JP3767481B2 - Interface equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an interface device that is connected to a control network composed of a plurality of control devices that cooperatively control an object to be controlled, and that transmits a command from the control network to each control device.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a control system has been developed in which a network (control system network) is configured by various control devices installed in a vehicle, and the control devices perform data communication with each other to cooperatively control the vehicle.
[0003]
In recent years, there has been considered a driving support system that establishes communication between the Internet and a vehicle control system network, and supports driving of the vehicle by remotely operating the vehicle from a terminal device connected to the Internet.
Here, the outline of the remote operation of the vehicle by the driving support system will be described with reference to FIG.
[0004]
As shown in FIG. 10, in the driving support system, the terminal device 60 that remotely controls the vehicle 70 is configured to send a command to the vehicle 70 to the Internet 61, and the command sent to the Internet 61 is The data is transmitted to the radio base station 62 connected to the Internet 61, and is transmitted by radio from the radio base station 62 to the vehicle 70. However, the command transmitted to the vehicle 70 is stored in a packet (TCP / IP packet) conforming to TCP / IP which is a communication protocol of the Internet 61 in the terminal device 60.
[0005]
On the other hand, the vehicle 70 is provided with a wireless router 71, and communication between the control system network 72 composed of various control devices 73 (73 a, 73 b, 73 c) equipped on the vehicle 70 and the Internet 61 is established. . Each control device 73 connected to the control system network 72 is assigned an ID for identifying the control device 72 on the control network 72 and an IP address on the Internet 31. The ID of the control device 73 and the IP address are stored in association with each other. The TCP / IP packet sent from the terminal device 60 is configured by connecting a header storing the IP address of the control device, which is a command transmission destination, and a data area storing the command.
[0006]
Therefore, when the wireless router 71 receives and demodulates the TCP / IP packet, the wireless router 71 converts the IP address stored in the header of the TCP / IP packet into an ID corresponding to the IP address and has received the command correctly. A CRC check bit, which is a bit string for the controller to check whether or not, is concatenated behind the data area to generate a control packet (see FIG. 11).
[0007]
When a control packet is transmitted from the wireless router 71 to the control network 72, each control device refers to the header of the control packet. When the ID stored in the header matches the ID of the control device itself, the control packet The vehicle 70 is controlled according to the command stored in the control packet.
[0008]
[Problems to be solved by the invention]
However, when it is necessary to change the control of the control device 73 finely or to allow a plurality of control devices 73 to perform control at the same time in order to cope with the change in the state of the vehicle 70 and the surroundings of the vehicle 70, In such a driving support system, since the command from the terminal device 60 is only packet-converted by the wireless router 71 and transferred to the control device 73 of the vehicle 70, a large amount of data is transmitted from the terminal device 60 to the wireless router 71. A command needs to be sent.
[0009]
For this reason, the command generation processing speed in the terminal device 60 and the data transfer speed from the terminal device 60 to the wireless router 71 have a speed sufficient to cope with changes in the vehicle 70 and the surrounding conditions of the vehicle 70. Otherwise, there is a possibility that the vehicle 70 cannot be properly operated at an appropriate timing.
[0010]
Therefore, in order to solve the above-described problems, the present invention provides a control network that cooperatively controls a control object by configuring a control network even when the data transfer speed of a transmission path that receives an external command supply is low. It is an object of the present invention to provide an interface device capable of giving appropriate instructions to the user.
[0011]
[Means for Solving the Problems]
  In the interface device according to claim 1, which is an invention for achieving the above object, the operation command receiving means receives an operation command for instructing the operation of the controlled object from the outside, and the control command generating means is the operation command receiving means. Based on the operation command received by the user, one or more control commands are generated for causing the control device corresponding to the control to perform the control necessary for executing the instruction. Then, the command supply means supplies each of the control commands generated by the control command generation means to the corresponding control device via the control network.
  However, the monitoring means generates monitoring information about at least one of the state of the control object and the surrounding state of the control object, and in the control command generation means, the control command storage means One or more control commands are stored in correspondence with each other depending on the monitoring information, and the control command selecting means selects a control command corresponding to the operation command based on the monitoring information and the control command storage means.
[0012]
  Therefore, according to the interface device of the present invention, the interface device isAlways according to the state of the controlled object and the surrounding condition of the controlled objectSince one or a plurality of control commands are generated, it is possible to reduce the number of instructions sent from the outside to the control device, that is, operation commands. For this reason, if the same control as the conventional one is performed, the desired control can be surely performed even if the data transfer rate of the transmission path for transmitting the operation command is lower than the conventional one. Then, when the data transfer rate of the transmission path for transmitting the operation command is the same as the conventional one, finer control than the conventional one can be performed.
