JP4934627B2 - Information filtering method and in-vehicle gateway device - Google Patents

Description

The present invention relates to an information filtering method and a gateway device mounted on a vehicle to which the method is applied.

In recent years, there has been an increasing demand for improved safety for automobiles. Currently, not only development of preventive safety devices closed to vehicles such as airbags and ABS (Antilock Break System), but also information control utilizing information outside the vehicle obtained from in-vehicle information system equipment such as car navigation devices for vehicle control. Safety technology by cooperation has begun to be introduced, and further improvement of driver safety is expected by aggressive introduction of such technology in the future.

  Since the reliability required in the market is different between the information system and the control system, it is necessary to avoid adversely affecting the control due to information from information equipment with low reliability.

  On the other hand, Patent Document 1 describes an in-vehicle gateway device that converts a protocol between an information system and a control system.

JP2002-016614

In Patent Document 1, it is possible to realize that the control system is not adversely affected in the information control cooperation. However, the information obtained from the information system does not dynamically change the usable period of this data, even though the usable time varies depending on the state of the vehicle and the purpose of use of the information. This information cannot be fully utilized for control. In particular, the obstacle information obtained from the information system cannot be fully utilized in a collision accident that occupies most of automobile accidents.

The present invention is an information filtering method as follows, and an in-vehicle gateway device using the filtering method. The in-vehicle gateway device is connected between an information system constituting the vehicle system and a control system. The information to be filtered is information data from the information system to the control system. Filtering inputs data from the information system and the acquisition time of this data, inputs data from the control system, and uses the input acquisition time and data from the control system to validate the data from the acquisition time of the information system. Set the time. If it is within the set valid time, transmission of data from the information system to the control system is permitted.

  In another desirable aspect of the present invention, the data from the control system is vehicle information from a control device representing a state of a vehicle on which the vehicle system is mounted, and the data from the information system depends on the state of the vehicle represented by the vehicle information. The transmission of the data to the control system is denied.

  In another desirable aspect of the present invention, the data from the information system is the detection distance to the obstacle, the acquisition time is the obstacle detection time, and the vehicle information is the vehicle speed. In this aspect, the brake start position obtained by subtracting the idle running distance and the braking distance corresponding to the vehicle speed from the detection distance is obtained, and the time until the arrival time by the speed to the brake start position is set as the effective time.

  Still another desirable aspect of the present invention repeats transmission of data from an information system to a control system within a set valid time. In this aspect, the transmission of the previously input data from the information system to the control system is further stopped in response to the input of new data of the same type as the previously input data from the information system.

Still another aspect of the present invention is an in-vehicle gateway device that is mounted on a vehicle and connected to the vehicle information system and the control system, and inputs the data from the information system and the acquisition time of the data, and the input data Input diagnostic means for checking the validity of the data acquisition time, input data from the control system, and set the effective time from the acquisition time of the data from the information system using the acquisition time and data from the control system And an output determination means for allowing transmission of data from the information system to the control system within the set valid time;
In response to whether the output determination means is the output determination means for transmitting the data from the information system to the control system, the output suppression means transmits data from the information system to the control system.

  Still another aspect of the present invention is an in-vehicle gateway device mounted on a vehicle, connected to a vehicle information system via a first network, and connected to a vehicle control system via a second network. , Data from the information system input via the first network and the acquisition time of the data, data from the control system input via the second network, and transmission to the control system via the second network Check the validity of the storage device for storing the control system data, the data from the control system stored in the storage device and the acquisition time of the data, and use the acquisition time and the data from the control system to Set the effective time from the data acquisition time to the control system data related to the data from the information system, and set the effective time If, with a CPU to transmit a control system data according to the data from the information system to the control system via a second network.

According to the present invention, the data from the information system is filtered based on the effective time of the data from the information system and the data from the control system, so that the data from the information system is used as valuable data for the control system. can do.

Embodiments of the present invention relate to an in-vehicle gateway device connected between an information system and a control system constituting a vehicle system, and in particular, a method for filtering information data from an information system to a control system in the in-vehicle gateway device. . When using the data from the information system in the control system, pay attention to the fact that the data from the information system has time characteristics in its value. From the viewpoint of the control system, this time characteristic is valid for a certain period (period) of data from the information system, but is invalid outside that period (period) (it has no value or is used for control) Adversely affected). In this embodiment, the acquisition time of data from the information system is obtained, and the data can be used in the control system within the effective time from the acquisition time. Even within the effective time, depending on the data from the information system, there is a situation where the data must be used according to the vehicle state (cannot be used depending on the vehicle state). Therefore, in this embodiment, data from the information system is filtered based on the valid time and the vehicle state.

