JP2021020651A - 車両制御システム - Google Patents
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- G—PHYSICS
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- G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
- G06F11/2038—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant with a single idle spare processing component
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0295—Inhibiting action of specific actuators or systems
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
11 中央異常診断部
20 ゾーンECU
21 第1のゾーンECU(特定中継装置、通信ハブ装置)
21a 通信診断部
22 第2のゾーンECU(特定中継装置以外の中継装置)
23 第3のゾーンECU(特定中継装置以外の中継装置)
31 EPSECU(特定中継装置、アクチュエータ制御装置)
31a 特定異常診断部
31b 予備演算部
32 ブレーキECU(特定中継装置、アクチュエータ制御装置)
D11 EPS装置の電動モータ(特定アクチュエータ)
D12 ブレーキ装置のブレーキアクチュエータ(特定アクチュエータ)
Claims (6)
- 車両制御システムであって、
複数のセンサと、
前記各センサの出力に基づいて、複数のアクチュエータの目標出力を算出する中央制御装置と、
前記中央制御装置と前記各アクチュエータと通信経路の間にそれぞれ設けられ、前記中央制御装置で生成された制御信号を中継する複数の中継装置とを備え、
前記各アクチュエータは、車両の駆動制御、制動制御、又は操舵制御に関連する特定アクチュエータを含み、
前記複数の中継装置は、前記特定アクチュエータと通信可能な特定中継装置を含み、
前記中央制御装置は、自己の異常を診断する中央異常診断部を有し、
前記複数の中継装置のうち前記特定中継装置は、自己の異常を診断する特定異常診断部及び自己に接続された前記特定アクチュエータの目標出力を算出可能な予備演算部を有し、前記複数の中継装置のうち前記特定中継装置以外の中継装置は、自己を診断する機能を有しないことを特徴とする車両制御システム。 - 請求項1に記載の車両制御システムにおいて、
前記特定中継装置は、一部の前記センサの出力が入力されるように構成され、
前記特定中継装置の前記予備演算部は、前記中央異常診断部により前記中央制御装置の異常が検知されたときには、当該特定中継装置に入力される前記センサの情報に基づいて前記特定アクチュエータを制御することを特徴とする車両制御システム。 - 請求項2に記載の車両制御システムにおいて、
前記特定中継装置は、自己と前記中央制御装置との間の通信状態の異常を診断する通信診断部を有し、
前記特定中継装置の前記予備演算部は、前記通信診断部により当該特定中継装置と前記中央制御装置との通信状態の異常が検知されたときには、当該特定中継装置に入力される前記センサの情報に基づいて前記特定アクチュエータを制御することを特徴とする車両制御システム。 - 請求項3に記載の車両制御システムにおいて、
前記特定中継装置は、
前記特定アクチュエータを制御するアクチュエータ制御装置と、
前記中央制御装置からの信号を受信して、前記アクチュエータ制御装置に送信する通信ハブ装置とを含み、
前記特定中継装置の前記通信診断部は、前記通信ハブ装置に設けられており、
前記通信診断部は、前記通信ハブ装置と前記アクチュエータ制御装置との間の通信状態の異常をさらに診断するように構成されていることを特徴とする車両制御システム。 - 請求項4に記載の車両制御システムにおいて、
前記予備演算部は、前記アクチュエータ制御装置に設けられており、
前記特定中継装置は、前記通信診断部により前記通信ハブ装置と前記アクチュエータ制御装置との通信状態の異常が検知されたときには、前記アクチュエータ制御装置により前記特定アクチュエータを制御することを特徴とする車両制御システム。 - 請求項1〜4のいずれか1つに記載の車両制御システムにおいて、
前記特定アクチュエータは、電動パワーステアリング装置の電動モータを含むことを特徴とする車両制御システム。
Priority Applications (5)
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JP2019140264A JP7375357B2 (ja) | 2019-07-30 | 2019-07-30 | 車両制御システム |
EP20847516.0A EP3998182B1 (en) | 2019-07-30 | 2020-07-20 | Vehicle control system |
PCT/JP2020/028015 WO2021020191A1 (ja) | 2019-07-30 | 2020-07-20 | 車両制御システム |
US17/630,915 US20220266906A1 (en) | 2019-07-30 | 2020-07-20 | Vehicle control system |
CN202080054565.1A CN114174123B (zh) | 2019-07-30 | 2020-07-20 | 车辆控制系统 |
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CN114419756A (zh) * | 2022-01-30 | 2022-04-29 | 重庆长安汽车股份有限公司 | 一种动态捕获整车异常场景的方法及系统 |
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EP4101601A1 (de) * | 2021-06-10 | 2022-12-14 | Gestalt Robotics GmbH | Redundanz-steuerung in einem verteilten automatisierungssystem |
DE102022211395A1 (de) | 2022-10-27 | 2024-05-02 | Robert Bosch Gesellschaft mit beschränkter Haftung | System |
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JP4478037B2 (ja) * | 2004-01-30 | 2010-06-09 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
EP2177413B1 (en) * | 2004-07-15 | 2015-02-25 | Hitachi, Ltd. | Vehicle control system |
JP5257050B2 (ja) * | 2008-12-19 | 2013-08-07 | 日本精工株式会社 | 電動パワーステアリング装置 |
US9372774B2 (en) * | 2013-05-22 | 2016-06-21 | GM Global Technology Operations LLC | Redundant computing architecture |
JP6136595B2 (ja) * | 2013-06-04 | 2017-05-31 | 株式会社ジェイテクト | アクチュエータ制御装置 |
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- 2020-07-20 CN CN202080054565.1A patent/CN114174123B/zh active Active
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CN114419756A (zh) * | 2022-01-30 | 2022-04-29 | 重庆长安汽车股份有限公司 | 一种动态捕获整车异常场景的方法及系统 |
CN114419756B (zh) * | 2022-01-30 | 2023-05-16 | 重庆长安汽车股份有限公司 | 一种动态捕获整车异常场景的方法及系统 |
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EP3998182A4 (en) | 2022-08-24 |
CN114174123A (zh) | 2022-03-11 |
JP7375357B2 (ja) | 2023-11-08 |
EP3998182B1 (en) | 2023-09-13 |
WO2021020191A1 (ja) | 2021-02-04 |
US20220266906A1 (en) | 2022-08-25 |
CN114174123B (zh) | 2024-02-02 |
EP3998182A1 (en) | 2022-05-18 |
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