[0013]
  In other words, even if the data transfer speed of the transmission path that receives the supply of commands from the outside is low, each control device that configures the control network and cooperatively controls the controlled object, Always according to the state of the controlled object and the surrounding condition of the controlled objectAppropriate instructions can be given.
[0014]
Claims2In the described interface device, the determination unit determines whether or not the control target can be controlled based on the monitoring information from the monitoring unit, and if the determination unit determines NO, the control prohibiting unit controls the control object. The command generation means is instructed to stop the operation of the controlled object or to prohibit generation of further control commands.
[0015]
  Therefore, according to the interface device of the present invention, when it is inappropriate to perform further control depending on the state of the controlled object and the surrounding state of the controlled object, the operation of the controlled object is stopped, It can be made to wait in the current operation.
  In this case, the claim3As described, the control result notifying unit may notify the determination result of the determining unit to the source of the operation command.
[0016]
  That is, the operation command source can grasp the control state by the control result notifying means, and if the determination result is negative, the operation command source can transmit a further operation command to the operation command source. Can be warned that it is inappropriate.
[0017]
  When the control command includes a parameter that should be variably set according to at least one of the state of the control object and the surrounding state of the control object, the control command generation means4As described, the parameter may be set based on the monitoring information from the monitoring means.
[0018]
If the control command generation means is configured in this way, parameters according to the state of the control target object and the surrounding state of the control target object can always be set in the control command. It is possible to optimally control according to the state of the object and the surrounding condition of the controlled object.
[0019]
  The control object is, for example, a claim5It may be a vehicle as described, in which case the control network is claimed6As described, an intra-regional control network (CAN) may be used.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
  Embodiments of the present invention will be described below with reference to the drawings.
[Reference example]
  Figure 1,NothingOf a driving support system using a wire routerReference exampleIt is a block diagram.
[0021]
As shown in FIG. 1, the driving support system 1 includes an operation system 2 that performs remote operation of a vehicle 6 and an in-vehicle system 7 that is mounted on the vehicle 6 and controls the vehicle 6.
First, the operation system 2 receives a command (hereinafter referred to as “operation command”) from the operator who remotely operates the vehicle 6 to the vehicle 6, and the operation command input to the terminal device 3. A wireless base station 5 for wireless transmission to the Internet is connected via the Internet 4. In the Internet 4, data is transmitted by the TCP / IP protocol.
[0022]
On the other hand, the in-vehicle system 7 includes a plurality of control devices 8 connected to an intra-area control network (CAN) 9 that transfers data using a CAN (Control Area Network) protocol, and is connected to the CAN 9 and the operation system 2. The wireless router 10 is configured to establish communication with the CAN 9.
[0023]
Specifically, the plurality of control devices 8 include a speed control device 8a for controlling the speed of the vehicle 6, a steering control device 8b for controlling the steering of the vehicle 6, and an engine control for controlling the ignition timing of the engine of the vehicle 6. It consists of a device 8c and the like, and controls the vehicle 6 in cooperation. Each of these control devices 8 is assigned an ID for identifying each of them in the CAN 9.
[0024]
The wireless router 10 receives data wirelessly transmitted from the wireless base station 5 and demodulates the data, and a command extraction unit that extracts an operation command included in the data demodulated by the reception unit 11 14 and the command conversion unit 12 including the command generation unit 15 that generates a control command suitable for each control device 8 based on the operation command extracted by the command extraction unit 14 and the command conversion unit 12. The protocol conversion unit 13 includes a CAN controller IC that sends a control command to the CAN 9 according to the CAN protocol.
[0025]
Here, the command conversion unit 12 is configured by a known circuit such as a CPU, RAM, ROM, serial communication interface (asynchronous / asynchronous type), and the command extraction unit 14 and the command generation unit 15 are realized by a program. ing. The ROM constituting the command conversion unit 12 stores a conversion table for converting operation commands into control commands in addition to a program for processing performed by the CPU constituting the command conversion unit 12. Specifically, in this conversion table, in order to actually realize the operation corresponding to various operation commands that define the operation of the vehicle 6 such as “emergency stop”, “slowing down”, “no overtaking”, etc. One or more necessary control commands are set together with the ID of the transfer destination control device 8 (hereinafter referred to as “transfer destination ID”). That is, the command generation unit 15 refers to the conversion table, selects a control command corresponding to the operation command extracted by the command extraction unit 14, and outputs it to the protocol conversion unit 13 together with the transfer destination ID. Yes.
