D 3 , and is, for example, the information of each ID in the target data D 1 and D 2 .

When integrating the target data D 1 and D 2 , if one of the data is missing concerning the information of the same item, the other data is used as the information for the target data D 3 . If the pieces of information in the target data D 1 and D 2 conflict, for example, one of them can be preferred. The target data D 1 is based on the detection results of the camera 31 A and the lidar 32 A, and the target data D 2 is based on the detection results of the camera 31 B and the radar 32 B. For this reason, the data are different in the accuracy and the characteristic. Hence, which one of the data should be preferred may be determined for each item, and one of the data may be preferred. As another example, the average value of data in the target data D 1 and D 2 may be calculated, or a weighted value may be employed. That is, a newly calculated value or information may be used.

When the automated driving control is executed based on the target data D 3 generated in the above-described way, more reliable control can be executed concerning recognition of a traveling environment.

Processing corresponding to a case in which performance degradation or the like occurs in the control apparatus 1 A or the control apparatus 1 B during automated driving control will be described next. For example, if the power supply of the power supply 7 A or 7 B is shut down or lowers, performance degradation or the like may occur in the corresponding control apparatus 1 A or control apparatus 1 B. In such a case, alternate control is executed in this embodiment. The alternate control according to this embodiment is control of decelerating and stopping the vehicle V. FIG. 8 is a flowchart showing an example of processing of the ECU 20 A and the ECU 21 B showing an example. The processing shown in FIG. 8 can periodically be performed during the automated driving mode.

The ECU 20 A and the ECU 21 B perform processing of confirming each other's communication states (steps S 61 and S 71 ). For example, one of them outputs a response request to the other and determines whether a response is received.

In step S 62 , the ECU 21 B determines whether the processing result in step S 61 represents a predetermined state. If the state is the predetermined state, the ECU 21 B determines that performance degradation or the like has not occurred in the ECU 20 A, and ends the processing. If the state is not the predetermined state, the process advances to step S 63 to perform alternate control. The alternate control may be traveling control of increasing the safety of the vehicle V more than usual, and may be, for example, deceleration, yield travel, deceleration and stop, or evacuation to a predetermined area. The alternate control according to this embodiment is control of decelerating and stopping the vehicle V, as already described. The ECU 21 B instructs the ECU 25 B to make a notification, and causes the information output device 44 B to display a message representing that the vehicle V decelerates and stops and notify the driver of it. In addition, the ECU 21 B instructs the ECU 23 B to make a notification, and lights or blinks the brake lamp 43 B to call the attention of the following vehicle. Then, the ECU 21 B instructs the ECU 23 B to do braking, and decelerates the vehicle V. At this time, the ECU 21 B instructs the ECU 22 B to do steering based on the detection results of the detection units 31 B and 32 B so the vehicle V does not depart from the lane. The ECU 21 B determines the stop of the vehicle V from the detection result of the wheel speed sensor 38 , and upon determining that the vehicle V has stopped, instructs the ECU 24 B to operate the electric parking brake device 52 , thereby maintaining the stop of the vehicle V.

In step S 72 , the ECU 20 A determines whether the processing result in step S 71 represents a predetermined state. If the state is the predetermined state, the ECU 20 A determines that performance degradation or the like has not occurred in the ECU 21 B, and ends the processing. If the state is not the predetermined state, the process advances to step S 73 to perform alternate control. Even if performance degradation or the like occurs in the control apparatus 1 B, the control apparatus 1 A can continue automated driving control. However, assuming a case in which performance degradation or the like occurs in the control apparatus 1 A after that, if the possibility of performance degradation or the like exists in the control apparatus 1 B, the ECU 20 A performs the alternate control. The alternate control here is similar to the alternate control in step S 63 , and is control of decelerating and stopping the vehicle V. However, the devices to be used are different.

