JPWO2020066305A1 - Electronic control device - Google Patents

Abstract

An object of the present invention is to provide an electronic control device having a data selection unit and a data selection unit that select data to be transmitted to an application execution unit based on the priority of data added for each object information. A priority assigning unit that assigns priority to the data sensed according to the external world situation and the own vehicle situation, a priority determination unit that dynamically changes and determines the priority assigned to the data, and a priority are assigned. An electronic control device having a data management unit for storing data, an application execution unit, and a data selection unit for selecting data to be passed from the data management unit to the application execution unit according to priority.

Description

The present invention relates to, for example, an electronic control device for an automobile, and particularly relates to an electronic control device capable of reducing a data processing load of an application.

In automobiles, research and development is currently underway for fully automated driving in which the system handles all driving operations without human intervention. In order to realize such automatic driving, more than 10 sensors are attached to the vehicle to sense information around the vehicle. The sensed object information such as pedestrians and vehicles is taken into an electronic control unit (ECU: Electronic Control Unit), processing such as recognition, judgment, and control is performed, and finally a control command value is transmitted to each actuator. , Vehicle control is carried out.

On the other hand, the applicable range of autonomous driving is being expanded to urban areas, but there are more objects in urban areas than in highways and suburbs. Therefore, the number of object information (pedestrians, vehicles, etc.) handled in the electronic control device also increases.

However, depending on the performance of the electronic control device that handles most of the processing of autonomous driving, it is possible that all the sensed information cannot be processed within the specified processing cycle. For example, when trying to turn right at an intersection in a downtown area, in an environment where there are a large number of pedestrians waiting for a traffic light at the intersection, all pedestrians sensed by on-board sensors such as cameras and radar It will be processed. Normally, under these circumstances, pedestrians are usually stationary or do not affect the running of their own vehicle, but some, for example, pedestrians ignoring traffic lights or pedestrians walking on the road. , Bicycles must be monitored and appropriate control must be implemented if they affect the running of the vehicle. However, if the performance of the electronic control device is insufficient, pedestrian and vehicle information that ignores signals, which must be truly processed, is buried in other object information, and calculations are performed within a predetermined processing cycle. It may not be possible and proper vehicle control may not be implemented.

Therefore, in the present field, it is an issue to reduce the processing load of the electronic control device in an environment where the processing of the electronic control device has a high load in a situation where a large amount of objects exist.

Regarding this point, in Patent Document 1, in control in an environment where a plurality of vehicles exist such as an expressway, priority is given to data in advance, and a process of integrating a plurality of object information according to the priority. We are proposing a method to select a simple process that does not perform integrated processing.

Japanese Unexamined Patent Publication No. 2018-036796

In autonomous driving, the recognition results of objects (pedestrians, vehicles, etc.) sensed by sensors (cameras, radar, etc.) attached to the vehicle are taken into an electronic control device, and recognition, judgment, and control calculations are performed by the application. , The control command value is output to the actuator based on the calculation result.

On the other hand, when the scope of application of autonomous driving is expanded to urban areas and downtown areas, the number of objects that the vehicle must sense will reach 10 to 100 or more. Therefore, in an environment where a large number of objects exist, there are many objects to be processed and the amount of calculation increases. As a result, cognitive, judgment, and control applications must find out from large amounts of data which objects are urgent and affect collision avoidance and emergency steering.

However, when there are a large number of objects, it takes time to perform the calculation, and it may not be possible to complete a series of calculations from recognition to control within the processing cycle of the application, and it may not be possible to output an appropriate control command value. Therefore, it is an issue to reduce the amount of calculation in the electronic control device.

From the above, in the present invention, "a priority giving unit that gives priority to the data sensed according to the external world situation and the own vehicle situation, and a priority that dynamically changes and determines the priority given to the data. An electronic device having a degree determination unit, a data management unit for storing data to which priority is given, an application execution unit, and a data selection unit for selecting data to be passed from the data management unit to the application execution unit according to the priority. Control device. "

According to the present invention, the scope of application of autonomous driving is expanded to urban areas and downtown areas, and even when the number of objects that the vehicle must sense is 10 to 100 or more, the application outputs data according to the priority of the data. Since it can be processed, the processing load of the application can be reduced and the safety can be improved.