  In the following, we will explain the data related to collision prevention, which is easy to understand as data from the information system to the control system, but we will explain the data for preventing the start of rainfall and snowing. There is data. When time has elapsed since the start of rainfall or snowfall, the control system can control driving and braking according to the road surface condition, but immediately after the start of rain or snowfall, soil and pride remain on the road surface. In some cases, it may not be possible to achieve desirable control. In addition, various control devices controlled by the control system may not be able to obtain the desired performance until the temperature and thermal expansion state of each part is stabilized. Generally, it is possible to stabilize the performance by providing the engine idling time. I am trying. By obtaining the outside air temperature from the information system, the control system can perform control so that desired performance can be obtained even when the temperature and thermal expansion of the control device are in a transient state, and the idling time can be shortened.

  FIG. 1 is a configuration example of a vehicle system. As shown in the figure, the vehicle system includes an information system 110, a control system 120, and an in-vehicle gateway device 100 that connects the two systems.

  The information system 110 includes an in-vehicle information system device such as a car navigation device 112 and a camera 113 and an information system network 111 that connects these devices. That is, the information system 110 is a system that processes information related to the situation outside the vehicle and the relationship between the situation outside the vehicle and the vehicle. In the information system 110, information is exchanged between in-vehicle information system devices via the information system network 111. For example, information on the front obstacle obtained from the camera 113 is used to warn the screen of the car navigation device 112. Something like displaying. The information system network 111 is a network that conforms to standards such as CAN (Controller Area Network), IEEE 1394, and MOST (Media Oriented Systems Transport).

  The control system 120 includes a vehicle control system device such as a BCM (Brake Control Module) 122 for brake control and an ECM (Engine Control Module) 123 for engine control, and a control system network 121 for connecting these devices. . That is, the control system 120 is a system that processes information from various in-vehicle devices and controls driving, braking, traveling, and the like of the vehicle. In the control system 120, information is exchanged between the vehicle control system devices via the control system network 121. For example, the brake operation at the BCM 122 and the engine stop at the ECM 123 are based on the tire slip rate information obtained from the BCM 122. An operation is performed. The control system network 121 is a network conforming to a standard such as CAN, LIN (Local Interconnect Network), or FlexRay.

  Data is exchanged between the in-vehicle information system device of the information system 110 and the vehicle control device of the control system 120 via the information system network 111, the in-vehicle gateway device 100, and the control system network 121, and vehicle control for improving safety is performed. It is alive. For example, in the case of an information control linkage function in which a brake operation is automatically performed based on detection data of a front pedestrian obtained from the camera 113 of the in-vehicle information system device, the camera 113 first detects the front pedestrian. The data is output to the information system network 111. The pedestrian detection data is input to the in-vehicle gateway device 100 via the information network 111. The in-vehicle gateway device 100 outputs to the control system network 121 and finally reaches the BCM 122 which is a vehicle control system device of the control system 120 to automatically operate the brake. This is the flow of data in the entire vehicle system.

  FIG. 2 shows a software configuration of the in-vehicle gateway device 100 described in FIG. The in-vehicle gateway device 100 determines whether or not the data input from the information system 110 is correct, and whether or not the input data may be transmitted to the control system 120 according to a preset condition. The output determination unit 202 to determine, the output suppression unit 203 that does not transmit the data passed through the input diagnosis unit 201 to the control system 120 unless the conditions of the output determination unit 202 are satisfied, and the vehicle information necessary for the output determination is collected. A vehicle information collection unit 205 and a vehicle information database 204 that accumulates the collected vehicle information are included.

  The diagnosis of the input diagnosis unit 201 performs a damage check of the information system data 210 and a validity check of values. For the former damage check, a check code such as a checksum or CRC check is used, for example. In the latter validity check, for example, a threshold value such as an upper / lower limit value is set for information system data 210 input in advance, and the relationship with the threshold value is checked. By checking the input diagnosis unit 201, it is possible to eliminate erroneous information system data 210 input to the in-vehicle gateway apparatus 100 due to malfunction or noise of the in-vehicle information system equipment such as the car navigation apparatus 112 and the camera 113 and the information system network 111.

