JP2017178307A - Control system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid that a communication load is increased and a time for starting cooperative control becomes long in order to cooperatively control an on-vehicle apparatus belonging to a different domain even if a domain control part is divided into a master domain control part and local domain control parts for splitting an area.SOLUTION: When local domain control parts which are dispersedly arranged in respective areas determine the occurrence of a prescribed event that an on-vehicle apparatus belonging to the other domain should be cooperatively controlled, the local domain control part requests the local domain control part in the same area of a domain to which the on-vehicle apparatus belongs to perform control corresponding to the prescribed event. As above, since the cooperative control is performed by communication between the local domain control parts in the area, an increase of a communication load between the local domain control parts and the master domain control part can be suppressed, and a delay of a time up to a start of the cooperative control can be suppressed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control system that controls a plurality of in-vehicle devices mounted on a vehicle.

  For example, Patent Document 1 describes a vehicle control device (intrabox) that can easily change behavior control for a control target according to a vehicle mode when the vehicle configuration is changed.

  The vehicle control device disclosed in Patent Document 1 stores behavior control executed by a functional domain ECU and a sub-domain ECU for a control target for each vehicle mode as mode information corresponding to the vehicle configuration. Then, the vehicle control device sets the vehicle mode based on the vehicle environment in which the vehicle is placed based on the stored mode information, and the behavior that each functional domain ECU and each sub-domain ECU executes on the control target Manage control.

JP 2010-241298 A

  In Patent Document 1 described above, as a vehicle control system, several functional domains are defined according to the role of the control target, and a hierarchical structure including a vehicle control device, a functional domain ECU, and a subdomain ECU is adopted. doing. By adopting such a configuration, it is possible to easily perform cooperative control of each control target, and it is possible to reduce a load for responding to a change in the vehicle configuration.

  However, in the above configuration, the functional domain ECU provided for each functional domain controls the in-vehicle devices that are the control targets through the several subdomain ECUs. Since each in-vehicle device is arranged in each part of the vehicle, the length of communication wiring from the functional domain ECU to each in-vehicle device via the sub-domain ECU becomes long, and handling in the vehicle may become complicated. Concerned.

  Therefore, the functional domain ECU is divided into a master domain ECU that manages the entire domain and several local domain ECUs that receive control commands from the master domain ECU, and the vehicle is divided into a plurality of areas. It can be considered that the local domain ECU and the sub-domain ECUs for individually controlling the in-vehicle devices to be controlled are distributed and arranged. By adopting such a configuration, at least the length of the communication wiring connecting the local domain ECU-subdomain ECU-vehicle equipment with a large number of wirings can be shortened.

  However, as described above, when the functional domain ECU is divided into the master domain ECU and the local domain ECU in order to use both the division by the functional domain and the area division, a new problem described below arises. there is a possibility. That is, it is assumed that a predetermined event that should be controlled cooperatively by in-vehicle devices belonging to different functional domains occurs, and the local domain ECU arranged in a certain area detects the occurrence of the predetermined event. Further, the local domain ECU reports that a predetermined event has occurred in its own master domain ECU, determines the contents of the cooperative control in cooperation with each master domain ECU, and is mounted on the vehicle via the local domain ECU and the subdomain ECU. Assume that the device is controlled. In this case, the communication load between the master domain ECU and the local domain ECU increases in order to cooperatively control in-vehicle devices belonging to different functional domains. Furthermore, a relatively long time is required until cooperative control is started due to communication between the master domain ECU and the local domain ECU and control processing in the master domain ECU.

  The present invention has been made in view of the above points, and even when the domain control unit is divided into a master domain control unit and a local domain control unit for area division, the vehicle mounted in another domain It is an object of the present invention to provide a vehicle control system that can suppress an increase in communication load or a long time until cooperative control is started in order to perform cooperative control of devices.

To achieve the above object, a vehicle control system according to the present invention controls a plurality of in-vehicle devices mounted on a vehicle,
The vehicle control system is divided into a plurality of domains in advance according to the functions of a plurality of in-vehicle devices, and in each of the plurality of domains, device control units (14, 15, 16, 24, 25, 26, 34, 35, 36, 44, 45, 46, 54, 55, 56) and the domain control unit (10, 20, 30, 40, 50) that controls the control by the device control unit. Stratified,
Furthermore, the vehicle is divided into at least two areas (70, 80, 90), and a plurality of in-vehicle devices are allocated to the divided areas.
According to the distribution of in-vehicle devices, the corresponding device control units are distributed in the corresponding area,
The domain control units (10, 20, 30, 40, 50) are local domain control units (12, 13, 22, 23, 32, 33, 42, 43) distributed in the area together with the corresponding device control units. , 52, 53) and a master domain control unit (11, 21, 31, 41, 51) that determines an area control target value in each area and gives the area control target value to the local domain control unit, The control unit gives a control instruction to the device control unit according to the area control target value from the master domain control unit,
The local domain control unit relates to a determination unit (S110) that determines whether or not a predetermined event has occurred, and an in-vehicle device that belongs to another domain and needs to be controlled with respect to the predetermined event. A storage unit for storing information (12a, 13a, 22a, 23a, 32a, 33a, 42a, 43a, 52a, 53a) and a storage unit that stores the information when it is determined that a predetermined event has occurred A control request unit (S140) for requesting the local domain control unit in the same area of the domain to which the in-vehicle device belongs to perform control corresponding to a predetermined event;
Upon receiving a request from the control request unit, the local domain control unit, when controlling the in-vehicle device according to the request, instructs the device control unit to execute the control based on the area control target value from the master domain control unit. It is configured to give control instructions.

  In the vehicle control system according to the present invention, the vehicle is divided into at least two areas as described above. A plurality of in-vehicle devices are distributed to the divided areas. Corresponding device control units are also distributed and arranged in the corresponding areas according to the distribution of the in-vehicle devices. The domain control unit includes a master domain control unit and a local domain control unit, and the local domain control unit is distributed in the area together with the corresponding device control unit. Therefore, the related local domain control unit, device control unit, and in-vehicle device can be arranged in the same area, and the length of the communication wiring for connecting them can be shortened. As a result, the complexity of handling the communication wiring in the vehicle can be reduced. Then, the master domain control unit gives an area control target value to each local domain control unit based on the control target of the entire domain. As a result, even when local domain controllers are distributed in each area, it is possible to achieve overall matching of control in each area.