The figure which shows the connection state of the in-vehicle electronic control apparatus which concerns on embodiment of this invention, and its peripheral device. The figure which shows the example of the preset priority definition information DP. The figure which shows the priority setting example in the priority determination part 104. The figure which shows the database configuration example formed in the data management part 103 which is a database. It is a figure which shows the processing flow until the information is taken in the in-vehicle electronic control device 10 and is stored in the data management unit 103. The figure which shows the processing flow in the data selection unit 102 and the data management unit 103. FIG. 5 is a diagram showing a specific processing flow of processing for selecting data to be passed to the application execution unit 101 in the processing step S303 of FIG. The figure which shows the processing flow which performs the data rearrangement processing in the data selection unit 102 by the instruction from the application execution unit 101. FIG. 5 is a diagram showing a series of processes for manipulating the data transmission cycle when acquiring data from the data management unit 103 from the application execution unit 101. The figure which shows the processing of the urgent data which affects the driving of the own vehicle.

Hereinafter, the electronic control device according to the embodiment of the present invention will be described in detail with reference to the drawings. Although the method described in Patent Document 1 changes the application to be executed in the electronic control device according to the priority (selects a process of integrating object information and a simple process of not performing the integrated process). On the other hand, in the present invention, if this is simply expressed, it can be said that the application is not changed, the priority is given to each object, and the data to be passed to the application is changed. In the following examples, the configuration and functions of the electronic control device for realizing this will be described in detail.

FIG. 1 shows a connection state between an in-vehicle electronic control device and its peripheral device according to an embodiment of the present invention.

The in-vehicle electronic control device 10 acquires the sensing information DS (DS1, DS2, DS3) from the outside world recognition sensor 108, the map information 109, and the inside world recognition sensor 110, and obtains the priority definition information DP from the priority definition unit 105. It has gained. Then, the control amount for controlling the vehicle is calculated based on this information, and the control data DO is transmitted to the external control device 111.

The in-vehicle electronic control device 10 of FIG. 1 includes an application execution unit 101, a data selection unit 102, a data management unit 103, a priority determination unit 104, a priority assignment unit 106, and a data collection unit 107 as main functional elements. Therefore, as a premise of the internal processing here, the priority definition information DP preset by the user is obtained from the priority definition unit 105 and used.

After its activation, the in-vehicle electronic control device 10 accesses the external priority definition unit 105, obtains the priority definition information DP set in advance by the user, and obtains the priority definition unit 106 and the data selection unit 102. Take a form that reflects in.

FIG. 2 is a diagram showing an example of preset priority definition information DP, and the priority definition unit 105 defines the items shown in FIG. 2 in advance by the user. In the example of FIG. 2, the priority definition information DP defines the resolution of the priority. For example, the priority is defined by dividing it into four stages of emergency, high, medium, and small. In the example of FIG. 2, the priority is grasped discretely, but it may be grasped as a numerical value. Further, the priority definition information DP defines a threshold value when processing is performed based on the priority. Further, the priority definition information DP returns data to the application execution unit 101 once every time when data is returned based on the processing cycle in the in-vehicle electronic control device 10 which is a control computer. It defines the number of counters for each threshold value during periodic processing. Further, the priority definition information DP defines the sort process when the number of data is equal to or more than the threshold value. Note that FIG. 2 shows an example of the priority definition information DP, and is not limited to this content. Needless to say, other than this may be adopted.

The priority definition unit 105 includes objects sensed by the outside world recognition sensor 108, the map information 109, and the inside world recognition sensor 110, such as pedestrians, vehicles, bicycles, and motorcycles, and objects moving on the course or on the side road. Alternatively, regarding the priority given for each information of a static object such as a sign, a traffic light, an obstacle, a street tree, and an object stationary on a path or a side road, the resolution, priority giving condition, and priority are given. It defines the means of processing data according to the degree.

Here, the outside world recognition sensor 108 grasps the outside world situation, and the outside world situation is a moving object (vehicles around the own vehicle, pedestrians) as an object sensed by the outside world recognition sensor 108 mounted on the own vehicle. , Obstacles, etc.), or static objects (can include traffic lights, signs, obstacles, etc.).

