Vehicle control system, vehicle integrated control device, electronic control device, network communication device, vehicle control method and computer readable medium

Patent metadata

Field	Value
Publication number	US-12221097-B2
Application number	US-202217954495-A
Country	US
Kind code	B2
Filing date	Sep 28, 2022
Priority date	May 22, 2020
Publication date	Feb 11, 2025
Grant date	Feb 11, 2025

Abstract

A vehicle control system ( 500 ) controls a vehicle whereon a plurality of ECUs ( 30 ) and a vehicle integrated control device ( 10 ) to control the plurality of ECUs ( 30 ) are mounted. The vehicle integrated control device ( 10 ) includes a control target value operation unit to calculate a control target value to control the plurality of ECUs ( 30 ). Further, the vehicle integrated control device ( 10 ) includes a prediction control value operation unit to estimate a state of the vehicle in the future, and to calculate a prediction control value to control the plurality of ECUs ( 30 ). The vehicle integrated control device ( 10 ) includes an instruction signal generation unit to generate an instruction signal including an operation instruction and a prediction control instruction. Each of the plurality of ECUs ( 30 ) includes an actuator control unit to control an actuator ( 50 ) based on the prediction control instruction.

First claim

The invention claimed is:

1. A vehicle control system of a vehicle, the vehicle having mounted thereon a plurality of electronic control devices to each control an actuator, and a vehicle integrated control device to control the plurality of electronic control devices, wherein
the vehicle integrated control device includes processing circuitry to, during each of a plurality of successive control periods,
calculate a control target value to control the plurality of electronic control devices during the current control period based on a present state of the vehicle, and on a target trajectory generated based on a scheduled travelling route of the vehicle,
estimate a future state of the vehicle in the next control period, and calculate a prediction control value to control the plurality of electronic control devices during the next control period based on the state of the vehicle estimated and the target trajectory; and
acquire the control target value and the prediction control value, generate an operation instruction corresponding to the current control period to be transmitted to each of the plurality of electronic control devices based on the control target value, generate a prediction control instruction corresponding to the next control period to be transmitted to each of the plurality of electronic control devices based on the prediction control value, and generate an instruction signal including the operation instruction corresponding to the current control period and the prediction control instruction corresponding to the next control period, and wherein

each of the plurality of electronic control devices includes processing circuitry to selectively control the actuator during the current control period based on one of: the operation instruction included in the instruction signal generated in the current control period, and the prediction control instruction included in the instruction signal generated in the preceding control period.

2. The vehicle control system as defined in claim 1 , wherein the processing circuitry of each of the plurality of electronic control devices controls the actuator, during the current control period, using the operation instruction included in the control instruction generated in the current control period in a case wherein there is no abnormality in the operation instruction included in the instruction signal generated in the current control period, and controls the actuator using the prediction control instruction included in the control instruction generated in the preceding control period in a case wherein there is an abnormality in the operation instruction included in the instruction signal generated in the current control period.

3. The vehicle control system as defined in claim 1 , wherein the processing circuitry of the vehicle integrated control device predicts a future route of an obstacle based on relative position information between the obstacle and the vehicle by inter-vehicle communication or road-vehicle communication, relative position information between the obstacle acquired by a sensor provided in the vehicle and the vehicle, and map information, collates the future route of the obstacle with the scheduled travelling route, and generates the target trajectory.

4. The vehicle control system as defined in claim 3 , wherein the processing circuitry of the vehicle integrated control device further generates a safety stop target trajectory being a target trajectory to make the vehicle stop safely in addition to the target trajectory.

5. The vehicle control system as defined in claim 4 , wherein the processing circuitry of the vehicle integrated control device calculates the prediction control value corresponding to the next control period from the target trajectory following the scheduled travelling route generated in the current control period, and calculates the prediction control value corresponding to the next control period from the safety stop target trajectory generated in the current control period.

6. The vehicle control system as defined in claim 5 , wherein the processing circuitry of each of the plurality of electronic control devices, during the current control period, determines a factor of an abnormality when the abnormality is detected in the operation instruction included in the instruction signal generated in the current control period, and selects the prediction control value included in the instruction signal generated in the preceding control period to be used in control over the actuator in accordance with the factor of the abnormality.

7. The vehicle control system as defined in claim 1 , wherein the vehicle control system includes processing circuitry to determine whether an abnormality exists in the operation instruction.

8. The vehicle control system as defined in claim 7 , wherein the processing circuitry of each of the plurality of electronic control devices determines whether an abnormality exists in the operation instruction.

9. The vehicle control system as defined in claim 7 , further comprising:
an in-vehicle network to connect the vehicle integrated control device and each of the plurality of electronic control devices, and
a network communication device to intervene between the in-vehicle network and each of the plurality of electronic control devices, wherein
the network communication device includes processing circuitry to determine whether an abnormality exists in the operation instruction.

10. The vehicle control system as defined in claim 9 , wherein the processing circuitry of the network communication device determines a factor of an abnormality when the abnormality is detected in the operation instruction generated in the current control period, and selects the prediction control value generated in the preceding control period to be used in control over the actuator in the current control period in accordance with the factor of the abnormality.

11. A vehicle integrated control device in a vehicle control system of a vehicle, the vehicle having mounted thereon a plurality of electronic control devices to each control an actuator, and a vehicle integrated control device to control the plurality of electronic control devices, the vehicle integrated control device comprising:
processing circuitry to, during each of a plurality of successive control periods,
calculate a control target value to control the plurality of electronic control devices during the current control period based on a present state of the vehicle, and on a target trajectory generated based on a scheduled travelling route,
estimate a future state of the vehicle during the next control period, and calculate a prediction control value to control the plurality of electronic control devices during the next control period based on the state of the vehicle estimated and the target trajectory, and
acquire the control target value and the prediction control value, to generate an operation instruction corresponding to the current control period to be transmitted to each of the plurality of electronic control devices based on the control target value, generate a prediction control instruction corresponding to the next control period to be transmitted to each of the plurality of electronic control devices based on the prediction control value, generate an instruction signal including the operation instruction corresponding to the current control period and the prediction control instruction corresponding to the next control period,

wherein one of the prediction control instruction included in the instruction signal generated during the preceding control period, and the control instruction included in the instruction signal generated during the current c

Assignees

• Mitsubishi Electric Corp

Inventors

• Sawa Kentaro
• Hasegawa Hajime
• Yamauchi Takahisa

Classifications

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• B60W50/0205

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W50/0097

  Predicting future conditions · CPC title

• B60R16/0232

  for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions · CPC title

• B60W2554/404

  Characteristics · CPC title