  Furthermore, in the vehicle control system according to the present invention, when the local domain control unit determines that a predetermined event that should be controlled cooperatively by an in-vehicle device belonging to another domain has occurred, the in-vehicle device belongs. Requests the local domain control unit in the same area of the domain to perform control corresponding to a predetermined event. As described above, the local domain control unit that has determined the occurrence of the predetermined event directly requests the local domain control unit of the domain to which the in-vehicle device that needs cooperative control belongs to execute the cooperative control. For this reason, in order to perform cooperative control, it can suppress that the communication load of a local domain control part and a master domain control part increases. In addition, when the local domain control unit that receives the request controls the in-vehicle device by the request, the local domain control unit executes with priority over the control based on the area control target value from the master domain control unit. Therefore, the time until the cooperative control is started can be shortened as compared with the case where the cooperative control is executed based on a command from the master domain control unit.

  The reference numerals in the parentheses merely show an example of a correspondence relationship with a specific configuration in an embodiment described later in order to facilitate understanding of the present invention, and are intended to limit the scope of the present invention. Not intended.

  Further, the technical features described in the claims of the claims other than the features described above will become apparent from the description of embodiments and the accompanying drawings described later.

It is a block diagram which shows an example of the whole structure of the control system for vehicles for various vehicle equipment of a hybrid vehicle based on embodiment. It is a figure which shows the example which divided | segmented the vehicle into three areas, a front area, a middle area, and a rear area. It is explanatory drawing for demonstrating the example of arrangement | positioning to each area of each component of an apparatus control part and each domain control part. It is a flowchart for demonstrating the control processing of a local domain control part. It is a flowchart for demonstrating the control processing of a master domain control part. It is explanatory drawing for demonstrating some examples of the cooperative control according to generation | occurrence | production of a predetermined specific event.

  An embodiment of a vehicle control system according to the present invention will be described with reference to the drawings. In the embodiments described below, the vehicle control system according to the present invention is applied to various in-vehicle devices mounted on a hybrid vehicle having an engine and an electric motor (motor generator) as a vehicle driving source. An example will be described. However, the vehicle control system according to the present invention is not only applied to control of in-vehicle devices in a hybrid vehicle, but also for control of various in-vehicle devices of a normal vehicle having only an engine and an electric vehicle having only an electric motor. May be applied. In addition, although the domain division is described, since this domain division is closely related to the control structure of the control system, it is not always necessary to perform the same domain division as the example described below. Just do it.

  FIG. 1 is a block diagram showing an example of the overall configuration of a vehicle control system 100 for various in-vehicle devices in the hybrid vehicle described above. The vehicle control system 100 according to the present embodiment is divided into a plurality of domains according to functions (roles) of a plurality of in-vehicle devices to be controlled, and controls the in-vehicle devices in each of the plurality of domains. Device control units 14, 15, 16, 24, 25, 26, 34, 35, 36, 44, 45, 46, 54, 55, and 56, and domain control units 10 and 20 that supervise control by these device control units. , 30, 40, and 50. And each domain control part 10, 20, 30, 40, 50 is connected so that communication is possible mutually.

  The device control units 14-16, 24-26, 34-36, 44-46, 54-56, and the domain control units 10, 20, 30, 40, 50 are CPU, ROM, This is realized by being mounted on an electronic control unit (ECU) having a RAM or the like. At this time, a plurality of device control units and domain control units may be mounted on a common electronic control unit in area units to be described later.

  Specifically, in the example shown in FIG. 1, the vehicle control system 100 is divided into five domains: chassis (CS), powertrain (PT), body (BD), ambient environment (EVI), and HMI. ing. Based on the domains defined in this way, a large number of in-vehicle devices mounted on a hybrid vehicle are grouped together in terms of functions.

  For example, in the chassis domain, in order to operate the hydraulic brakes provided on each wheel, the brake actuator that drives the components of the hydraulic brake device such as a hydraulic pump and an electromagnetic valve, the damping force provided on each wheel can be adjusted. Damper, pneumatic sensor for wirelessly communicating the air pressure detection signal, electric power steering (EPS), transmission (TM) that transmits the rotation of the engine and electric motor at an appropriate gear ratio to the drive shaft ), An in-vehicle device such as a negative pressure pump (VP) that generates a negative pressure for amplifying and transmitting the pedaling force of the brake pedal by the driver to the master cylinder.

  In the chassis domain, device control units 14, 15, and 16 are provided for controlling the above-described in-vehicle devices. In principle, these device control units 14, 15, and 16 are individually provided corresponding to in-vehicle devices belonging to the chassis domain. For example, in the chassis domain, a brake actuator control unit, a damper control unit, an air pressure detection control unit, an EPS control unit, a TM control unit, a VP control unit, and the like are provided as the device control units 14, 15, and 16. The hydraulic brake device is configured so that the hydraulic pressure can be adjusted independently on the front wheel side and the rear wheel side, and the brake actuator is a front wheel side brake that can individually adjust the brake hydraulic pressure of the left and right front wheels. It is divided into an actuator and a rear-wheel brake actuator that can individually adjust the brake hydraulic pressure of the left and right rear wheels. For this reason, the front wheel side brake actuator control unit and the rear wheel side brake actuator control unit are also provided as the brake actuator control unit.

  Further, a chassis (CS) domain control unit 10 is provided in the chassis domain as a domain control unit that supervises control of the device control units 14, 15, and 16. The CS domain control unit 10 gives control target values to the device control units 14, 15, and 16. The device control units 14, 15, and 16 control corresponding in-vehicle devices according to the control target value given from the common CS domain control unit 10.

  The CS domain controller 10 includes a master chassis (MCS) controller 11 as a master domain controller and local chassis (LCS) controllers 12 and 13 as local domain controllers. As will be described later, the MCS control unit 11 and the LCS control units 12 and 13 are distributed in three areas when the vehicle is partitioned into three areas. The MCS control unit 11 has both a function as a master domain control unit and a function as a local domain control unit. That is, the MCS control unit 11 determines the control target of the entire chassis domain according to the state of the vehicle and the operation state of the driver as the master domain control unit, and further, each area is realized based on the control target of the entire domain. The area control target value to be determined is determined. The area control target value determined by the MCS control unit 11 is given to the LCS control units 12 and 13. The LCS control units 12 and 13 calculate control target values for controlling the device control units 15 and 16 based on the given area control target values, and output them to the device control units 15 and 16. At this time, the MCS control unit 11 also calculates a control target value for controlling the device control unit 14 based on the area control target value in the area to which the MCS control unit 11 belongs, and outputs the control target value to the device control unit 14. .

  In the power train domain, for example, an engine and a motor generator (MG), an engine and / or an MG that play a role of accelerating or decelerating the vehicle or applying power for keeping the speed constant to the vehicle are generated. Driving force distribution mechanism responsible for allocating the torque (driving force) to each wheel of the four wheels, high voltage battery responsible for supplying driving power to MG and storing power generated by MG, low voltage battery In-vehicle devices such as a DCDC converter that steps down a high voltage generated by a high-voltage battery for charging the battery and supplies the low-voltage battery to the low-voltage battery, and a charger interface (IF) for charging the high-voltage battery by an external charging facility belong. Furthermore, in the power train domain, in-vehicle devices such as a low-voltage battery and a junction box (JB) for switching on / off of power supply from the low-voltage battery to various in-vehicle devices may belong.