[0026]
In the driving support system 1 configured as described above, when an operation command is transmitted from the operation system 2 to the wireless router 10, the operation command is converted into one or more control commands by the wireless router 10. Each control command is added with a transfer destination ID and a CRC check bit and sent to CAN 9 (see FIG. 2).
[0027]
Note that the control device 8 constantly monitors the data sent to the CAN 9, fetches only the data with the matching ID, and controls the vehicle 6 according to the control command contained in this data.
For example, as shown in FIG. 3, in the conversion table, in response to the operation command “emergency stop”, a series of speed control commands “from 0 to 2 seconds after the start of control, set to 30 km / h”, “control start”. “From 2 to 4 seconds later, change to 20 km / h.”, “From 4 to 6 seconds after starting control, set to 10 km / h.”, “From 6 to 8 seconds after starting control, set to 0 km / h.” Then, a series of steering control commands “make the steering angle 30 degrees to the left after 3 seconds from 0 seconds after the start of control”, “make the steering angle 0 degrees after 7 seconds from the start of the control. ”Is set.
[0028]
In this case, when the wireless router 10 receives the operation command “emergency stop” from the operation system 2, the wireless router 10 generates a series of control commands as described above, and uses these control commands as the IDs of the speed control device 8 a and the steering control device 8 b. At the same time, the data are sequentially sent to CAN9.
[0029]
  Then, the speed control device 8a and the steering control device 8b that have received these control commands perform control according to the received control commands. As a result, the vehicle 6 approaches the left side of the road and stops at a position where a traffic space for other vehicles is secured.
  Therefore, the bookReference exampleIn the driving support system 1, the vehicle 6 can be surely stopped in an emergency manner without sequentially giving the series of speed control commands and steering control commands shown above from the operation system 2 to the control device 8.
[0030]
  That is, bookReference exampleAccording to the wireless router 10, the number of command transmissions from the operation system 2 can be reduced. Therefore, even if the data transfer rate from the terminal device 3 to the wireless router 10 is low, the control device 8 can be given an appropriate instruction, and it is possible to avoid occupying the Internet 4 and the radio base station 5 for remote control of the vehicle 6.
[0031]
  BookReference exampleAccording to the wireless router 10, if the number of control commands corresponding to one operation command is set more in the conversion table, the vehicle 6 can be controlled more finely or even if the number of operation command transmissions is further reduced. 6 can be accurately controlled.
[0032]
  BookReference exampleIn the driving support system 1, since the transfer destination ID of the control command is set in the conversion table of the wireless router 10, as long as an IP address is assigned only to the wireless router 10, The vehicle 6 can be remotely operated without assigning an IP address to each installed control device 8.
[0033]
  BookReference exampleThe receiving unit 11 corresponds to the operation command receiving unit of the present invention, and the command extracting unit 14 and the command generating unit 15 correspond to the control command generating unit of the present invention. The protocol conversion unit 13 corresponds to command supply means in the present invention.
[No.1Embodiment]
  Next1Embodiments will be described.
[0034]
  The driving support system of this embodiment isReference exampleBecause the driving support system 1 is different only in the internal configuration of the wireless router,Reference exampleThe same reference numerals are assigned to the same components as those described above, and the description thereof will be omitted.
[0035]
As shown in FIG. 4, the command conversion unit 21 of the wireless router 20 of the present embodiment controls various information (hereinafter referred to as “monitoring information”) related to the vehicle 6 and the surrounding state of the vehicle 6 via the CAN 9. A monitoring unit 23 for capturing from the device 8 is provided. The command generation unit 22 generates a control command based on the operation command and the monitoring information.
[0036]
Also, in the conversion table stored in the ROM constituting the command conversion unit 21, one or a plurality of control commands corresponding to the operation command are set according to various assumed monitoring information together with the transfer destination ID. Has been.
In the travel support system of the present embodiment including the wireless router 20 configured as described above, when an operation command is transmitted from the operation system 2, the operation command is transmitted to the command conversion unit 21 of the wireless router 20, and then the monitoring unit. 23 is converted into a control command in accordance with the monitoring information obtained from 23.