FIG. 3 shows a priority setting example in the priority determination unit 104. In this example, the priority is divided into four stages of urgent, high, medium, and small according to the definition of the resolution of the priority in the priority definition information DP set by the priority definition unit 105, for example. When an event such as the presence of a pedestrian on the road is detected and this is urgently ranked, the data is returned to the application execution unit 101 as a data return method each time an event occurs, and the application execution unit 101 As the internal processing, interruptive emergency processing is executed within the control cycle at the time of the event occurrence (or the next cycle if the processing in the cycle is impossible). When the priority is high or medium, for example, 2 cycles and 4 cycles are set as the processing cycle, and the data is returned to the application execution unit 101 in this unit. Alternatively, if the number of targets of this rank is large, they are sorted and omitted. It goes without saying that what kind of return method should be adopted for each priority can be set as appropriate, and is not limited to the example of FIG.

Returning to FIG. 1, the sensing information DS (DS1, DS2, DS3) is input to the vehicle-mounted electronic control device 10 from the outside world recognition sensor 108, the map information 109, and the inside world recognition sensor 110 via the data acquisition unit 107. There is. In addition to the directly measured values of the sensor, these sensing information DSs may be self-time series information or processed information in which a plurality of data and information are combined. Further, the predicted value in the future may be used.

These sensing information DSs include, for example, the acceleration / deceleration value of the own vehicle sensed by the outside world recognition sensor 108 or the inside world recognition sensor 110, the vehicle direction information of the own vehicle, the track planning information of the own vehicle, the risk map information, and the infrastructure. Cooperation information, Vehicle to Vehicle (V2V) information transmitted from other vehicles, the state of the wiper of the own vehicle, the state of the headlight of the own vehicle, the irradiation range of the headlight of the own vehicle, and the part that becomes the blind spot of the own vehicle. Information etc.

In the priority giving unit 106 of FIG. 1, the priority is set from various viewpoints with respect to the sensing information DS input via the data collecting unit 107. For example, one of the viewpoints is the priority according to the area around the own vehicle. The area grasped by the sensor is further divided into small areas, and priorities are set in advance for each small area. For example, if it is a small area corresponding to the course, the priority is set high, and if it is a small area corresponding to the side road, the priority is set low.

Further, in addition to the priority according to the area, another example of the viewpoint is the priority setting for each object. Orbit prediction information, risk map information, moving speed of the object, moving direction, relative speed, relative distance, size of the object, or Time To Collision (TTC) of the information of each object sensed by the outside world recognition sensor 108. The priority is set for each object based on at least one value or a value that can be calculated by combining these.

Further, the priority given by the priority giving unit 106 is given based on at least one of the priority set based on the area and the priority set for each object. When calculating the final priority using both the priority according to the area and the priority given to each object, the priority is calculated based on the equation (1).
[Number 1]
Priority [N] t =
(Α (Region priority [N] t) * (1-α) Object priority [N] t-MIN _t-1 ) /
(MAX _t-1- MIN _t-1 ) (1)
In the equation (1), α is a coefficient set by the user between 1 and 0, the area priority [N] t is the area-based priority of the time t of the object N, and the object priority [N] t is the object. N, the object-based priority at time t, MIN _t-1 represents the minimum priority of all objects at time t-1, and MAX _t-1 represents the maximum priority of all objects at time t-1. ing.

The higher the priority value, the more likely it is to affect the running of the own vehicle, and the priority may be used discretely such as high, medium, or low, or may be set as a continuous value.

According to the embodiment of the present invention, the priority is the outside world condition, the inside world condition of the own vehicle, the track prediction result, the tracking condition, the risk map, the moving speed of the target object, the target object type, the traveling condition of the own vehicle, and the like. It is set based on at least one of the relative distances to the sensed object. The priority is the object that affects the running of the own vehicle, the object that is expected to affect the running of the own vehicle, the object that exists in the predicted trajectory of the own vehicle, the blind spot of the own vehicle, and the own vehicle. It is set high for at least one of the objects in the area that is expected to be a blind spot.

