JP2000057484A - Controller for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To remove such a trouble that intelligent transport system(ITS) information to be used for controllers in a non-running system is used for controllers in a running system. SOLUTION: A 1st bus line 5 is connected to controllers 8a to 8n in a non- running system, a 2nd bus line 6 is connected to controllers 9a to 9n in a running system and ITS information received by communication equipment 2 is selected by 1st and 2nd information selection means 3a, 4a so as to be selectively outputted to the 1st and 2nd bus lines 5, 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a vehicle, comprising a plurality of non-traveling control devices and a plurality of traveling control devices, for controlling a vehicle based on vehicle information from outside.

[0002]

2. Description of the Related Art Conventionally, ITS (Intelligent)
2. Description of the Related Art In a technology called a transport system, an attempt has been made to communicate with an external device (communication device installed on a road or a communication device provided in another vehicle) to drive a vehicle safely. I have. Specifically, the ITS information received from the outside is transmitted to a non-traveling control device and a traveling control device to give necessary information to the driver or to help the vehicle to travel safely. Or The non-traveling control device is a control device that displays information that is not directly involved in the traveling of the vehicle, and the like, and the traveling control device is a control device that is directly involved in the traveling of the vehicle.

[0003]

In the prior art described above, the non-traveling control device and the traveling control device are:
Since they are connected via a common bus line, there is a possibility that ITS information received from the outside may be used by another control device by mistake. In this case, if the ITS information to be used in the non-traveling control device is used in the traveling control device,
There is a risk that the safe driving of the vehicle will be hindered.

An object of the present invention is to solve the above problems.

[0005]

In order to achieve the above object, according to the first aspect of the present invention, there are provided a non-traveling control device (8a, 8b,... 8n) and a traveling control device (9).
a, 9b,... 9m) are provided independently as a first bus line (5) and a second bus line (6), according to the vehicle information received by the receiving means (2). The first and second bus lines are provided with information selecting means (3a, 4a) for selectively outputting received vehicle information.

With such a configuration, it is possible to eliminate a problem that vehicle information to be used by the non-traveling control device is used by the traveling control device. In this case, as in the second aspect of the invention, the vehicle information includes identification data for identifying whether the information is information for a non-traveling control device or information for a traveling control device. Otherwise, information selection by the information selection means can be easily performed.

The information selecting means may determine that the received vehicle information is information for a non-traveling control device, and determine the received vehicle information as first information. A first information selecting means (3a) for outputting to the bus line, and a second means for outputting the received vehicle information to the second bus line when it is determined that the received vehicle information is information for the traveling system control device. (4a).

In this case, the result determined by the first and second information selection means is compared with the determination result of the other information selection means, and when the determination results match, If the received vehicle information is output, it is possible to reliably select the received vehicle information. Also,
As in the invention according to claim 5, when it is detected that an abnormality has occurred in any of the plurality of control devices of the traveling system, means (40) for performing control of the control device in which the abnormality has occurred is substituted.
By providing 5), it is possible to continue running of the vehicle even when an abnormality occurs.

Note that the reference numerals in parentheses indicate the correspondence with specific means described in the embodiments described later.

[0010]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of the present invention. FIG. 1 shows an overall configuration of a vehicle control device according to an embodiment of the present invention. The vehicular control device is configured to receive ITS information as vehicle information from the outside, and perform information display and / or driving assistance based on the received ITS information.

As shown in FIG. 1, the vehicle is provided with a plurality of antennas 1a, 1b, 1c, and the antennas 1a, 1b, 1c and the communication device 2 provide an external (communication device installed on the road). Alternatively, communication is performed with a communication device provided in another vehicle). The received data of the ITS information received by the communication device 2
a and 4a. The received data includes identification data for identifying whether the data is for a non-traveling control device or a traveling control device.