[0037]
For example, as shown in FIG. 5, in the conversion table, the traveling speed “vehicle speed 50 km / h”, “vehicle speed 40 km / h”, etc. of the vehicle 6 is set as monitoring information in response to the operation command “stop”. For the information “vehicle speed 50 km / h”, use a series of speed control commands “30 km / h in 0 to 2 seconds after starting control”, “20 km / h in 2 to 4 seconds after starting control”. ”,“ Set to 10 km / h in 4 to 6 seconds after the start of control ”and“ Set to 0 km / h in 6 to 8 seconds after the start of control. ”Are set in the monitoring information“ vehicle speed 40 km / h ”. On the other hand, a series of speed control commands “from 0 to 2 seconds after the start of control, 20 km / h”, “from 2 to 4 seconds after the start of control, to 10 km / h”, “after the start of control 4 In the case of “Set to 0 km / h from 6 seconds to 2 seconds”. Obtain.
[0038]
In this case, if the monitoring information when the operation command “stop” is received from the operation system 2 is “vehicle speed 50 km / h”, the wireless router 20 stops the vehicle 6 having a vehicle speed of 50 km / h. Generate a series of speed control commands that are optimal for If the monitoring information when the operation command “stop” is received is “vehicle speed 40 km / h”, a series of speed control commands optimum for stopping the vehicle 6 having a vehicle speed of 40 km / h are provided. Generate.
[0039]
  That is, according to the driving support system of the present embodiment, the wireless router 20 generates an appropriate control command according to the driving state of the vehicle 6, so that the control device 8 always performs control according to the driving state of the vehicle 6. Can be made.
  In the present embodiment, the monitoring unit 23 corresponds to the monitoring unit of the present invention.
[No.2Embodiment]
  Next2Embodiments will be described.
[0040]
  The driving support system of this embodiment is the first1The command generation unit 22 of the wireless router 20 in the travel support system of the embodiment is replaced with other components. Therefore, the second1The same components as those in the embodiment will be denoted by the same reference numerals, and the description thereof will be omitted.
[0041]
As shown in FIG. 6, the command conversion unit 31 of the wireless router 30 of the present embodiment includes each control device based on the operation command supplied from the command extraction unit 14 and the monitoring information supplied from the monitoring unit 23. A command calculation unit 32 for calculating various parameters (hereinafter referred to as “control parameters”) required for the vehicle 8 to control the vehicle 6 is provided.
[0042]
The conversion table stored in the ROM constituting the command generation unit 31 (hereinafter referred to as “conversion unit ROM”) has a control command set together with the transfer destination ID in association with the operation command. A calculation formula for calculating a control parameter associated with the control command is set.
[0043]
Here, when the vehicle 40 is present in front of the vehicle 6 and the operation command “Secure the inter-vehicle distance before t seconds” is transmitted from the operation system 2 (see FIG. 7), the command conversion unit 31 is configured. A flow of processing performed by a CPU (hereinafter referred to as “conversion unit CPU”) will be described with reference to a flowchart shown in FIG.
[0044]
In the conversion table, the traveling speed of the vehicle 6 is V1, the traveling speed of the vehicle 40 traveling in front of the vehicle 6 is V2, the inter-vehicle distance between the vehicle 6 and the vehicle 40 is L0, and the safe inter-vehicle distance is L1. A calculation formula (1) for calculating the traveling speed V3 of the vehicle 6 necessary for ensuring a safe inter-vehicle distance is set, and for an operation command of “ensuring inter-vehicle distance by t seconds” It is assumed that a control command “set the vehicle speed to V3 after t seconds” is set together with the ID of the speed control device 8a.
[0045]
V3 = 2 * V2-V1-2 * (L1-L0) / t (1)
However, L1 is a constant parameter set in advance in the conversion unit ROM.
As shown in FIG. 8, when the operation command “securing inter-vehicle distance after t seconds” is received from the operation system 2, the conversion unit CPU refers to the conversion table and stores Equation (1) corresponding to this operation command ( S100). Then, V1, V2, and L0 are stored from the monitoring unit 23 (S110), and L1 is stored from the conversion unit ROM (S120).
[0046]
When storing the parameters necessary for calculating the vehicle speed V3 is completed, the conversion unit CPU calculates the vehicle speed V3 using the equation (1) (S130), and the control command corresponding to the operation command “vehicle speed V3 after t seconds”. In any case, the calculated V3 is stored and sent to the protocol conversion unit 13 together with the ID of the speed control device 8a (S140).