FIG. 4 shows an example of a database configuration formed in the data management unit 103, which is a database. The database is composed of, for example, item number 31, data ID 32, priority 33, object type (object type) 34, and data 35, and the data 35, which is the sensing data DS, has urgent, high, and medium priority 33. , Low is given, and further, an object type (object type) 34 is given. The data 35 preferably includes time data, and these data are appropriately deleted after the vehicle has passed the data acquisition point, and are always used while being replaced with new sensing data in front of the vehicle.

Next, the processing flow from taking the information into the in-vehicle electronic control device 10 and storing it in the data management unit 103 will be described with reference to FIG. Here, the processing flow until the sensing information DS (DS1, DS2, DS3) acquired from the outside world recognition sensor 108, the map information 109, and the inside world recognition sensor 110 is stored in the data management unit 103 will be described. The data management unit 103 can also be referred to as a database.

In the processing flow of FIG. 5, the process starts in the processing step S200, and in the processing step S201, the data of the external world recognition sensor 108, the map information 109, and the internal world recognition sensor 110 are transferred to the in-vehicle electronic control device 10 via the data collection unit 107. Performs data collection processing to be taken in.

The processing step S202 corresponds to the functions of the priority determination unit 104 and the priority assignment unit 106, and the priority definition unit 106 in the priority assignment unit 106 with respect to the data captured in the in-vehicle electronic control device 10. The priority calculated according to the priority definition information DP obtained from 105 is given.

In the processing step S203, it is confirmed that the assigned priority is the processing data related to the event of FIG. 3 defined by the priority definition unit 105, and when it is the processing data of the event, the highest priority is ". Since it is "urgent", the process proceeds to process step S205, and the corresponding data is directly transmitted to the data selection unit 102. After that, the data may be transmitted to the data management unit 103. The database of FIG. 4 shows an example of holding emergency information as well.

In FIG. 1, when the processing data is related to the "urgent" event having the highest priority, the data selection unit 102 to which the corresponding data is transmitted executes interrupt processing to the application execution unit 101 and immediately immediately. It works to handle emergency data processing.

On the other hand, if it is determined in the processing step S203 that the data is not the processing data of the event, the priority is high, medium, or low, so the process proceeds to the processing step S204, and the data is the data in the processing step S204. It is sent to the management unit 103, assigned a management ID, and managed.

Note that the application execution unit 101 of FIG. 1 appropriately accesses the data management unit 103 in a normal state in which interrupt processing by event processing data does not occur, and the priority accumulated there is high, medium, or small. Processing using the data of is being executed.

Next, the processing flow in the normal state of acquiring the data of the data management unit 103 from the application execution unit 101 will be described. The application execution unit 101 executes calculations for recognition, determination, and control processing. The data stored in the data management unit 103 is used for each operation.

In the normal processing of the application execution unit 101 of FIG. 1, the application execution unit 101 first issues a data acquisition request S1 to the data management unit 103. The data processing request S1 is first given to the data selection unit 102, and the data selection unit 102 searches the data of the data management unit 103 in response to the request of the application execution unit 101, and the priority determined by the priority definition unit 105. Data to be passed to the application execution unit 101 is selected based on the definition.

For example, pedestrian data from the application execution unit 101 to the data management unit 103 that manages data in three discrete priorities of high, medium, and low in the own vehicle traveling in the downtown area. When there is a data acquisition request S1 of the above, the data selection unit 102 searches for pedestrian data managed by the data management unit 103.

The processing flow in the data selection unit 102 and the data management unit 103 will be described with reference to FIG.

The processing step S300 of FIG. 6 is started by the pedestrian data acquisition request S1 from the application execution unit 101, and searches for the pedestrian data managed by the data management unit 103 in the processing step S301.

As a result of the search, in the determination of the processing step S302, it is determined whether or not a certain number or more of the corresponding pedestrian data has been searched. When a certain number or more are hit, the process of selecting the data to be passed to the application execution unit 101 is executed in the process step S303. The number of data selected in the process step S303, or the total number of data determined not to reach a certain number in the determination of the process step S302, is passed to the application execution unit 101 by the process of the process step S304.

FIG. 7 shows the specific processing content of the process of selecting the data to be passed to the application execution unit 101 in the process step S303 of FIG. Here, it is assumed that only the data to which the high priority that is expected to affect the running of the own vehicle is given as the selection criterion is passed to the application execution unit 101. The application execution unit 101 realizes reduction of the processing load by using only the data to which the high priority that can affect the running of the own vehicle is given for the calculation of recognition, judgment, and control.