  The output suppression unit 203 stores the information system data 210 received from the input diagnosis unit 201, and in response to a notification that the condition is satisfied from the output determination unit 202, the control system data including the specified information system data 210 as one data set. 220 is transmitted to the control system 120. The information system data 210 is stored until the same type of information system data 210 is newly input in the output suppression unit 203.

  In the present embodiment, the condition establishment notification from the output determination unit 202 is always accepted, but a condition for not accepting the condition establishment notification from the output determination unit 202 is set in advance, and under that condition, the control system 120 does not have the information system 110 at all. The information from may not be transmitted. As a condition that the output suppression unit 203 does not accept the condition establishment notification from the output determination unit 202, for example, there is a condition that the condition establishment notification is not accepted for a certain time after the ignition is turned on. As described above, if it is set that the condition determination notification from the output determination unit 202 is not received for a certain period of time after the ignition is turned on, the power supply of the control system device of the control system 120 after the ignition is turned on is performed and the voltage is stable. When information is not transmitted from the information system 110, it is possible to prevent an abnormality in the operation of the control system device and adversely affect the vehicle control. For example, there is a condition that once a condition establishment notification is received, a condition establishment notification is not received for a certain period of time. As described above, once the condition establishment notification is accepted, the condition establishment notification is not accepted for a certain period of time, so that it is possible to prevent the processing load of the vehicle control system device from increasing due to the request for continuous processing.

  The output determination unit 202 sets the effective time of the information system data 210 necessary for the information control cooperation function for preventing collision, determines whether it is within the effective time, and determines whether the vehicle information satisfies a certain condition. . The setting of the effective time is determined according to a predetermined algorithm using the vehicle speed and the distance to the obstacle. The vehicle information satisfying a certain condition indicates a vehicle state in which the information system data 210 may be transmitted to the control system 120.

  The vehicle information is obtained from the vehicle information 230 input from the control system 120. Examples thereof include wiper ON / OFF information, fog lamp ON / OFF information, and a tire slip rate. The condition of the vehicle state for determination is also set in advance in a table showing the information control cooperation function and the condition of the vehicle information corresponding to the function. For example, in the information control linkage function of pedestrian detection, a condition that the wiper ON / OFF information is OFF and the fog lamp ON / OFF information is OFF as vehicle information in order to determine that it is not rainy or foggy. Is a set table.

  The vehicle information collection unit 205 collects vehicle information such as wiper ON / OFF information, fog lamp ON / OFF information, slip rate, and vehicle speed input from the control system 120, and always stores the latest vehicle information in the vehicle information database 204. Try to keep it.

  FIG. 3A is a hardware configuration example of the in-vehicle gateway device 100. FIG. 3A illustrates a CPU (Central Processing Unit) 301 that is an arithmetic device, a RAM (Random Access Memory) 302 that is a volatile storage device, and a ROM (Read Only) that stores a program and data. Memory) 303, internal bus 306, first communication unit 304 that transmits / receives data via information system network 111, and second communication unit 305 that transmits / receives data via control system network 121. ing.

  The input diagnosis unit 201, the output determination unit 202, the output suppression unit 203, and the vehicle information collection unit 205 described above are realized by the CPU 301 executing the instruction code stored in the ROM 303. The RAM 302 has an area for storing information-related data 210 from the information system 110, vehicle information 230 from the control system 120, and other management tables that need to be updated. The ROM 303 stores in advance an in-vehicle gateway device 100 program, initial values of data required by the program, and other data that does not need to be rewritten.

  In FIG. 3A, the arithmetic processing is performed by one CPU 301 and the program is stored on the ROM 303. However, in order to further improve the reliability, redundancy may be provided. For example, a standby system with element redundancy may be configured by using a plurality of CPUs 301 and ROMs 303. A plurality of boards having a set of CPU 301, RAM 302 and ROM 303 may be provided to constitute a system redundant standby system.

  In order to improve performance, a plurality of boards having a set of CPU 301, RAM 302, and ROM 303 are provided, and the processing of the input diagnosis unit 201, the output determination unit 202, the output suppression unit 203, and the vehicle information collection unit 205 is distributed to different boards. And load distribution may be achieved. For example, two boards having CPU, RAM, and ROM are prepared, a first communication unit connected to the information system is provided on the first board, a second communication unit connected to the control system is provided on the second board, and the first The first board and the second board are connected by an external bus, the arithmetic processing of the input diagnosis unit 201, the output determination unit 202, and the vehicle information collection unit 205 is executed on the first board, and output on the second board You may comprise the load distribution system which performs the arithmetic processing of the suppression part 203. FIG.