The ECU 20 A instructs the ECU 25 A to make a notification, and causes the information output device 43 A to output a message representing that the vehicle V decelerates and stops and notify the driver of it. In addition, the ECU 20 A instructs the ECU 26 A to make a notification, and blinks the information output device 44 A (hazard lamp) to call the attention of the following vehicle. Then, the ECU 20 A instructs the ECU 23 A to do braking, and decelerates the vehicle V. At this time, the ECU 20 A instructs the ECU 22 A to do steering based on the detection results of the detection units 31 A and 32 A so the vehicle V does not depart from the lane. The ECU 20 A determines the stop of the vehicle V from the detection result of the rotation speed sensor 39 , and upon determining that the vehicle V has stopped, instructs the ECU 24 A to operate the electric parking lock device 50 a , thereby maintaining the stop of the vehicle V. As described above, both the control apparatuses 1 A and 1 B can execute similar alternate control.

Note that the alternate control may be control including switching at least a part of vehicle control performed in the predetermined state to another control. The alternate control may be control using, as the control devices and the actuators, control devices and actuators different from those in the predetermined state. The alternate control may be control using control devices and actuators similar to the predetermined state but using control amounts different from those in the control performed in the predetermined state. The alternate control may be control to which control that is not performed in the predetermined state is added.

A representative example of the alternate control is control of decelerating and stopping the vehicle, as in this embodiment. Another example of the alternate control may be control of maintaining traveling at a speed lower than in the predetermined state. The alternate control may decelerate the vehicle to suppress approach to or contact with an obstacle or a preceding vehicle. The alternate control may include maintaining a lane by steering control, suppressing lane departure of the vehicle, performing steering control to avoid an obstacle, a preceding vehicle, or a following vehicle, pulling the vehicle to a road shoulder, and/or changing the vehicle position (the position in the width direction) in a lane.

If the alternate control is performed, other vehicles on the periphery may be notified, by the hazard lamp or another display device, that the alternate control is being performed. Alternatively, a notification may be made by a communication device to other vehicles or other terminal devices.

Additionally, in the example shown in FIG. 8 , the ECU 21 B controls the devices of the control apparatus 1 B in the alternate control of step S 63 . Here, even if it is determined in step S 62 that the state is the predetermined state, the devices other than the ECU 20 A of the control apparatus 1 A are sometimes operable and usable without performance degradation or the like. Hence, in the alternate control of step S 63 , the ECU 21 B may execute the alternate control by controlling at least any of the ECUs 22 A to 26 A of the control apparatus 1 A. Similarly, in the alternate control of step S 73 , the ECU 20 A may execute the alternate control by controlling at least any of the ECUs 22 B to 25 B of the control apparatus 1 B.

As described above, when the ECU 20 A of the control apparatus 1 A uses the devices of the control apparatus 1 B, or when the ECU 21 B of the control apparatus 1 B uses the devices of the control apparatus 1 A, it is preferably always confirmed whether performance degradation or the like occurs in each ECU. To do this, for example, the ECU 20 A may perform processing of confirming the states of the ECUs 21 A to 28 A of the control apparatus 1 A by communication. For example, a response request signal may be transmitted from the ECU 20 A to the ECUs 21 A to 28 A, and whether performance degradation or the like occurs in each ECU may be confirmed based on the presence/absence or contents of a response from each of the ECUs 21 A to 28 A. This processing may be performed at the time of communication for vehicle control or may be performed periodically. The ECU 21 B may be notified of the response result.

Similarly, the ECU 21 B may perform processing of confirming communication states with the ECUs 22 B to 25 B of the control apparatus 1 B. For example, a response request signal may be transmitted from the ECU 21 B to the ECUs 22 B to 25 B, and whether performance degradation or the like occurs in each ECU may be confirmed based on the presence/absence or contents of a response from each of the ECUs 22 B to 25 B. This processing may be performed at the time of communication for vehicle control or may be performed periodically. The ECU 20 A may be notified of the response result.

In addition, the ECU 20 A may perform processing of confirming the states of the ECUs 22 B to 25 B of the control apparatus 1 B by communication. Similarly, the ECU 21 B may perform processing of confirming the states of the ECUs 21 A to 28 A of the control apparatus 1 A by communication.