  The low voltage battery includes a plurality of batteries such as a main low voltage battery installed in the engine room of the vehicle and a sub low voltage battery installed under the floor of the luggage space (or trunk room) of the vehicle. In addition, the junction box includes a front junction box (JB) for switching on / off of power feeding to an in-vehicle device mounted in and near the engine rule, and an in-vehicle device mounted mainly in and near the vehicle interior. A center junction box for switching on / off of the power supply, and a rear junction box for switching on / off of power supply to an in-vehicle device mounted in or near the luggage space. Each of these junction boxes is configured such that either a main low voltage battery or a sub low voltage battery can be selected as a power source for supplying power to each on-vehicle device.

  The power train domain is provided with device control units 24, 25, and 26 for controlling the above-described in-vehicle devices. That is, in the power train domain, as the device control units 24, 25, 26, the engine control unit, the MG control unit, the driving force distribution mechanism control unit, the high voltage battery control unit, the DCDC converter control unit, the charger IF control unit, A low voltage battery control unit, a sub low voltage battery control unit, a front JB control unit, a center JB control unit, a rear JB control unit, and the like are provided. Further, the power train domain is provided with a power train (PT) domain control unit 20 as a domain control unit that supervises control of these device control units 24, 25, and 26. The PT domain controller 20 includes a master power train (MPT) controller 21 as a master domain controller and local power train (LPT) controllers 22 and 23 as local domain controllers. The MPT control unit 21 has both a function as a master domain control unit and a function as a local domain control unit. That is, the MPT control unit 21 determines a control target for the entire powertrain domain as a master domain control unit, and further determines an area control target value to be realized by each area based on the control target for the entire domain. The area control target value determined by the MPT control unit 21 is given to the LPT control units 22 and 23.

  In the body domain, for example, front lights such as headlights and position lamps, external airbags provided in the hood to protect pedestrians, shutters that open and close the outside air introduction holes to the engine room, door locks, Motor for switching unlock, motor for opening / closing the window, motor for adjusting the seat position, air conditioner for air conditioning in the passenger compartment, passenger airbag for protecting passengers in the vehicle, motor for automatically opening and closing the rear gate, brake lamp In-vehicle devices such as rear lights belong. Therefore, in this body domain, the front lighting control unit, the external airbag control unit, the shutter control unit, the door control unit, the seat control unit, the air conditioner control unit, the occupant airbag control unit, as the device control units 34, 35, 36 A rear gate control unit, a rear lighting control unit, and the like are provided.

  Further, a body (BD) domain control unit 30 is provided in the body domain as a domain control unit that supervises the control of these device control units 34, 35, and 36. The BD domain control unit 30 includes a master body (MBD) control unit 31 as a master domain control unit and local body (LBD) control units 32 and 33 as local domain control units. The MBD control unit 31 has both a function as a master domain control unit and a function as a local domain control unit.

  In the ambient environment domain, for example, laser radar and millimeter wave radar installed on the front grille and front bumper to detect obstacles in front of the vehicle, installed on the indoor side of the windshield to capture images in front of the vehicle A front camera, an outside temperature sensor for detecting the outside air temperature, a rear camera installed on the rear glass indoor side to capture an image behind the vehicle, a rear bumper for detecting an obstacle behind the vehicle, etc. In-vehicle equipment such as a communication apparatus that communicates with the portable key belongs to authenticate whether the portable key held by the millimeter wave radar or the occupant is genuine. Accordingly, in the ambient environment domain, as the device control units 44, 45, 46, a laser radar control unit, a front millimeter wave radar control unit, a front camera control unit, a temperature sensor control unit, a rear camera control unit, a rear millimeter wave radar control unit A communication device control unit (authentication device) and the like are provided.

  Further, an ambient environment (EVI) domain control unit 40 is provided in the ambient environment domain as a domain control unit that supervises control of these device control units 44, 45, and 46. The EVI domain control unit 40 includes a master ambient environment (MEVI) control unit 41 as a master domain control unit and local ambient environment (LEVI) control units 42 and 43 as local domain control units. The MEVI control unit 41 has a function as a master domain control unit and a function as a local domain control unit.

  The HMI domain includes, for example, in-vehicle devices such as a detection mechanism for detecting the state of the hood, a display and various switches provided in the passenger compartment, and a detection mechanism for detecting the state of the rear gate. Therefore, the HMI domain includes a bonnet state detection control unit, a display control unit, a switch control unit, a rear gate state detection control unit, and the like as the device control units 54, 55, and 56. Furthermore, the HMI domain control unit 50 is provided in the HMI domain as a domain control unit that supervises control of these device control units 54, 55, and 56. The HMI domain control unit 50 includes a master HMI (MHMI) control unit 51 as a master domain control unit and local HMI (LHMI) control units 52 and 53 as local domain control units. The MHMI control unit 51 has a function as a master domain control unit and a function as a local domain control unit.

  Next, the arrangement of the above-described in-vehicle devices, device control units 14 to 16, 24 to 26, 34 to 36, 44 to 46, 54 to 56, and domain control units 10, 20, 30, 40, and 50 will be described. To do.

  First, the various vehicle-mounted devices described above are arranged in each part of the vehicle because of the role required for each vehicle-mounted device and the space on mounting. For this reason, when the above-described domain control units 10, 20, 30, 40, 50 are intensively arranged at predetermined locations of the vehicle, the length of the communication wiring to each in-vehicle device as a whole becomes long. There is a concern that handling in the vehicle becomes complicated.

  Therefore, in the vehicle control system 100 according to the present embodiment, the vehicle is divided into at least two areas as shown in FIG. FIG. 2 shows an example in which the vehicle is divided into three areas: a front area 70, a middle area 80, and a rear area 90. However, the number of divisions is not limited to three as in the example of FIG. For example, the vehicle may be divided into two areas such as a front area and a rear area. Further, it may be divided into four areas such as a front right area, a front left area, a rear right area, and a rear left area. In the case of division into four areas, the front area may be further divided into two areas on the left and right in the division example shown in FIG. Further, it may be divided into five areas or six areas according to the size of the vehicle.