[0047]
By such processing, the command conversion unit 31 of the wireless router 30 of the present embodiment can generate a speed control command according to the traveling speed of the vehicle 6, the traveling speed of the vehicle 40, and the distance between the vehicles 6 and 40. .
That is, according to the driving support system including the wireless router 30 of the present embodiment, the wireless router 30 calculates the control parameters according to the vehicle 6 and the surrounding conditions of the vehicle 6, and thus the vehicle 6 is always remotely operated optimally. can do.
[0048]
  In the present embodiment, the command calculation unit 32 is claimed.4This corresponds to the command generation means described.
[No.3Embodiment]
  Next3Embodiments will be described.
[0049]
  The driving support system of this embodiment is the first1Since the driving support system of the embodiment and the internal configuration of the wireless router are only partially different,1The same components as those in the embodiment will be denoted by the same reference numerals, and the description thereof will be omitted.
[0050]
As illustrated in FIG. 9, the command conversion unit 51 of the wireless router 50 according to the present embodiment includes a monitoring unit 53 that captures various types of monitoring information related to the vehicle 6 and the surrounding state of the vehicle 6 from the control device 8 via the CAN 9, and monitoring. Based on the monitoring information from the unit 53 and the operation command extracted by the command extraction unit 14, the command generation unit 52 that generates a control command, and the monitoring information supplied from the monitoring unit 53, the vehicle 6 It is determined whether or not it is possible to perform control. When it is determined that the control is not possible, the determination unit 54 is configured to prohibit generation of a control command by the command generation unit 52.
[0051]
In the present embodiment, the transmission / reception unit 55 is configured not only to receive an operation command from the operation system 2 but also to transmit the determination result of the determination unit 54 to the operation system 2.
In the driving support system including the wireless router 50 configured as described above, the determination unit 54 of the wireless router 50 can control the vehicle 6 based on the monitoring information from the monitoring unit 53 of the wireless router 50. Determine whether it is possible. If the determination unit 54 determines NO, the command generation unit 52 stops generating the control command even if an operation command is received from the command extraction unit 14. The determination result of the determination unit 54 is transmitted to the operation system 2 by the transmission / reception unit 55.
[0052]
Here, for example, the monitoring unit 53 captures the inter-vehicle distance between the vehicle 6 and the preceding vehicle from the control device 8 as monitoring information, and the determination unit 54 is set with a safe inter-vehicle distance between the vehicle 6 and the preceding vehicle. Think if you are.
In this case, if the inter-vehicle distance between the vehicle 6 and the preceding vehicle obtained from the monitoring information is smaller than the safe inter-vehicle distance set in the determination unit 54, the determination unit 54 sends a further control command to the command generation unit 52. The generation is prohibited, and the vehicle 6 is caused to travel at the current traveling speed. For this reason, the command generation unit 52 controls to accelerate the vehicle 6 even when an operation command instructing acceleration is received from the command extraction unit 14 when the inter-vehicle distance between the vehicle 6 and the preceding vehicle is not sufficient. Does not generate commands.
[0053]
And since the transmission / reception part 55 of the wireless router 50 transmits a determination result to the operator who performs remote operation of the vehicle 6, the operator is warned that it is inappropriate to accelerate the vehicle 6.
Therefore, according to the driving support system of the present embodiment, when it is inappropriate to control the vehicle 6, the operator can be alerted and even if a further operation command is transmitted. However, since the generation of further control commands is not executed, safety of the vehicle 6 and the surroundings of the vehicle 6 can always be ensured.
[0054]
In other words, even if a malicious third party transmits an operation command that causes danger to the vehicle 6 or the surroundings of the vehicle 6, the vehicle 6 can be prevented from operating based on the operation command. .
In the present embodiment, the determination unit 53 corresponds to the control result determination unit of the present invention, and the transmission / reception unit 55 corresponds to the control result notification unit of the present invention.
[0055]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that various forms can be taken as long as they belong to the technical scope of the present invention. .
For example, in the above embodiment, the wireless router according to the present invention is applied to establishment of communication between the intra-area control network and the Internet, but is applied to establishment of communication between the control system network such as BEAN (Body Electronics Area Network) and the Internet. You may do it. In this case, the protocol conversion unit may be configured so that the generated control command is adapted to the BEAN communication protocol.
[0056]
In the above embodiment, the wireless router according to the present invention is used in the driving support system. However, the present invention can be applied to any control object as long as the control object is cooperatively controlled by using a plurality of control devices configuring the network. Also good.