  As shown in FIG. 3B, a substrate 311 including a CPU 301, a RAM 302, a ROM 303, and a first communication unit 304, a substrate 312 including a second communication unit 305, and a ROM 308 are provided, and input diagnosis is performed on the ROM 303 of the substrate 311. The unit 201, the output determination unit 202, and the vehicle information collection unit 205 may be stored, and the output suppression unit 203 may be stored in the ROM 308 of the board 312. In this case, the arithmetic processing by the CPU 301 executes a program stored across the ROM 303 and the ROM 308. In this case, the program of the output suppression unit 203 is stored in the ROM 308. When rewriting the contents of the program or rewriting the contents of the program other than the output suppression unit 203 (when maintaining the program), one of the ROM 303 and the ROM 308 may be rewritten, and maintainability is improved.

  FIG. 4 is a configuration example of the information system data 210. The information system data 210 includes an information system data ID 401 for identifying the type of the information system data 210, a control request 402 from the information system device, and a time stamp 403 of the generation time of the control request 402. For example, if the information is the distance to the forward pedestrian output from the camera 113, the information system data ID 401 is set to an ID uniquely determined to be the distance to the forward pedestrian output from the camera 113, and the control request If the distance to the forward pedestrian is 100 m, a value of 100 is set in 402, and a time stamp of the time when the camera 113 acquires the distance to the forward pedestrian is set in the time stamp 403.

  FIG. 5 is a configuration example of the control system data 220. The control system data 220 includes an information control cooperation function ID 411 for identifying the information control cooperation function, a control request 412 necessary for the information control cooperation, and an effective time 413 that may be used for the information control cooperation. When avoiding a collision, the control request 412 sets the distance to the front obstacle input from the information system, or simply sets information that the front obstacle is detected.

  FIG. 6 is a configuration example of an output setting table 500 for setting information-related data 210 necessary for information control cooperation for collision avoidance. The output setting table 500 includes an information control cooperation function name 501 indicating the name of the information control cooperation function for collision avoidance, an information control cooperation ID 502 for identifying the information control cooperation function, and an output indicating necessary information data. It has a field for setting section 503. In the example of FIG. 6, each of the information system data IDs of the output setting unit 503 is # 1 indicating the distance to the forward pedestrian by the camera 113, # 2 is the distance to the front obstacle by the camera 113, and # 3 is the car. The distance to the forward curve by the navigation device 112 is shown.

  The output setting table 500 is used to check which information control cooperation function for collision avoidance is used when the information system data 210 is input. For example, when information on the distance to the forward pedestrian by the camera 113 of the information system data ID # 1 is input from the information system 110 to the in-vehicle gateway device 100, the information control cooperation function refers to the output setting table 500 and the information control cooperation function It is recognized that the control linkage function ID 502 is # 10 pedestrian detection.

  The output setting table 500 is set based on the requirements of the information control cooperation function at the stage where it is determined what kind of information control cooperation function for collision avoidance is given to the vehicle. When a new information control linkage function for avoiding a collision is added to the vehicle, a new information control linkage function is added to the output setting table 500.

  FIG. 7 shows a configuration example of the buffer management table 510 for managing the information system data 210 in the output suppression unit 203. The buffer management table 510 obtains an information system data ID 511 for identifying the type of the information system data 210, a data presence / absence unit 512 indicating whether the information system data exists within the valid time, and the stored information system data 210. A column of an acquisition time portion 513 indicating the time when the information is received and an address portion 514 indicating an address on the buffer in which the control request 402 of the information system data 210 is stored. In the example of FIG. 7, three information system data 210 are shown, and the information system data ID 511 of the information system data 210 shown here corresponds to the information system data ID 503 of the output setting table 500 of FIG.

  When the information system data 210 is input, the buffer management table 510 indicates to the control system 120 when the output determination unit 202 confirms whether the control request 402 necessary for the information control cooperation function for collision avoidance exists. It is used when acquiring a control request 402 necessary for outputting data. When the information-related data 210 is input, 1 is set in the data presence / absence part 512 for the row of the corresponding information-related data ID 511, the contents of the acquisition time part 403 of the information-related data 210 are set in the acquisition time part 513, and the address The address of the buffer storing the control request 402 is set in the unit 514.