  In this manner, by dividing the vehicle into at least two areas, the plurality of in-vehicle devices are distributed to any of the divided areas according to the arrangement location. According to the distribution of the in-vehicle devices, the device control units 14-16, 24-26, 34-36, 44-46, 54-56 for controlling the corresponding in-vehicle devices are also distributed and arranged so as to belong to the same area. . Furthermore, the MCS control unit 11, the LCS control units 12 and 13, the MPT control unit 21, the LPT control units 22 and 23, the MBD control unit 31, which are constituent elements of the domain control units 10, 20, 30, 40, and 50, The LBD control units 32 and 33, the MEVI control unit 41, the LEVI control units 42 and 43, the MHMI control unit 51, and the LHMI control units 52 and 53 also correspond to the corresponding device control units 14 to 16 and 24 to which control target values should be output. 26, 34 to 36, 44 to 46, 54 to 56 are distributed and arranged so as to belong to the same area.

  As a result, a local domain control unit (including a master domain control unit having a function of the local domain control unit) that is a component of the related domain control units 10, 20, 30, 40, and 50, and device control units 14-16. , 24-26, 34-36, 44-46, 54-56 and the in-vehicle device can be arranged in the same area. Accordingly, it is possible to reduce the length of the communication wiring connecting the local domain control unit-device control unit-vehicle equipment with a large number of wires, and as a result, it is possible to reduce the complexity of handling the communication wires in the vehicle. it can. Note that local domain controllers of different domains arranged in the same area are connected by communication wiring so that they can communicate with each other.

  3, each area 70 of each component of the device control units 14-16, 24-26, 34-36, 44-46, 54-56, and the domain control units 10, 20, 30, 40, 50, An example of arrangement in 80 and 90 is shown.

  In the example shown in FIG. 3, in the chassis domain, in the front area 70, as the equipment control unit 15, the front wheel side brake actuator control unit, the front wheel damper control unit that controls the damping force of the left and right front wheel dampers, and the detection of the air pressure of the left and right front wheels A front wheel air pressure detection control unit, an EPS control unit, and a TM control unit for controlling the engine are arranged. In the front area 70, the LCS control unit 12 is arranged as a local domain control unit for controlling the device control unit 15 in an integrated manner.

  In the middle area 80 of the chassis domain, a VP control unit is disposed as the device control unit 14, and an MCS control unit 11 is disposed as the local domain control unit. That is, in the chassis domain, the local domain control unit arranged in the middle area 80 is the MCS control unit 11 having a function as a master control unit. Further, in the rear area 90 of the chassis domain, a rear wheel side brake actuator control unit, a rear wheel damper control unit, and a rear wheel air pressure detection control unit are arranged as the device control unit 16, and the LCS control unit is used as the local domain control unit. 13 is arranged.

  In the power train domain, an engine control unit, an MG control unit, a main low voltage battery control unit, and a front JB control unit are arranged as the device control unit 24 in the front area 70. In the front area 70, an MPT control unit 21 is arranged as a local domain control unit that controls the engine control unit, the MG control unit, the main low voltage battery control unit, and the front JB control unit. As described above, in the power train domain, the local domain control unit arranged in the front area 70 also has a function as a master control unit.

  In the middle area 80 of the power train domain, a drive force distribution mechanism control unit and a center JB control unit are disposed as the device control unit 25, and an LPT control unit 22 is disposed as the local domain control unit. In the rear area 90 of the power train domain, a high voltage battery control unit, a DCDC converter control unit, a charger IF control unit, an auxiliary low voltage battery control unit, and a rear JB control unit are arranged as the device control unit 26, and are locally An LPT control unit 23 is arranged as a domain control unit.

  In the body domain, the front lighting control unit, the front external airbag control unit, and the shutter control unit are arranged as the device control unit 35 in the front area 70, and the LBD control unit 32 is arranged as the local domain control unit. . In the middle area 80 of the body domain, a door control unit, a seat control unit, an air conditioner control unit, and an occupant airbag control unit are arranged as the device control unit 34, and an MBD control unit 31 is arranged as the local domain control unit. Yes. As described above, in the case of the body domain, the master domain control unit is arranged in the middle area 80. In the rear area 90 of the body domain, a rear gate control unit, a rear lighting control unit, and a rear external airbag control unit are disposed as the device control unit 36, and an LBD control unit 33 is disposed as the local domain control unit. Yes.

  In the ambient environment domain, a laser radar control unit, a front millimeter wave radar control unit, and a front camera control unit are arranged as a device control unit 45 in the front area 70, and a LEVI control unit 42 is arranged as a local domain control unit. Yes. In the middle area 80 of the surrounding environment domain, an ultrasonic sensor control unit and a temperature sensor control unit are disposed as the device control unit 44, and a MEVI control unit 41 is disposed as the local domain control unit. Thus, also in the case of the ambient environment domain, the master domain control unit is arranged in the middle area 80. In the rear area 90 of the ambient environment domain, a rear camera control unit and a rear millimeter wave radar control unit are disposed as the device control unit 46, and a LEVI control unit 43 is disposed as the local domain control unit.

  In the HMI domain, in the front area 70, a bonnet state detection control unit is disposed as the device control unit 55, and an LHMI control unit 52 is disposed as the local domain control unit. In the middle area 80 of the HMI domain, a display control unit and a switch control unit are disposed as the device control unit 54, and an MHMI control unit 51 is disposed as the local domain control unit. Thus, also in the case of the HMI domain, the master domain control unit is arranged in the middle area 80. In the rear area 90 of the HMI domain, a rear gate state detection control unit and a rear gate switch control unit are disposed as the device control unit 56, and an LHMI control unit 53 is disposed as the local domain control unit.

  Here, as described above, in order to use both domain division and area division, the domain control units 10, 20, 30, 40, and 50 are divided into a master domain control unit and a local domain control unit. Communication between the master domain control unit and the local domain control unit when cooperatively controlling in-vehicle devices belonging to different domains in response to the occurrence of a predetermined event There is a risk of increasing the load and delaying cooperative control.

  Therefore, in the vehicle control system 100 according to the present embodiment, the local domain control unit determines whether or not a predetermined event that should be controlled cooperatively by the in-vehicle devices belonging to other domains has occurred. Then, when it is determined that a predetermined event has occurred, control corresponding to the predetermined event is directly performed on the local domain control unit in the same area of the domain to which the in-vehicle device to be cooperatively controlled belongs. Ask.

  Each local domain control unit includes memories 11a, 12a, 13a, 21a, 22a, 23a, 31a, 32a, 33a, 41a, 42a, 43a, 51a, 52a, and 53a. In this memory, when it is determined that a predetermined event has occurred, the in-vehicle device that belongs to another domain and is to be cooperatively controlled, the domain to which the in-vehicle device belongs, and the cooperative control of the in-vehicle device The contents of are stored. The local domain control unit that has determined the occurrence of the predetermined event refers to the memory and requests the local domain control unit in the same area of the domain to which the in-vehicle device that needs the cooperative control belongs to execute the cooperative control. .