Summary of Embodiments

1. A vehicle control system (for example, 1 ) according to the above embodiment is

a vehicle control system comprising:

a first control apparatus (for example, 1 A) configured to control a vehicle;

a second control apparatus (for example, 1 B) configured to control the vehicle; and

a power supply (for example, 6 , 7 A, 7 B),

wherein the first control apparatus comprises:

a first detection unit (for example, 31 A, 32 A) configured to detect a surrounding situation of the vehicle; and

a first driving control unit (for example, 20 A) configured to execute automated driving control of controlling driving, braking, and steering of the vehicle based on a detection result of the first detection unit,

the second control apparatus comprises:

a second detection unit (for example, 31 B, 32 B) configured to detect the surrounding situation of the vehicle; and

a second driving control unit (for example, 21 B) configured to execute control concerning braking and steering of the vehicle based on a detection result of the second detection unit, and

the power supply comprises:

a first power supply (for example, 7 A) configured to supply power to the first control apparatus; and

a second power supply (for example, 7 B) configured to supply power to the second control apparatus.

According to this embodiment, since a unique power supply is assigned to each of the first and second control apparatuses, it is possible to more reliably ensure the power supply and improve the reliability of the system.

2. In the above embodiment,

the first control apparatus comprises:

a driving unit (for example, 50 , 27 A) configured to drive the vehicle;

a first braking unit (for example, 51 , 42 A, 23 A) configured to brake the vehicle; and

a first steering unit (for example, 41 A, 22 A) configured to steer the vehicle,

the first driving control unit is configured to control the driving unit, the first braking unit, and the first steering unit,

the second control apparatus comprises:

a second braking unit (for example, 51 , 42 B, 23 B) configured to brake the vehicle; and

a second steering unit (for example, 41 B, 22 B) configured to steer the vehicle, and

the second driving control unit is configured to control the second braking unit and the second steering unit.

According to this embodiment, in a case in which, for example, a fuel shortage or low remaining batter level makes self-traveling difficult later during automated driving, since each of the first and second control apparatuses has functions necessary for causing the vehicle to perform evacuation traveling and stop, the safety can be increased. The second control apparatus may have the function of driving the vehicle. However, the arrangement without the function is advantageous from the viewpoint of cost.

3. In the above embodiment,

the first control apparatus comprises:

a first traveling state detection unit (for example, 39 ) configured to detect a traveling state of the vehicle;

a first in-vehicle notification unit (for example, 43 A, 25 A) configured to make a notification to the driver;

a first external notification unit (for example, 44 A, 26 A) configured to make a notification outside the vehicle; and/or

a first stop maintaining unit (for example, 50 a , 24 A) configured to maintain stop of the vehicle, and

the second control apparatus comprises:

a second traveling state detection unit (for example, 38 ) configured to detect the traveling state of the vehicle;

a second in-vehicle notification unit (for example, 44 B, 25 B) configured to make a notification to the driver;

a second external notification unit (for example, 43 B, 23 B) configured to make a notification outside the vehicle; and/or

a second stop maintaining unit (for example, 52 , 24 B) configured to maintain stop of the vehicle.

According to this embodiment, since each of the first and second control apparatuses has functions suitable for causing the vehicle to perform evacuation traveling and stop, the safety can be increased.

4. In the above embodiment,

the first driving control unit and the second driving control unit are communicably connected (for example, L 3 ), and

in a case in which the first driving control unit executes the automated driving control, the second driving control unit is configured to execute control concerning braking and steering of the vehicle in place of the first driving control unit in accordance with a reception result of a signal received from the first driving control unit (for example, S 63 ).

According to this embodiment, for example, in a case in which performance degradation or the like has occurred in the first control apparatus, the second control apparatus can take over the control of the vehicle in place of the first control apparatus. Hence, the reliability improves.

5. In the above embodiment,

the first control apparatus comprises a first data generation unit (for example, 21 A, S 13 ) configured to generate, based on the detection result of the first detection unit, first data concerning a target that exists around the vehicle,

the second control apparatus comprises a second data generation unit (for example, 21 B, S 23 ) configured to generate, based on the detection result of the second detection unit, second data concerning the target that exists around the vehicle, and

the first control apparatus comprises a target data generation unit (for example, 20 A, S 32 ) configured to generate target data that integrates the first data and the second data.

According to this embodiment, the target data are obtained based on the detection results of two systems and integrated, thereby improving the robustness. In addition, since generation and integration of the target data are performed by separate devices, individual operation loads can be reduced. Furthermore, when the detection results of the two systems are used, overdetection/detection errors can be reduced.