  FIG. 8 is a configuration example of the vehicle information determination table 600 used in the output determination unit 202. The vehicle information determination table 600 includes an information control cooperation function name 601 that represents the name of the information control cooperation function for avoiding a collision, an information control cooperation function ID 602 for identifying the information control cooperation function, and data transmission. It has a column of a condition setting unit 603 in which conditions for vehicle information necessary for permission are set. In the example of FIG. 8, the vehicle information ID of the condition setting unit 603 includes vehicle information ID # 1 representing On / Off information of the wiper, and vehicle information ID # 2 representing On / Off information of the fog lamp.

  The vehicle information determination table 600 is referred to when the output determination unit 202 determines whether a condition based on vehicle information is satisfied. For example, when the information control cooperation function for which it is desired to determine whether the condition is satisfied is the pedestrian detection with the information control cooperation function ID 602 value # 10, the condition setting unit 603 in the corresponding row uses the wiper Off and the fog lamp Off. I know that there is. In this case, in the “pedestrian detection”, the condition setting unit 603 uses the wiper Off and the fog lamp Off as vehicle information conditions in order to prevent adverse effects on vehicle control due to erroneous recognition of the camera 113 due to rain or fog.

  The vehicle information determination table 600 is set based on the requirements of the information control cooperation function at the stage where it is determined what kind of collision prevention information control cooperation function is given to the vehicle. When an information control cooperation function is added to a vehicle, an information control cooperation function is newly added to the vehicle information determination table 600.

  FIG. 9 is a configuration example of the collision avoidance distance table 700 for setting the valid time of the input data 210 in the output determination unit 202. The collision avoidance distance table 700 includes a vehicle speed section 701 that represents a vehicle speed (km / hr), a braking distance section 702 that represents a braking distance (m) corresponding to the vehicle speed, and an idle running distance (m) corresponding to the vehicle speed. It has a column of the free running distance part 703 to represent. In this embodiment, the correspondence between the speed and the braking distance / idle distance is obtained from a table, but this may be expressed by a mathematical expression as a function of the speed.

FIG. 10 shows a case where an effective time is set in order to use the information control linkage function for collision avoidance. The effective time t (sec) (710) of the data input from the information system 110 is the vehicle speed obtained as shown in FIG. 10 v (m / s) (711), and the distance (detected distance) to the obstacle. L (m) (712), the braking distance at the vehicle speed v is L1 (713), and the idle running distance at the vehicle speed v is L2 (714). As the time from the obstacle detection time (detection distance acquisition time) to the brake (braking) start position to acquire the free running distance and avoid collision with the obstacle,
t = (L − L1 − L2) / v
And set.
For example, if the distance to the forward pedestrian is 100 m and the vehicle speed is 80 km / h (speed 22 m / s), referring to the collision avoidance distance table 700, the braking distance is 36 m and the free running distance is 33.3 m. The time is (100-36-33.3) /22=1.4 seconds.

  FIG. 11 shows a processing flow of the in-vehicle gateway device 100. First, the input diagnosis unit 201 receives information system data 210 from the information system 110 (801). The input diagnosis unit 201 diagnoses whether or not the data is correct by performing validity checks such as a threshold check on the information system data 210 or by checking data corruption using a checksum or CRC check. As a result of the diagnosis by the input diagnosis unit 201, if it is diagnosed that the data is not correct, the data is discarded and the processing is finished. As a result of diagnosis by the input diagnosis unit 201, when it is determined that the data is correct, the processing is transferred to the output suppression unit 203 (802). The output suppression unit 203 updates the buffer management table 510 based on the information system data ID 401 of the input information system data 210, and moves the process to the output determination unit 202 (803). The output determination unit 202 sets an effective time based on the distance to the obstacle and the speed, and determines whether the data is still effective. Further, it is determined whether a condition for transmitting data to control system 120 is satisfied with reference to vehicle information determination table 600. When the condition for data transmission to the control system 120 is satisfied, the condition is transmitted to the output suppression unit 203 (804). The output suppression unit 203 notified of the establishment of the condition for data transmission to the control system 120 from the output determination unit 202 is based on the information control cooperation function ID 502 of the information control cooperation function for which the condition is established, and the output setting table 500 and the buffer management table 510. The necessary control request 402 is acquired by using, and the control system data 220 is created by combining the acquired control request 402 and the valid time 710. The created control system data 220 is transmitted to the control system 120, and the process ends (805).