  Therefore, according to the vehicle control system 100 according to the present embodiment, it is possible to suppress an increase in communication load between the local domain control unit and the master domain control unit in order to execute cooperative control. Further, the local domain control unit that has received the request for the cooperative control executes the control in preference to the control based on the area control target value from the master domain control unit when the in-vehicle device is cooperatively controlled by the request. Therefore, the time until the cooperative control is started can be shortened as compared with the case where the cooperative control is executed based on a command from the master domain control unit.

  Hereinafter, the control process of the local domain control unit and the control process of the master domain control unit in each domain will be described based on the flowcharts of FIGS. 4 and 5. First, the control process of the local domain control unit will be described with reference to the flowchart of FIG. Note that the processing shown in the flowcharts of FIGS. 4 and 5 is repeatedly executed every predetermined time.

  In step S100 of the flowchart of FIG. 4, the local domain control unit receives the area control target value from the master domain control unit. In subsequent step S110, the local domain control unit determines whether or not a predetermined specific event that should control the in-vehicle devices belonging to other domains in a coordinated manner has occurred. In this determination process, when it is determined that a predetermined specific event has occurred, the process proceeds to step S120. On the other hand, if it is determined that a predetermined specific event has not occurred, the process proceeds to step S160.

  In step S120, the local domain control unit is positioned in the lower layer of itself, and gives a control instruction corresponding to the specific event to the device control unit to which it should give a control instruction. That is, in this case, a control instruction corresponding to the specific event is given to the device control unit regardless of the area control target value from the master domain control unit. In addition, when there is no device control part of the vehicle equipment which should perform control corresponding to generation | occurrence | production of a predetermined specific event under the local domain control part, the local domain control part receives the area control target received in step S100. A control instruction corresponding to the value is given to the device control unit.

  In the subsequent step S130, the in-vehicle devices to be cooperatively controlled, the domain to which the in-vehicle devices belong, and the contents of the cooperative control are stored in the memories 11a, 12a, 13a, 21a, 22a, 23a, Extracted from 31a, 32a, 33a, 41a, 42a, 43a, 51a, 52a, 53a. When the local domain control unit determines the occurrence of a plurality of events as a predetermined event, the above-described memory includes in-vehicle devices to be coordinated and controlled for each of the plurality of events. The domain to which the device belongs and the contents of cooperative control are stored.

  In step S140, the local domain control unit is based on the information on the cooperative control extracted from the memories 11a, 12a, 13a, 21a, 22a, 23a, 31a, 32a, 33a, 41a, 42a, 43a, 51a, 52a, 53a. The local domain control unit of another domain in the same area is notified of the in-vehicle device to be coordinated and its control content, and requested to execute the coordinated control. In subsequent step S150, the local domain control unit reports to its master domain control unit that a predetermined specific event has occurred or that other local domain control units in the same area have requested cooperative control. . Then, the process shown in the flowchart of FIG.

  On the other hand, in step S160, which is executed when it is determined in step S110 that a predetermined specific event has not occurred, it is determined whether a request for cooperative control has been received from another local domain control unit in the same area. To do. If it is determined in this determination process that a request for cooperative control has been received, the process proceeds to step S170. On the other hand, if it is determined that a request for cooperative control has not been received, the process proceeds to step S190.

  In step S170, the local domain control unit performs the requested cooperative control. That is, when the request for cooperative control is to give a control instruction to a device control unit positioned in its own lower layer, the control instruction is given to the corresponding device control unit. Also in this case, a control instruction for performing cooperative control corresponding to a specific event is given to the device control section in preference to a control instruction based on the area control target value from the master domain control section. However, when the request for cooperative control is related to the control of the in-vehicle device in another area, the local domain control unit sends a control instruction according to the area control target value received in step S100 to the device control unit. give.

  In subsequent step S180, the local domain control unit cooperates with the master domain control unit based on the fact that the other local domain control unit has received a cooperative control request, the content of the cooperative control request, and the cooperative control request. Report things such as control.

  On the other hand, in step S190, since the predetermined specific event has not occurred and the cooperative control request from other local domain control units has not been received, the local domain control unit receives the area control target received in step S100. A control instruction corresponding to the value is given to the device control unit.

  For example, the MPT control unit 21 arranged in the front area 70 of the power train domain calculates a target torque necessary for the vehicle as a master domain control unit, and creates an area control target value for the front area 70 including the target torque. To do. Then, as a local domain control unit, the MPT control unit 21 determines the sharing ratio between the engine and the MG so that the target torque included in the area control target value can be realized most efficiently. Then, the target engine torque and the target MG torque corresponding to the determined sharing ratio are output as control instructions to the engine control unit and the MG control unit. At the same time, the MCS control unit 11 of the chassis domain determines a target gear ratio for converting the torque output by the engine and the MG to be suitable for the traveling state of the vehicle through communication with the MPT control unit 21, An area control target value including the target gear ratio is given to the LCS control unit 12. The LCS control unit 12 outputs the target gear ratio included in the area control target value as a control instruction to the transmission control unit.

  Next, the control process of the master domain control unit will be described with reference to the flowchart of FIG.

  First, in step S200, the master domain controller uses various sensors to detect the state of the vehicle, the operation state of various operation devices and operation switches by the occupant (driver), the operation state of the in-vehicle device, etc. Based on the detection result, a control target for the entire domain is calculated.

  In step S210, a predetermined specific event has occurred from the local domain control unit, a coordinated control request has been made to another local domain control unit, a coordinated control request has been received from another local domain control unit, etc. Determine whether a report has been received. Note that the report to the master domain control unit may include a request for cooperative control of in-vehicle devices in another area. In this determination process, if it is determined that a report from the local domain control unit has been received, the process proceeds to step S220. If it is determined that a report from the local domain control unit has not been received, step S240 is performed. Proceed to the process.

  In step S220, the master domain control unit performs a predetermined event in an area other than the area to which the local domain control unit that requested cooperative control corresponding to the predetermined specific event belongs based on the report content from the local domain control unit. It is determined whether or not cooperative control according to the occurrence of is necessary. In this determination process, when it is determined that cooperative control is necessary in another area, the process proceeds to step S230. On the other hand, when it determines with the cooperative control in another area not being required, it progresses to the process of step S240.

  In step S230, the area control target value calculated in step S200 is corrected so that necessary cooperative control is performed in another area in accordance with a predetermined specific event or based on a request for cooperative control. In step S240, the corrected area control target value is transmitted to each local domain control unit. If “No” is determined in step S210 or S220, the area control target value calculated in step S200 is transmitted to each local domain control unit as it is in step S240.

  As a result, a request for cooperative control was received not only from other areas of the domain to which the local domain control unit that determined the occurrence of the predetermined specific event belongs, but also from the local domain control unit that determined the occurrence of the predetermined specific event. Even in other areas of the domain to which the local domain control unit belongs, it is possible to carry out cooperative control of in-vehicle devices according to the occurrence of a predetermined specific event as necessary.