6. In the above embodiment,

the first control apparatus comprises a first communication line (for example, L 1 ) configured to communicably connect the first driving control unit and control units including the driving unit, the first braking unit, and the first steering unit, and

the second control apparatus comprises a second communication line (for example, 2 ) configured to communicably connect the second driving control unit and control units including the second braking unit and the second steering unit.

According to this embodiment, since the communication lines are redundant, the reliability of the system can be improved. In addition, data flowing through the communication lines are distributed, and it is possible to increase the speed of control signal transfer and improve the real-time property of the control signal.

7. In the above embodiment,

the first control apparatus comprises a relay unit (for example, GW) configured to relay the first communication line and the second communication line.

According to this embodiment, a communication system is constructed between the control apparatuses, and the degree of freedom of control can be improved.

8. In the above embodiment,

the first power supply comprises a first battery (for example, 72 A), and

the second power supply comprises a second battery (for example, 72 B).

According to this embodiment, since the first and second batteries are redundant, the power supply for the first and second control apparatuses can more reliably be ensured.

9. In the above embodiment,

the first braking unit and the second braking unit can execute different braking control processes.

According to this embodiment, it is possible to make the braking function redundant while diversifying the functions concerning braking.

10. In the above embodiment,

the first detection unit comprises:

a plurality of lidars (for example, 32 A); and

a first camera (for example, 31 A), and

the second detection unit comprises:

a plurality of radars (for example, 32 B); and

a second camera (for example, 31 B).

According to this embodiment, since the system includes three sensors of different characteristics, that is, a lidar that detects an object using reflected light (scattered light) of irradiation light, a radar that detects an object using a reflected wave of an irradiation radio wave, and an image sensor (camera), the target detection accuracy can be improved.

11. In the above embodiment,

the vehicle control system can select an automated driving mode and a manual driving mode (for example, FIG. 4 ), and

in a case in which the automated driving mode is selected, the first driving control unit is configured to execute the automated driving control.

12. In the above embodiment,

the vehicle control system can select an automated driving mode and a manual driving mode (for example, FIG. 4 ), and

in a case in which the manual driving mode is selected, the first driving control unit does not execute the automated driving control.

13. In the above embodiment,

the vehicle control system can select an automated driving mode and a manual driving mode (for example, FIG. 4 ), and

in a case in which the manual driving mode is selected, the second driving control unit is configured to execute control concerning braking and steering of the vehicle to support the driving operation of the driver.

According to this embodiment, traveling support control can be performed by the second driving control unit.

14. In the above embodiment,

the first driving control unit and the second driving control unit are communicably connected (for example, L 3 ), and

in a case in which the first driving control unit executes the automated driving control, the second driving control unit is configured to execute control of stopping the vehicle in accordance with a reception result of a signal received from the first driving control unit (for example, S 63 ).

According to this embodiment, for example, in a case in which performance degradation or the like has occurred in the first control apparatus, the second control apparatus stops the vehicle. Hence, the safety improves.

15. In the above embodiment,

the first driving control unit and the second driving control unit are communicably connected (for example, L 3 ), and

in a case in which the first driving control unit executes the automated driving control, the first driving control unit is configured to execute alternate control in accordance with a reception result of a signal received from the second driving control unit (for example, S 73 ).

According to this embodiment, for example, in a case in which performance degradation or the like has occurred in the second control apparatus, the first control apparatus 1 A executes the alternate control. Hence, the safety preventively improves.

16. In the above embodiment,

the first control apparatus comprises a first communication line (for example, L 1 ) configured to communicably connect the first driving control unit and control units including the driving unit, the first braking unit, and the first steering unit, and

the first driving control unit is configured to execute processing of confirming a state of each control unit by communication.

According to this embodiment, it is possible to confirm the state of each control unit provided in the first control apparatus.

17. In the above embodiment,

the second control apparatus comprises a second communication line (for example, L 2 ) configured to communicably connect the second driving control unit and control units including the second braking unit and the second steering unit, and

the second driving control unit is configured to execute processing of confirming a state of each control unit by communication.

According to this embodiment, it is possible to confirm the state of each control unit provided in the second control apparatus.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.