JP2019109754A - 制御システム - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/50—Monitoring users, programs or devices to maintain the integrity of platforms, e.g. of processors, firmware or operating systems
- G06F21/57—Certifying or maintaining trusted computer platforms, e.g. secure boots or power-downs, version controls, system software checks, secure updates or assessing vulnerabilities
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/50—Monitoring users, programs or devices to maintain the integrity of platforms, e.g. of processors, firmware or operating systems
- G06F21/57—Certifying or maintaining trusted computer platforms, e.g. secure boots or power-downs, version controls, system software checks, secure updates or assessing vulnerabilities
- G06F21/577—Assessing vulnerabilities and evaluating computer system security
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00188—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to detected security violation of control systems, e.g. hacking of moving vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2221/00—Indexing scheme relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F2221/03—Indexing scheme relating to G06F21/50, monitoring users, programs or devices to maintain the integrity of platforms
- G06F2221/034—Test or assess a computer or a system
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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Abstract
Description
図1は、第1の実施の形態における制御システムのブロック図である。
図12は、第2の実施の形態における自動制御部10及び安全検証制御部20のブロック図である。
Claims (12)
- 所定の入力に応じて、制御対象に出力する制御出力を生成する自動制御部と、
前記制御出力の安全性を複数の検証レベルで検証可能に構成された安全検証制御部と、
前記自動制御部の正常性に関する状態を管理し、該状態に応じて前記安全検証制御部における前記制御出力の安全性の検証レベルを選択する検証レベル選択部と、を有する制御システム。 - 前記安全検証制御部は、前記複数の検証レベルのそれぞれの検証結果に基づいて制御した前記制御出力を出力するように構成され、
前記検証レベル選択部は、前記自動制御部の正常性に関する状態に応じて、前記安全検証制御部から出力される前記制御出力のうちいずれかを選択して前記制御対象へ出力する、
請求項1に記載の制御システム。 - 前記安全検証制御部は、第1の検証レベルと、該第1の検証レベルよりも検証を強化した第2の検証レベルと、該第2の検証レベルよりも検証を強化した第3の検証レベルとのいずれかで前記制御出力の安全性を検証可能に構成され、
前記検証レベル選択部は、前記自動制御部が正常な制御が可能なときは通常検証状態として前記第1の検証レベルを選択し、前記通常検証状態において前記自動制御部の脆弱性が発見された場合は検証強化状態として前記第2の検証レベルを選択し、前記検証強化状態において前記脆弱性に対する対策が実行された場合は検証強化継続状態として前記第3の検証レベルを選択し、前記検証強化継続状態で前記対策が実行された後の前記自動制御部の正常な制御が確認された場合は前記通常検証状態として前記第1の検証レベルを選択する、
請求項1に記載の制御システム。 - 前記安全検証制御部は、前記検証結果が良好である場合は制御対象に前記制御出力を出力し、前記検証結果が不良である場合は前記制御対象への前記制御出力の出力を停止する、
請求項2に記載の制御システム。 - 前記安全検証制御部は、前記制御出力の許容される上限値及び下限値を有し、前記検証結果において前記制御出力が前記上限値を超えている場合は前記制御対象へ前記上限値以下に制限した制御出力を出力し、前記検証結果において前記制御出力が前記下限値を下回っている場合は前記制御対象へ前記下限値以上に制限した制御出力を出力する、
請求項2に記載の制御システム。 - 前記安全検証制御部は、多段に接続されることで、前記制御出力の安全性を複数の検証レベルで検証可能に構成されている、
請求項2に記載の制御システム。 - 前記自動制御部が複数あり、
前記安全検証制御部は、前記制御出力の安全性を互いに異なる検証レベルで検証し、検証結果に基づいて前記制御出力を制御する複数の検証部を有し、
前記検証レベル選択部は、前記自動制御部の正常性に関する状態に応じて、前記複数の検証部からの制御出力のうちいずれかを選択して前記制御対象に出力する、