  Here, some examples of the cooperative control according to the occurrence of a predetermined specific event will be described with reference to FIG.

  For example, in the case described in the uppermost part of FIG. 6, the LBD control unit 32 in the front area 70 of the body domain receives from a sensor (acceleration sensor, pressure sensor, etc.) arranged on the front bumper as a predetermined specific event. Based on the signal, it is determined whether or not the vehicle has collided with a pedestrian in front of the host vehicle. When it determines with having collided with the pedestrian, the LBD control part 32 instruct | indicates a front external airbag control part to expand a front external airbag for pedestrian protection. At this time, instead of or in addition to the deployment of the front external airbag, it may be instructed to flip up the hood for a predetermined distance. In this way, the LBD control unit 32, which is a local domain control unit that determines the occurrence of a predetermined event, causes the front external airbag control device, which is a device control unit positioned in its lower layer, to generate a predetermined event ( A control instruction according to a collision with a pedestrian is given.

  Further, the LBD control unit 32 disengages the clutch and releases the transmission to the LCS control unit 12 in the front area 70 of the chassis domain and operates the front wheel and rear wheel brakes in order to immediately stop the vehicle. Ask to make it. At the same time, the LBD control unit 32 stops the power supply by the high-voltage battery to stop the engine and stop the power supply to the motor generator with respect to the MPT control unit 21 in the front area 70 of the power train domain. Ask that. Further, the LBD control unit 32 requests the LEVI control unit 42 in the front area 70 of the surrounding environment domain to store images before and after the collision and a sensor signal indicating the running state of the vehicle. In this way, the local domain control unit that has determined the occurrence of a predetermined specific event notifies the local domain control unit of the other domain in the same area of the in-vehicle device to be coordinated and its control content. And request to execute cooperative control.

  Then, the LBD control unit 32 has made a collision with a pedestrian and has made a cooperative control request to another local domain control unit with respect to the MBD control unit 31 that is its own master domain control unit. To report. Then, based on the report content from the LBD control unit 32, the MBD control unit 31 determines that cooperative control for deploying the occupant airbag is necessary in the middle area 80, which is another area of the body domain, and the occupant airbag is removed. A control instruction is given to the occupant airbag control unit so as to be deployed. Thus, cooperative control corresponding to the predetermined specific event is executed also in other areas of the domain to which the local domain control unit that has determined the occurrence of the predetermined specific event belongs. Note that the report from the LBD control unit 32 to the MBD control unit 31 may include a request for deploying an occupant airbag to protect the occupant. In FIG. 6, in each case, when the report from the local domain control unit to the master domain control unit includes a request for cooperative control of in-vehicle devices belonging to other areas, the cooperative control request is shown in parentheses. Yes.

  The LCS control unit 12 in the chassis domain instructs the transmission control unit, which is a device control unit positioned in its lower layer, to disconnect the clutch and release the transmission based on the request for cooperative control from the LBD control unit 32. . Further, the LCS control unit 12 instructs the front wheel side brake actuator control unit to operate the front wheel brake. Thereby, in the area to which the local domain control unit that has requested cooperative control belongs, cooperative control of in-vehicle devices belonging to other domains is executed.

  Further, the LCS control unit 12 reports to the MCS control unit 11 that is its own master domain control unit that it has received a request for cooperative control from the LBD control unit 32. The cooperative control request includes an operation request for the rear wheel brake. Therefore, the MCS control unit 11 corrects the area control target value of the rear area 90 so that the rear brake is operated. Upon receiving the corrected area control target value, the LCS control unit 13 instructs the rear wheel side brake actuator control unit to operate the rear wheel brake. Thereby, in other areas of the domain to which the local domain control unit that has received the request for the cooperative control belongs, the cooperative control of the in-vehicle device according to the occurrence of the predetermined specific event is performed.

  As in the case of the chassis domain, the MPT control unit 21 in the power train domain instructs the engine control unit to stop the engine based on a request for cooperative control from the LBD control unit 32. Moreover, the MPT control unit 21 corrects the area control target value of the rear area 90 so that the power supply by the high voltage battery is stopped as the master domain control unit that has received the request for cooperative control. Receiving the corrected area control target value, the LPT control unit 23 instructs the high voltage battery control unit to turn off the relay provided in the power supply path of the high voltage battery.

  Further, when the LEVI control unit 42 in the surrounding environment domain receives an image or sensor signal storage request as a cooperative control request, the in-vehicle device managed by the LEVI control unit 42 does not have a storage function. The cooperative control request is reported to the MEVI control unit 41 which is the master domain control unit without instructing the coordinated control to the unit 45. Then, since the MEVI control unit 41 manages the control of the in-vehicle device (memory or the like) provided with the image and sensor signal storage function, the MEVI control unit 41 sends the image and the sensor signal to the device control unit of the in-vehicle device. Instruct to save. Note that an in-vehicle device having a storage function for images and sensor signals always records images and sensor signals, and when the device control unit receives a storage command from the MEVI control unit 41, before and after the storage command. The image and sensor signal at a predetermined time are stored.

  In the second case from the top in FIG. 6, the LEVI control unit 42 in the front area 70 of the surrounding environment domain has a predetermined specific event as a preceding vehicle, pedestrian, bicycle, car It is determined whether there is an obstacle such as. When it is determined that there is an obstacle ahead of the host vehicle, the LEVI control unit 42 requests the LCS control unit 12 in the front area 70 of the chassis domain to operate the front and rear wheel brakes. At the same time, the LEVI control unit 42 requests the MPT control unit 21 in the front area 70 of the powertrain domain to prohibit starting of the engine and the MG. In this case, the LEVI control unit 42 that is a local domain control unit that determines the occurrence of a specific event (presence of a front obstacle) does not have an in-vehicle device that performs control corresponding to the specific event. In response to the occurrence, no control instruction is given to the device control unit positioned in its lower layer.

  The LCS control unit 12 in the chassis domain instructs the front wheel brake actuator control unit, which is a device control unit positioned in its lower layer, to operate the front wheel brake based on the request for cooperative control from the LEVI control unit 42. Furthermore, the LCS control unit 12 reports to the MCS control unit 11 that is its own master domain control unit that it has received a request for cooperative control from the LEVI control unit 42. The cooperative control request includes an operation request for the rear wheel brake. Therefore, the MCS control unit 11 corrects the area control target value of the rear area 90 so that the rear brake is operated. Upon receiving the corrected area control target value, the LCS control unit 13 instructs the rear wheel side brake actuator control unit to operate the rear wheel brake.

  Further, the MPT control unit 21 in the powertrain domain instructs the engine control unit to prohibit the engine start based on the request for cooperative control from the LEVI control unit 42, and also prohibits the motor generator from starting. Instruct the control unit.