When the information selecting device 3a determines that the received data is data for a non-traveling control device (hereinafter referred to as non-traveling data) based on the identification data included in the received data, the information selecting device 3a converts the received data to data. Output to the first bus line 5. When the information selection device 4a determines that the received data is data for the traveling control device (hereinafter referred to as traveling data) based on the identification data included in the received data, the information selection device 4a converts the received data to the second data. Output to the bus line 6. Note that the first bus line 5 and the second bus line 5
Are independently provided, the information selection device 3a, the information selection device 3b, and the line 7a
, Information can be transmitted between the first bus line 5 and the second bus line 6.

A plurality of non-traveling control devices 8a, 8b,... 8n are connected to the first bus line 5, and a plurality of traveling control devices 9a, 9b, …
9m is connected. Here, the non-traveling (or information) control devices 8a, 8b,... 8n are control devices not directly involved in the traveling of the vehicle, and include, for example, an auto air-conditioning system, a navigation system, a car telephone,
This is a control device used for meters, light control systems, audio systems, and the like.

[0014] Further, the traveling system control devices 9a, 9b, ... 9
m is a control device that directly affects the running of the vehicle or that directly affects the running of the vehicle, and includes engine controls (fuel injection system, ignition system, knock control system, automatic transmission system, Auto-drive system, etc.), vehicle control system (automatic brake system, traction control system, steering control system, suspension control system) that stabilizes the running of the vehicle, safety control system (radar collision prevention system, backward monitoring alarm system, This is a control device used for a lane departure warning system, a door lock system, an airbag system, and the like. Control devices 9a, 9b,... 9m for traveling system
Are the respective actuators 10a, 10b,.
control m. In addition, the control devices 9a, 9b,.
9m and the respective actuators 10a, 10b,...
10 m and the information selection device 4a are connected using a common line, and the traveling-system control devices 9a, 9
When any one of b,... 9m becomes abnormal, the actuator for the abnormality can be controlled by proxy.

Further, the sub-information selection device 3a, 4a assists the function of the information selection devices 3a, 4a, and can perform the operation when the information selection devices 3a, 4a become abnormal.
b, 4b are provided. Sub information selection device 3b, 4
The lines b are connected by a line 7b like the line 7a.
The sub-information selection devices 3b and 4b may partially bear their operations when the load on the control device connected thereto increases.

The above control devices 8a, 8b,... 8n, 9
a, 9b,..., 9 m are provided with first and second sensor groups 11 a and 11 b for detecting various types of vehicle information necessary for performing the control of the first and second sensor groups 11 a and 11 b. The signal is transmitted to the first and second sensor data units 12a,
The data is converted into a predetermined transmission format by 12b. Then, the first and second sensor data units 12a, 12a
The transmission data from b is transmitted from the repeater 13a (or 13b) via the information selection device 3a (or 3b), 4a (or 4b) to the control devices 8a, 8b,... 8n, 9a, 9b,.
m. The transmission data from the first and second sensor data units 12a, 12b is transmitted to the control devices 9a, 9b,... 9m via the repeaters 14a, 14b,. The above-mentioned repeaters 13a, 13b, 1
.., 14m have a function of correcting attenuation of signals sent from the first and second sensor data units 12a, 12b, a data error detection, and the like.

Next, the operation of the communication device 2 and the information selection devices 3a and 4a will be described. 2 shows a receiving process in the communication device 2, FIG. 3 shows a selecting process of the information selecting device 3a, and FIG. 4 shows a selecting process of the information selecting device 4a. The communication device 2 includes, as shown in FIG.
a, 1b, 1c IT sent from outside
When it is determined that the data of the S information has been received (step 101), the received data is stored (step 10).
2) When it is determined that the received data is complete (step 103), the received data is transferred to the information selection devices 3a, 4a (step 104). Thereafter, until a reception confirmation signal is output from the information selection devices 3a and 4a,
The waiting process (step 105) and the determination of the confirmation signal (step 106) are repeated. Then, the information selection devices 3a, 4
If it is determined that the confirmation signal has been output from step a (step 106), the stored received data is deleted (step 1).
07), the processing after step 101 is performed again.