請求項2に記載の制御システム。 - 前記出力選択部は、人間の操作入力による制御出力と、前記人間の操作入力の優先度を示す優先度情報と、が更に与えられ、前記優先度情報が前記自動制御部よりも前記人間の操作入力を優先することを示している場合は、前記人間の操作入力による制御出力を前記制御対象に出力する、
請求項7に記載の制御システム。 - 前記第2の検証レベルと前記第3の検証レベルとが共通である、請求項3に記載の制御システム。
- 前記安全検証制御部における制御出力の安全性の検証方法を学習する学習部を有し、
前記学習部は、前記通常検証状態において前記検証方法の学習を行い、前記検証強化状態及び前記検証強化継続状態において前記検証方法の学習を停止する、
請求項3に記載の制御システム。 - 前記検証レベル選択部は、サイバーアタックに対する前記自動制御部の脆弱性に基づいて前記自動制御部の正常性に関する状態を管理する、
請求項1に記載の制御システム。 - 前記検証レベル選択部は、前記自動制御部のハードウェアあるいはソフトウェアに内在する動作不良原因に基づいて前記自動制御部の正常性に関する状態を管理する、
請求項1に記載の制御システム。
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JP2017242901A JP7021928B2 (ja) | 2017-12-19 | 2017-12-19 | 制御システム |
PCT/JP2018/044484 WO2019124044A1 (ja) | 2017-12-19 | 2018-12-04 | 制御システム |
US16/768,729 US11609999B2 (en) | 2017-12-19 | 2018-12-04 | Control system |
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Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0966832A (ja) * | 1995-08-31 | 1997-03-11 | Nec Home Electron Ltd | 車両走行制御システム |
JPH1040091A (ja) * | 1996-07-19 | 1998-02-13 | Fujitsu Ltd | プログラム制御装置 |
JP2008535053A (ja) * | 2005-03-25 | 2008-08-28 | マイクロソフト コーポレーション | パッチが当てられていないマシンの動的な保護 |
WO2012090624A1 (ja) * | 2010-12-27 | 2012-07-05 | 株式会社日立製作所 | 異常検知・診断方法、異常検知・診断システム、及び異常検知・診断プログラム並びに企業資産管理・設備資産管理システム |
JP2014211473A (ja) * | 2013-04-17 | 2014-11-13 | 株式会社日立製作所 | 完全性検証システム及び方法 |
JP2017091234A (ja) * | 2015-11-11 | 2017-05-25 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP2017159840A (ja) * | 2016-03-10 | 2017-09-14 | 三菱電機株式会社 | 車両制御装置及び車両制御方法 |
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JP4254844B2 (ja) | 2006-11-01 | 2009-04-15 | トヨタ自動車株式会社 | 走行制御計画評価装置 |
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- 2017-12-19 JP JP2017242901A patent/JP7021928B2/ja active Active
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- 2018-12-04 US US16/768,729 patent/US11609999B2/en active Active
- 2018-12-04 WO PCT/JP2018/044484 patent/WO2019124044A1/ja active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0966832A (ja) * | 1995-08-31 | 1997-03-11 | Nec Home Electron Ltd | 車両走行制御システム |
JPH1040091A (ja) * | 1996-07-19 | 1998-02-13 | Fujitsu Ltd | プログラム制御装置 |
JP2008535053A (ja) * | 2005-03-25 | 2008-08-28 | マイクロソフト コーポレーション | パッチが当てられていないマシンの動的な保護 |
WO2012090624A1 (ja) * | 2010-12-27 | 2012-07-05 | 株式会社日立製作所 | 異常検知・診断方法、異常検知・診断システム、及び異常検知・診断プログラム並びに企業資産管理・設備資産管理システム |
JP2014211473A (ja) * | 2013-04-17 | 2014-11-13 | 株式会社日立製作所 | 完全性検証システム及び方法 |
JP2017091234A (ja) * | 2015-11-11 | 2017-05-25 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
JP2017159840A (ja) * | 2016-03-10 | 2017-09-14 | 三菱電機株式会社 | 車両制御装置及び車両制御方法 |
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WO2019124044A1 (ja) | 2019-06-27 |
JP7021928B2 (ja) | 2022-02-17 |
US11609999B2 (en) | 2023-03-21 |
US20210173936A1 (en) | 2021-06-10 |
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