  In the third example from the top of FIG. 6, whether the driver steers the steering wheel as a predetermined specific event based on the sensor signal of the steering angle sensor by the LCS control unit 12 in the front area 70 of the chassis domain. Determine whether or not. When it is determined that the steering wheel is steered, the EPS control unit is instructed to generate assist torque according to the steering angle. Further, the LCS control unit 12 requests the LBD control unit 32 in the front area 70 of the body domain to adjust the left and right optical axes of the headlights. This request includes information on the steering angle. Upon receiving this request, the LBD control unit 32 adjusts the left and right optical axes of the headlights according to the steering angle. Thereby, the optical axis of the head ride can be changed so as to illuminate the traveling direction when the host vehicle turns.

  The fourth and fifth examples from the top of FIG. 6 also perform headlight control as cooperative control. That is, in the fourth case, when the LEVI control unit 42 in the front area 70 of the EVI domain detects a change in ambient illuminance as a predetermined specific event, the LBD control unit 32 in the body domain is turned on or off. Ask. In the fifth example, the LEVI control unit 42 in the EVI domain determines whether there is an oncoming vehicle (and a preceding vehicle) as a predetermined specific event, and the LBD control unit 32 in the body domain If there is an oncoming vehicle, a request is made to switch the headlight to the Lo beam, and if there is no oncoming vehicle, a request is made to switch to the Hi beam.

  In the sixth case from the top in FIG. 6, the MPT control unit 21 in the front area 70 of the powertrain domain is based on a sensor signal from a temperature sensor that detects the temperature of engine coolant as a predetermined specific event. Then, it is determined whether the engine temperature is lower than a predetermined lower limit or higher than a predetermined upper limit. When the engine temperature is equal to or lower than the predetermined lower limit, the MPT control unit 21 requests the LBD control unit 32 in the body domain to close the outside air introduction hole to the engine room by the shutter. When the engine temperature is equal to or higher than the predetermined upper limit, the MPT control unit 21 instructs the cooling fan control unit to drive the engine cooling fan, and the shutter is set to the LBD control unit 32 in the body domain. Request to open an outside air introduction hole to the room. Thereby, the engine temperature can be controlled within an appropriate temperature range.

  In the seventh example from the top in FIG. 6, an occupant holds the MEVI control unit 41 in the middle area 80 of the surrounding environment domain as a predetermined specific event through communication with the portable key via the communication device. It authenticates whether the portable key is genuine. When the authentication is made that the mobile phone is an authorized portable key, the MEVI control unit 41 instructs the MHMI control unit 51 in the HMI domain to unlock the door of the host vehicle so that the occupant can unlock the door. Request to detect that the lock switch has been operated. In addition, when the MHMI control unit 51 detects the operation of the unlock switch by the occupant, the MEVI control unit 41 requests the MBD control unit 31 in the body domain to release the door lock. Further, if the occupant holding the portable key can be identified by authentication of the portable key, the MEVI control unit 41 requests the MBD control unit 31 to adapt the seat position to the occupant when the occupant gets on the vehicle. To do.

  Then, the MHMI control unit 51 energizes the unlock switch so that an occupant's operation on the unlock switch can be detected. When the MHMI control unit 51 detects an occupant's operation on the unlock switch, the MHMI control unit 51 notifies the MBD control unit 31 in the body domain that the operation of the unlock switch by the occupant has been detected. Then, the MBD control unit 31 instructs the door control unit to release the door lock. Thereby, since the door lock is released, the occupant can get on the vehicle. Further, the MBD control unit 31 instructs the seat control unit to adjust the seat position to suit the passenger.

  In the eighth example from the top in FIG. 6, the MHMI control unit 51 in the middle area 80 of the HMI domain determines whether or not an operation for getting off the passenger is detected as a predetermined specific event. For example, when the occupant turns off the engine switch and operates the door lever to open the door, the MHMI control unit 51 determines that an operation for getting out of the occupant is detected. When the operation for getting off the vehicle is detected, the MHMI control unit 51 requests the MEVI control unit 41 in the surrounding environment domain to check whether there is an obstacle around the door that the occupant is about to open. In addition, when an obstacle is detected by the MEVI control unit 41, the MHMI control unit 51 requests the MBD control unit 31 in the body domain to limit the door opening to a range that does not contact the obstacle.

  Then, the MEVI control unit 41 confirms whether there is an obstacle in the vicinity of the door. When the obstacle is detected, the detection result including the position of the obstacle and the distance to the obstacle is sent to the MBD control unit 31 in the body domain. Notice. Based on the detection result, the MBD control unit 31 instructs the door control unit to limit the opening of the door to a range where the door does not contact the obstacle.

  The ninth case described from the top in FIG. 6 is a predetermined specific event, such as a change in the outside air temperature detected by the MEVI control unit 41 in the middle area 80 of the surrounding environment domain, or the MHMI control unit 51 in the HMI domain. In response to the detected change in the set temperature, the body domain MBD control unit 31 is requested to change the control state of the vehicle interior environment by the air conditioner or the seat heater.

  The tenth case described from the top in FIG. 6 is a case where a side airbag is detected by the MBD control unit 31 when a side collision is detected by the MBD control unit 31 in the middle area 80 of the body domain as a predetermined specific event. Is instructed to the occupant airbag control unit, and the MAVI control unit 41 in the surrounding environment domain is requested to store images before and after the collision and a sensor signal indicating the running state of the vehicle. In this case, as in the first case described above, the MBD control unit 31 disconnects the clutch to release the transmission to the MCS control unit 11 in the chassis domain, and the LPT control unit 22 in the power train domain. Is requested to stop the engine.

  In the case described in the eleventh from the top of FIG. 6, as a predetermined specific event, the LHMI control unit 53 in the rear area 90 of the HMI domain performs an opening operation by an opening switch provided on a rear gate by an occupant or a closing switch. When the closing operation is detected, the body domain LBD control unit 33 is requested to open or close the rear gate.

  The twelfth example from the top of FIG. 6 shows a case where a rear collision is detected by the LBD control unit 33 when a rear collision is detected by the LBD control unit 33 in the rear area 90 of the body domain as a predetermined specific event. Is instructed to the rear external airbag control unit. Further, the LBD control unit 33 requests the MBD control unit 31 which is a master domain control unit to deploy the occupant airbag, and the sensor signal indicating the images before and after the collision and the running state of the vehicle to the LEVI control unit 43 in the surrounding environment domain. , The chassis domain LCS control unit 13 is requested to open the transmission, and the power train domain LPT control unit 23 is requested to shut off the supply of high-voltage power and stop the engine.