The information selecting device 3a, as shown in FIG.
If it is determined that the received data has been transferred from the communication device 2 (step 201), the received data is stored (step 202), and if it is determined that the received data is complete (step 203), the communication device 2 A confirmation signal is output (step 204). Thereafter, it is determined from the identification data included in the received data whether the received data is non-traveling data or traveling data, and the result of the determination is transmitted to the information selection device 4a (step 205). Also, the result determined by the information selection device 4a is received from the information selection device 4a (step 206), and it is determined whether both determination results match (step 207). When the determination results match, the received data is output to the first bus line 5 (step 208). If the determination results do not match, the communication device 2 may retransmit the received data, and the above-described processing may be performed again.

As shown in FIG. 4, when the information selecting device 4a determines that the received data has been transferred from the communication device 2 (step 301), the information selecting device 4a stores the received data (step 302) and receives the received data. If it is determined that the data is complete (step 303), a confirmation signal is output to the communication device 2 (step 304). Thereafter, it is determined from the identification data included in the received data whether the received data is non-traveling data or traveling data, and the determination result is transmitted to the information selection device 3a (step 305). Further, the result determined by the information selection device 3a is stored in the information selection device 3a.
a (step 306), and determines whether the two determination results match (step 307). And
If the determination results match, the received data is output to the second bus line 6 (step 308).

According to the above configuration, when the communication device 2 receives ITS information data from outside, the information selection device 3
a, 4a determine, based on the identification data included in the received data, whether the received data is non-traveling data or traveling data, and when the receiving data is non-traveling data, The data is output to the first bus line 5 and the received data is output to the second bus line 6 when the received data is traveling system data. The first bus line 5 includes a plurality of non-traveling controllers 8a, 8b,.
. 9m are connected to the second bus line 6, and the non-traveling control device and the traveling control device are connected to different bus lines. Therefore, it is possible to eliminate a problem that the received data is used erroneously between the non-traveling control device and the traveling control device.

Further, the information selection devices 3a and 4a output the received data to the bus line when the determination results match each other, so that the received data can be reliably selected. It should be noted that the ITS information having the data configuration of the application control frame shown in Table 1 can be used.

[0022]

[Table 1]

Here, the “application ID” indicates a continuous number of the application control frame. The “corresponding system selection ID” is identification data for identifying any of non-traveling system data, traveling system data, non-traveling system data, and traveling system data.
The "recommended device ID" is a non-traveling control device 8a, 8b,
8n and data indicating recommended devices among the control devices 9a, 9b,. “Data” indicates specific contents of the ITS information.

When such ITS information is received by the communication device 2, the information selecting devices 3a, 4a send the ITS information to the first and second bus lines 5, 6 based on the "corresponding system selection ID". Selectively output. Non-traveling control device 8
a, 8b,... 8n and traveling-system control devices 9a, 9b,
When the ITS information is output to the connected bus lines 5 and 6, the “recommended device I” included in the ITS information
Based on "D", it identifies whether or not it corresponds to the ID, and when it corresponds, performs control based on "data".

Next, an example of the operation of the above-described vehicle control device will be described with reference to FIG. 5, taking a case where the vehicle travels from a non-snowfall area to a snowfall place. (Operation at Point 1) The vehicle is equipped with a navigation system, and the current position is always grasped by the navigation system. When the communication device 2 receives ITS information from outside via any of the antennas 1a, 1b, and 1c, control is performed according to the ITS information. For example, control is performed such as selecting weather information, traffic information, road information, accident information, and the like corresponding to the current position of the vehicle and displaying the information on a display (not shown).

In this case, ITS information as shown in Table 2 is used.

[0027]

[Table 2]

Here, the “application ID” is
The numbers of application control frames consecutive from 01 are shown. The “corresponding system selection ID” uses $ 01 as non-traveling data, $ 02 as traveling data, and $ 03 as non-traveling data and traveling data. Therefore, the data shown in Table 2 indicates non-traveling system data. The “recommended device ID” is a recommended device type ID + (recommended device group ID or individual device I
D), the recommended device type ID is an ID indicated by the first one-digit number, and the (recommended device group ID or individual device ID) is an ID indicated by a subsequent two-digit number.
Is used. The recommended device type ID is, for example, three I
D ($ 1, $ 2, $ 3). Recommended device type ID:
# 1 informs the driver of perceptual information (regulation, caution, danger, warning, etc.) such as visual information and audio information. Recommended device type ID: # 2 indicates perceptual information such as visual information and audio information. The recommended device type ID: $ 3, which informs the driver and requests the driver to take some action, informs the driver of perceptual information such as visual information and audio information, and gives an action to the traveling system of the vehicle. Is what you require.
Therefore, what is shown in Table 2 is a control device that informs the driver of perceptual information (regulation, caution, danger, warning, etc.) such as visual information and audio information, and is followed by a control device indicated by a two-digit number. Is a recommended group. Further, “data” means specific information shown in the table.