In the above embodiment, when the determination unit determines NO, the command generation unit prohibits generation of further control commands, but the command generation unit is configured to generate a control command for stopping the vehicle. May be.
[0057]
In the above embodiment, the traveling speed of the vehicle and the inter-vehicle distance are set in the monitoring information. However, other information (for example, the ignition timing of the engine) is used as the monitoring information, and based on the monitoring information and the operation command. Thus, a control command different from the above embodiment may be generated to control the vehicle.
[Brief description of the drawings]
[Figure 1]RunLine support systemReference exampleFIG.
[Figure 2]Reference exampleIt is explanatory drawing which shows the outline | summary of the control command production | generation by the wireless router 10 of FIG.
[Fig. 3]In the reference example4 is an example of a conversion table stored in a ROM constituting the command conversion unit 12 of the wireless router 10.
FIG. 41It is a block diagram of the configuration of the wireless router 20 of the travel support system of the embodiment.
FIG. 51It is an example of the conversion table memorize | stored in ROM which comprises the command conversion part of the wireless router 20 of embodiment.
FIG. 62It is a block diagram of the configuration of the wireless router 30 of the travel support system of the embodiment.
7 is a schematic diagram showing a running state of the vehicle 6 and the vehicle 40. FIG.
FIG. 82It is a flowchart which shows the flow of the control parameter calculation process which CPU which comprises the command conversion part of the wireless router 30 of embodiment performs.
FIG. 93It is a block diagram of the configuration of the wireless router 50 of the travel support system of the embodiment.
FIG. 10 is a schematic diagram of a conventional driving support system.
FIG. 11 is an explanatory diagram showing an outline of protocol conversion by a conventional wireless router.
[Explanation of symbols]
  DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 2 ... Operation system, 3 ... Terminal device, 4 ... Internet, 5 ... Wireless base station, 6 ... Vehicle, 7 ... In-vehicle system, 8 ... Control device, 8a ... Speed control system, 8b ... Steering control System 8c engine control system 9 CAN wireless router 11 receiving unit 12 command converting unit 13 protocol converting unit 14 command extracting unit 15 command generating unit 20 wireless router , 21 ... Command conversion unit, 22 ... Command generation unit, 23 ... Monitoring unit, 30 ... Wireless router, 31 ... Command conversion unit, 32 ... Command calculation unit, 33 ... Monitoring unit, 40 ... Vehicle, 50 ... Wireless router, 51 ... Command conversion unit, 52 ... Command generation unit, 53 ... Monitoring unit, 54 ... Determination unit, 55 ... Transmission / reception unit, 60 ... Terminal Location, 61 ... Internet, 62 ... wireless base station, 70 ... vehicle, 71 ... wireless router, 72 ... control system network, 73a, 73b, 73c ... controller.

Claims (6)

An interface device that is connected to a control network configured by a plurality of control devices that cooperatively control an object to be controlled, and that transmits a command from outside the control network to each control device constituting the control network,
An operation command receiving means for receiving an operation command for instructing the operation of the controlled object from outside;
Control command generating means for generating one or more control commands for causing a control device corresponding to the control to perform control necessary for execution of the instruction based on the operation command received by the operation command receiving means; ,
Command supply means for supplying each of the control commands generated by the control command generation means to a corresponding control device via the control network;
Monitoring means for generating monitoring information about at least one of the state of the controlled object and the surrounding state of the controlled object;
With
The control command generation means includes
Control command storage means for storing one or a plurality of control commands corresponding to each of the operation commands according to the monitoring information.
Control command selection means for selecting a control command corresponding to the operation command based on the monitoring information and the control command storage means;
Interface apparatus characterized by comprising a. A determination unit that determines whether the control target is controllable based on the monitoring information from the monitoring unit;
A control prohibiting means for instructing the control command generating means to stop the operation of the object to be controlled or to prohibit generation of a further control command;
The interface device according to claim 1, further comprising: 3. The interface apparatus according to claim 2 , further comprising a control result notifying unit that notifies a determination result of the determining unit to a source of the operation command. The control command includes a parameter to be variably set according to at least one of a state of the control object and a state around the control object,
The control command generation means, wherein based on the monitoring information from the monitoring means, according to claim 1 to claim 3 interface device according to any one and sets the parameters. Said control object, the interface device according to any one of claims 1 to claim 4, characterized in that a vehicle. The control network, the interface device according to any one of claims 1 to claim 5, characterized in that a regional control network (CAN).

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