  The case described in the thirteenth from the top of FIG. 6 is a case where the LEVI control unit 43 in the rear area 90 of the surrounding environment domain detects a vehicle approaching the host vehicle from the rear as a predetermined specific event. The LBD control unit 33 is requested to turn on the backlight to warn the approaching vehicle.

  The case shown in FIG. 6 described above is merely an example. In addition to the case shown in FIG. 6, when a certain local domain control unit detects and determines the occurrence of a predetermined specific event, there are various cases in which a request for cooperative control is made to the local domain control unit of another domain. Can be considered.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. is there.

  For example, in the above-described embodiment, an example in which any of the local domain control units has a function as the master domain control unit has been described. However, the master domain control unit may be provided separately from the local domain control unit provided in each area. Further, for example, a plurality of master domain control units may be provided, and when the main master domain control unit fails, another master domain control unit may take over control of the entire domain.

  Furthermore, in the above-described embodiment, each master domain control unit determines the control target of the entire corresponding domain according to the state of the vehicle and the operation state of the driver, The example which performs cooperative control with a control part was explained.

  However, an upper level control unit positioned higher than each master domain control unit may be further provided. For example, the upper control unit may determine and notify the control target of each domain based on the state of the vehicle, the operation state of the driver, the state of the external environment, and the like. In this case, each domain control unit determines an area control target and notifies it to each local domain so as to achieve the domain control target notified from the host control unit. Alternatively, the host control unit sets the control mode for the entire vehicle (for example, any one of the manual operation mode and the automatic operation mode, or any one of the travel priority mode, the fuel efficiency priority mode, and the comfort priority mode). Etc.), the set control mode may be notified to each domain control unit. When the control mode is notified, each domain control unit is configured to switch the control content according to the notified control mode. Furthermore, the host control unit may mediate a domain control target determined in each domain control unit. For example, the host control unit determines whether or not the domain control target set in each domain control unit matches, and if not matched, the domain control target of at least one domain control unit is determined. It may be an instruction to change. As an example, when the control target in each domain is to instruct control with large power consumption, the upper control unit sets priority for control in each domain for power consumption leveling, The domain control target corresponding to the control with low priority may be temporarily suspended or changed to the domain control target corresponding to control with low power consumption.

  Further, this host control unit is also embodied as a program or database by being mounted on an electronic control unit (ECU) including a CPU, ROM, RAM, and the like. This upper level control unit may be provided independently of the master domain control units 11, 21, 31, 41, 51. For example, the master domain control units 11, 21, 31, 41, 51 that do not depend on area control. May be separated from at least one domain controller 10, 20, 30, 40, 50 and mounted on an electronic control device common to the separated master domain controller.

DESCRIPTION OF SYMBOLS 10 Chassis domain control part 20 Powertrain domain control part 30 Body domain control part 40 Ambient environment domain control part 50 HMI domain control part 100 Control system for vehicles

Claims (7)

A vehicle control system for controlling a plurality of in-vehicle devices mounted on a vehicle,
The vehicle control system is divided into a plurality of domains in advance according to the functions of the plurality of in-vehicle devices. In the plurality of domains, device control units (14, 15 for controlling the in-vehicle devices, respectively). , 16, 24, 25, 26, 34, 35, 36, 44, 45, 46, 54, 55, 56) and a domain control unit (10, 20, 30, 40, which controls the control by the device control unit). 50), and
Further, the vehicle is divided into at least two areas (70, 80, 90), and the plurality of in-vehicle devices are distributed to the divided areas.
According to the distribution of the in-vehicle devices, the corresponding device control units are distributed and arranged in the corresponding area,
The domain control units (10, 20, 30, 40, 50) are distributed in the area together with the corresponding device control units (12, 13, 22, 23, 32, 33, 42, 43, 52, 53) and a master domain control unit (11, 21, 31, 41, 51) that determines an area control target value in each area and gives the area control target value to the local domain control unit. The local domain control unit gives a control instruction to the device control unit according to the area control target value from the master domain control unit,
The local domain control unit is an event determination unit (S110) that determines whether or not a predetermined event has occurred, and an in-vehicle device that belongs to another domain, and needs to control the predetermined event. When it is determined that the predetermined event has occurred by the storage unit (12a, 13a, 22a, 23a, 32a, 33a, 42a, 43a, 52a, 53a) for storing information relating to the in-vehicle device, and the event determination unit A control request unit (S140) that requests the local domain control unit in the same area of the domain to which the in-vehicle device stored in the storage unit belongs to perform control corresponding to the predetermined event; Have
The local domain control unit that has received a request from the control request unit executes control in preference to the control based on the area control target value from the master domain control unit when controlling the in-vehicle device by the request. A vehicle control system that gives a control instruction to the device control unit.   When the local domain control unit determines that the predetermined event has occurred, the local domain control unit gives a control instruction for causing the device control unit of its lower layer to perform control corresponding to the predetermined event. Item 2. The vehicle control system according to Item 1.   When the local domain control unit requests another local domain control unit to perform control corresponding to the predetermined event based on the determination result that the predetermined event has occurred, the local domain control unit The vehicle control system according to claim 1, wherein the local domain control unit reports to the master domain control unit that it has requested cooperative control. The master domain control unit
When the predetermined event occurs from the local domain control unit and a report indicating that cooperative control is requested to another local domain control unit, the area to which the local domain control unit that performed the report belongs In other areas other than the determination unit (S220) for determining whether or not the cooperative control according to the occurrence of the predetermined event is necessary,
When the determination unit determines that cooperative control according to the occurrence of the predetermined event is necessary also in another area, the cooperative control is executed using the area control target value for the other area. The vehicle control system according to claim 3, further comprising: a correction unit (S230) that corrects to   5. The local domain control unit that has received a request from the control request unit reports to the master domain control unit that it has received a request for cooperative control from another local domain control unit. The vehicle control system according to any one of the above. The master domain control unit
When receiving a report indicating that a request for cooperative control has been received from another local domain control unit from the local domain control unit, in other areas other than the area to which the local domain control unit that has performed the report belongs A determination unit (S220) that determines whether or not cooperative control according to the occurrence of the predetermined event is necessary;
When it is determined by the determination unit that cooperative control according to the occurrence of the predetermined event is necessary in another area, the cooperative control is executed using the area control target value for the other area. The vehicle control system according to claim 5, further comprising: a correction unit (S230) that corrects to Further comprising a host controller positioned above the domain controller;
The upper control unit sets a domain control target and notifies the domain control unit, sets a control mode of the entire vehicle, notifies the set control mode to the domain control unit, and , It is determined whether or not the domain control targets set in each of the domain control units match, and if they do not match, the domain control target is instructed to be changed to at least one of the domain control units. The vehicle control system according to any one of claims 1 to 6, wherein any one of the above is performed.

Images