Therefore, when the ITS information shown in Table 2 is received, the information selecting device 3a sets the ITS information on the first bus line 5
The information is output, and the non-traveling control devices 8a, 8b,... 8n corresponding to the “recommended device ID” perform control according to the ITS information. For example, when a recommended route is indicated by the ITS information, the navigation system determines whether or not the data is related to the route to the currently set destination, and if so, uses the data to determine the destination. The processing for resetting the earth route is executed. (Operation at Point 2) When a vehicle passes through an area formed by an antenna at an entrance tollgate on a toll road, ETC processing is performed between the vehicle and an on-board device in an automatic toll collection system (hereinafter, referred to as ETC). The processing result of the ETC is transmitted. In this case, ITS information as shown in Table 3 is used.

[0030]

[Table 3]

According to the ITS information, for example, if the navigation system has an ETC display function, the navigation system receives the information, processes the ETC data, and displays it. (Operation at Point 3) Point 3 is a point on the toll road where snow has begun to fall. At this point, the driving attention information is given to the driver, and the driving control information for assisting the driving of the driver is transmitted as the ITS information. In the vehicle, driving attention information is displayed based on the ITS information, and a driving support operation is performed by the independent driving control system.

This self-sustained traveling control system is a system that compares the driving operation of the driver with the traveling state of the vehicle, and assists the driving of the driver when the driving of the driver starts to deviate from the normal driving. The control is performed using some of the control devices 9a, 9b,... 9m of the system. In this case, IT
The information shown in Table 4 is used as the S information.

[0033]

[Table 4]

The communication device 2 according to this embodiment
Since the device communicates with the outside, the road condition may be detected by a sensor mounted on the vehicle, and the information may be transmitted to a management center (not shown) via a road antenna. In this way, the above information can be provided to the following vehicle in a timely manner from the management center. (Operation at Point 4) At Point 4, it indicates that the vehicle has approached a place where a non-slip such as a chain is required, and guides a mounting place of the chain. Therefore, ITS information as shown in Table 5 is transmitted from the road antenna. On the vehicle side, the ITS information is received, and a display or the like is performed according to the data.

[0035]

[Table 5]

Next, an abnormality handling process performed by the information selecting section 4a will be described. FIG. 6 shows the processing. The information selecting unit 4a checks the abnormality of the traveling-system control devices 9a, 9b,... 9m (step 401). Traveling system controller 9
Each of a, 9b,... 9m has a program for performing an abnormality check, stores the presence or absence of an abnormality, the content of the abnormality, and the like as status data.
Checks the status data of each of the control devices 9a, 9b,... 9m.

If an abnormality is stored in the status data of any of the traveling system control devices, or if there is a state in which communication with any of the traveling system control devices is not possible, it is determined that an abnormality has occurred (step 402). When this abnormality occurs, a reset process is performed on the control device, or the information selection unit 4a is provided to the control device.
Then, a process for restoring the normal state is performed by downloading the program for the control device included in the system and performing re-control (step 403).

If normal operation does not occur even after such normal recovery processing, proxy transfer processing is performed (step 40).
5). In the proxy transfer process, first, it is checked whether any of the control devices 9a, 9b,... 9m of the traveling system that are operating normally can assign the operation of the control device that has become abnormal. When there is such a control device, the control device downloads the abnormal control device program of the information selection unit 4a and performs control on behalf of the control device.