  FIG. 12 shows a processing flow of the output determination unit 202. When the processing is moved from the output suppression unit 203, the information system data ID 401 of the newly input information system data 210 is acquired (901). With reference to the output setting table 500, the information control cooperation function ID 502 of the information control cooperation function that uses the newly input information system data 210 is acquired (902). Next, it is determined with reference to the vehicle information determination table 600 whether the vehicle information satisfies the data transmission conditions. If the condition is not satisfied, the process is terminated. If the condition is satisfied, the process proceeds to the next process (903). The effective time is set with reference to the collision avoidance distance table 700 from the vehicle speed and the distance to the obstacle (904). It is determined whether it is within the valid time. If it is outside the valid time, the process is terminated, and if it is within the valid time, the process proceeds to the next process (905). The effective time and condition establishment notification are transmitted to the output suppression unit 203, and the process ends (906). Although not shown, when the output determination unit 202 detects that the condition has not been satisfied within the effective time after the condition is notified, the output determination unit 202 notifies the output suppression unit 203 that the condition has not been satisfied.

  The output suppression unit 203 transmits the created control system data 220 to the control system 120, and then periodically sends the created control system data 220 to the control system 120 within the effective time. In this periodic transmission, a notification that the condition is not satisfied from the output determination unit 202 accompanying a change in the vehicle information with respect to the transmission of the control system data 220, or the information system data 210 stored in the output suppression unit 203 is a new type of the same type. It stops in response to being updated by the input of the information system data 210.

According to this embodiment, the serviceability of the collision avoidance process is improved. For example, it is assumed that the camera periodically transmits detection information of a pedestrian in a period of 1/3 s. In this case, the valid time of data input from the camera is fixed to 1/3 s from the input frequency. Now, assume that the camera detects a pedestrian 100 meters ahead while running at 80 km / h (speed 22 m / s), and then the information from the camera is interrupted due to a network failure in the network information system. In this case, since data is not normally input from the information system 110, data is not transmitted to the control system 120, control for avoiding pedestrians does not work, and there is a possibility of collision. In the case of this embodiment, the effective time is (100-36-33.3) /22=1.4 seconds from the braking distance at 80 km / h and the free running distance, and the control system is always (periodically) 1.4 seconds. The information system 110 can continue to issue a warning at 120 that there is a risk of a collision, and if the control system 120 decelerates the vehicle, this warning can safely avoid a collision with a pedestrian. Since the control system 120 decelerates the vehicle in response to the recognition of the warning, the vehicle speed as the vehicle information decreases, and a periodic warning is issued by the notification that the condition is not satisfied from the output determination unit 202 that has determined the decreased vehicle speed. Stops.

  As described above, according to the present embodiment, the in-vehicle gateway device 100 is not transmitted to the control system 120 in order to determine the correctness of the data by the input diagnosis unit even if erroneous data is input from the information system 110, and the information system Even if an abnormality occurs in 110, the data of the information system 110 is not transmitted to the control system 120 unless the establishment of the condition is notified by the output suppression means. Therefore, the abnormality does not propagate to the control system 120. It is possible to prevent adverse effects on vehicle control during control cooperation. In addition, in order to set an effective time for which collision avoidance processing makes sense using the vehicle speed for the distance data to the obstacle input from the information system 110 in the output determination means, the control system 120 The data can be used within the valid period of the data.

It is a structural example of a vehicle system. It is a software configuration of the in-vehicle gateway device. It is a hardware configuration of an in-vehicle gateway device. It is a structural example of information system data. It is a structural example of control system data. It is an example of a structure of an output setting table. It is a structural example of a buffer management table. It is a structural example of a vehicle information determination table. It is a structural example of a collision avoidance distance table. It is a figure explaining the case where effective time is set in order to utilize the information control cooperation function for a collision avoidance. It is a processing flow of a vehicle-mounted gateway apparatus. It is a processing flow of an output determination part.

Explanation of symbols

100: In-vehicle gateway device, 110: Information system, 111: Information system network, 112: Car navigation device, 113: Camera, 120: Control system, 121: Control system network, 122: BCM, 123: ECM, 201: Input diagnosis , 202: Output determination unit, 203: Output suppression unit, 204: Vehicle information database, 205: Vehicle information collection unit, 210: Information system data, 220: Control system data, 230: Vehicle information, 301: Control system data, 302: RAM, 303: ROM, 304: first communication unit, 305: second communication unit.