The traveling system control devices 9a, 9b,.
If there is no control device that can allocate the operation of the control device that has become abnormal, the information selection unit 4a
8n, a request is made to investigate whether any of the non-traveling control devices 8a, 8b,. If there is a low-load control device, the control device downloads a program for the abnormal control device of the information selection unit 4a via the information selection unit 3a to perform control. In this case, the signal from the sensor and the drive signal to the actuator are performed via the information selection units 3a and 4a.

The non-traveling control devices 8a, 8b,...
If there is no low load among 8n, the sub information selection unit 4b is made to perform proxy control. Note that the information selection unit 4a itself may perform the above-described proxy control, and may cause the sub-information selection unit 4b to perform the information selection process performed by the information selection unit 4a. When the control is shifted to such proxy control, the driver is informed that the proxy control is being performed by display or voice (step 406).

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an overall configuration of a vehicle control device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a receiving process in the communication device 2 in FIG.

FIG. 3 is a flowchart showing a selection process of an information selection device 3a in FIG.

FIG. 4 is a flowchart showing a selection process of an information selection device 4a in FIG.

FIG. 5 is an explanatory diagram provided for describing an operation example of the vehicle control device illustrated in FIG. 1;

FIG. 6 is a flowchart illustrating an abnormality handling process performed by an information selection unit 4a in FIG. 1;

[Explanation of symbols]

1a, 1b, 1c ... antenna, 2 ... communication device, 3a, 4
a: information selection device, 3b, 4b: sub information system, 5
... first bus line, 6 ... second bus line, 8a, 8
b,... 8n non-traveling control device, 9a, 9b,.
... Control device of traveling system, 10a, 10b, ... 10m ... Actuator, 11a, 11b ... Sensor group, 12a, 12
b ... Sensor data unit, 13a, 13b, 14a,
14b, ... 14m ... repeater.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04L 12/28 H04L 11/00 310Z 5K067 12/40 320 F term (Reference) 3D041 AA69 AA71 AB01 AC30 AD00 AD02 AD30 AD41 AD47 AD48 AD51 AD52 AE02 AE30 AE41 AE45 AF01 3D044 AA21 AB01 AC02 AC21 AC24 AC26 AC31 AC56 AC61 AD01 AD16 AD21 AE21 5H180 AA01 EE12 FF03 FF12 FF13 FF21 FF25 FF27 FF32 FF33 5A03 BA06 BA08 BA08 BA08 BA08 BA08 BA08 BB28 EE02 GG11 HH22 HH23

Claims (5)

[Claims] 1. A receiving means (2) for receiving vehicle information transmitted from outside the vehicle, and a plurality of non-traveling control devices (8a, 8b,...) Connected by a first bus line (5). 8n) and a plurality of traveling system control devices (9) provided independently of the first bus line and connected by a second bus line (6).
a, 9b,... 9m), and when the vehicle information received by the receiving means is information for the non-traveling control device, the vehicle information is converted to the first information.
Information selecting means (3a, 4a) for outputting the vehicle information to the second bus line when the vehicle information received by the receiving means is information for a control device of the traveling system; A control device for a vehicle, comprising: 2. The information selecting means, wherein the vehicle information includes identification data for identifying whether the information is information for the non-traveling control device or information for the traveling control device. The vehicle control device according to claim 1, wherein the controller selectively outputs the vehicle information to the first and second bus lines based on the identification data. 3. The first information output means outputs the received vehicle information to the first bus line when the information selection means determines that the received vehicle information is information for the non-traveling control device. Information selecting means (3a), when it is determined that the received vehicle information is information for the control device of the traveling system, the received vehicle information is transmitted to the second
The vehicle control device according to claim 1 or 2, further comprising a second information selection unit (4a) that outputs the information to a bus line. 4. The information processing apparatus according to claim 1, wherein the first and second information selecting means collates the determined result with a determined result of the other information selecting means, and outputs the received vehicle information when the determined result matches. The control device for a vehicle according to claim 3, wherein: 5. A means (405) for, upon detecting that an abnormality has occurred in any of the plurality of traveling system control devices, acting on behalf of the control device in which the abnormality has occurred. Item 5. The vehicle control device according to any one of Items 1 to 4.