Claims (18)

A filtering method for filtering information data from the information system to the control system in an in-vehicle gateway device connected between an information system and a control system constituting a vehicle system,
Input the first data and the acquisition time of the first data from the information system,
The second data is input from the control system, the effective time from the acquisition time of the first data is set using the acquisition time and the second data,
A filtering method characterized in that transmission of the first data to the control system is allowed within the set effective time. The second data is vehicle information from a control device representing a state of a vehicle on which the vehicle system is mounted, and the first data is sent to the control system according to the state of the vehicle represented by the vehicle information. The filtering method according to claim 1, wherein the transmission is rejected. The first data is a detection distance to an obstacle, the acquisition time is a detection time of the obstacle, and the second data is a speed of a vehicle on which the vehicle system is mounted. The filtering method described. A brake start position obtained by subtracting an idle running distance and a braking distance according to the speed of the vehicle from the detection distance is obtained, and the time until arrival at the speed to the brake start position is defined as the effective time. The filtering method according to claim 3. 4. The filtering method according to claim 2, wherein transmission of the first data to the control system is repeated within the set effective time. 5. 6. The transmission of the first data to the control system is stopped in response to input of new data of the same type as the first data from the information system. Filtering method. Mounted on a vehicle, connected to the vehicle's information system and control system,
Input diagnosis means for inputting the first data and the acquisition time of the first data from the information system, and checking the validity of the input time of the input first data and the first data;
The second data is input from the control system, and the effective time from the acquisition time of the first data is set using the acquisition time and the second data, and if within the set effective time Output determination means for allowing transmission of the first data to the control system;
An in-vehicle gateway, comprising: output suppression means for transmitting the first data to the control system in response to the transmission of the first data from the output determination means to the control system. apparatus. The second data is vehicle information from a control device that represents a state of a vehicle on which the vehicle system is mounted, and the output determination unit is configured to output the first data according to the state of the vehicle represented by the vehicle information. The in-vehicle gateway device according to claim 7, wherein transmission to the control system is rejected. 9. The first data is a detection distance to an obstacle, the acquisition time is a detection time of the obstacle, and the second data is a speed of a vehicle on which the vehicle system is mounted. The in-vehicle gateway device described. The output determination means obtains a brake start position obtained by subtracting an idle running distance and a braking distance according to the speed of the vehicle from the detection distance, and determines the effective time until the arrival time by the speed to the brake start position. The in-vehicle gateway device according to claim 9. The in-vehicle gateway according to any one of claims 8 and 9, wherein the output suppression unit repeats transmission of the first data to the control system within the set valid time. apparatus. In response to input of new data of the same type as the first data from the information system by the input diagnosis unit, the output suppression unit stops repeating the transmission of the first data to the control system. 12. The in-vehicle gateway device according to claim 11, wherein: Mounted on a vehicle, connected to the vehicle information system via a first network, and connected to the vehicle control system via a second network;
First data from the information system input via the first network and the acquisition time of the first data, second data from the control system input via the second network, and A storage device that stores control system data to be transmitted to the control system via the second network, and the validity of the acquisition time of the first data and the first data stored in the storage device is checked. Then, using the acquisition time and the second data, an effective time from the acquisition time of the first data is set in the control system data related to the first data, and the effective time is within the set effective time If so, it has a CPU that transmits the control system data related to the first data to the control system via the second network. Tway equipment. The second data is vehicle information from a control device representing a state of a vehicle on which the vehicle system is mounted, and the CPU relates to the first data according to the state of the vehicle represented by the vehicle information. 14. The in-vehicle gateway device according to claim 13, wherein transmission of the control system data to the control system is rejected. 15. The first data is a detection distance to an obstacle, the acquisition time is a detection time of the obstacle, and the second data is a speed of a vehicle on which the vehicle system is mounted. The in-vehicle gateway device described. The CPU obtains a brake start position obtained by subtracting an idle running distance and a braking distance according to the speed of the vehicle from the detection distance, and uses the time until the arrival time by the speed to the brake start position as the effective time. 16. The in-vehicle gateway device according to claim 15, wherein 15. The CPU repeats transmission of the control system data related to the first data to the control system via the second network within the set valid time. And the in-vehicle gateway device according to claim 15. In response to the input of new data of the same type as the first data from the information system input via the first network, the CPU performs the control-system data related to the first data. 18. The in-vehicle gateway device according to claim 17, wherein the repetition of transmission to the control system is stopped.

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