In the selection flow of FIG. 7, the processing of the portion sandwiched between the processing step S401 and the processing step S407 is repeatedly executed. In the processing step S402, the individual data are confirmed, the data having a high priority is distinguished from the data having a low priority, and the data having a high priority is recorded as high in the processing step S406. In the processing step S403, it is determined whether the non-high data is medium or low, and in the processing step S405 and the processing step S404, the preset processing of setting the priority to medium and low is executed, respectively. In the selection flow of FIG. 7, only the data having a high priority is finally used as the selection data, but an appropriate way of thinking can be adopted as the way of thinking about how and how much to select.

Next, a processing flow for performing data rearrangement processing in the data selection unit 102 in response to a command from the application execution unit 101 will be described with reference to FIG. When there is a data sorting processing request from the application execution unit 101 to the data selection unit 102 in FIG. 8, the data search processing is executed in the processing step S502, and the searched data is the target data for sorting in the processing step S503. It is determined whether or not the data is to be sorted, and if the data is to be sorted, the corresponding data is sorted in the processing step S504, and then the data is returned to the application execution unit 101 in the processing step S505 to be sorted. If it is not data, the data is returned to the application execution unit 101 as it is in the processing step S505.

For example, when the priority definition information from the priority definition unit 106 defines that the distance is short and the command from the application execution unit 101 requests the data, for example, the distance from the own vehicle is short. Perform the process of sorting in order.

In the second embodiment, when the priority is given by the priority giving unit 106 of FIG. 1 and there are a plurality of high-priority data for the data managed by the data management unit 103, the priority definition unit 105 is used. It will be described that the cycle of the data passed from the data selection unit 102 to the application execution unit 101 is changed according to the defined priority definition information DP.

For example, in a situation where the data sensed by the outside world recognition sensor 108 contains data of high-priority pedestrians crossing the planned travel track of the own vehicle and a large number of pedestrians stationary at the crossing. When the application execution unit 101 requests to acquire pedestrian information, the data selection unit 102 confirms the priority of the corresponding pedestrian data managed by the data management unit 103, and applies only the data having a high priority. It will be sent to the execution unit 101 every cycle.

FIG. 9 shows a series of processes for manipulating the data transmission cycle when the data of the data management unit 103 is acquired from the application execution unit 101.

According to the processing flow of the data selection unit 102 shown in FIG. 9, first, in the processing step S601, the data of the database shown in FIG. 4 in the data management unit 103 is searched, and the priority 33 of the corresponding data 35 is confirmed. Since the processing flow of FIG. 9 repeatedly processes the processing between the processing steps S601 and the processing step S608 while updating the data, only specific data will be described in the following description. When the determination process of the processing step S603 is performed on the data whose priority has been confirmed and the priority 33 of the object 34 is high (YES), the relationship between the priority and the data return method shown in FIG. 3 in the processing step S607. According to this, the data return process 207 to the application execution unit 101 is performed.

On the other hand, the data in the priority and the data considered not to affect the own vehicle having a low priority are the priority shown in FIG. 3 set by the priority definition unit 105 after the determination process in the processing step S604. Whether or not the processing can be performed is determined based on the number of cycles determined by the relationship between the degree and the data return method.

If the value of the counter is equal to or greater than the threshold value in the processing step S604, the counter is reset in the processing step S606 and the data is returned to the application execution unit 101. However, if the predetermined number of cycles is not reached, the processing is performed. In step S605, only the counter is counted up, and the data is not transmitted to the application execution unit 101. In this example, data is passed to the application execution unit 101 once every five cycles to reduce the processing load of the application execution unit 101.

Next, the processing of urgent data that affects the running of the own vehicle will be described with reference to FIG. In FIG. 10, the upper part shows the flow of setting processing at the time of initialization, and the lower part shows the flow of processing of highly urgent data according to the initial setting contents.

First, the registration processing sequence of the callback function at the time of initialization will be described in the upper part of FIG. Here, the application execution unit 101 sets the callback to the data selection unit 102. Further, the data selection unit 102 sets a callback for the priority setting unit 106. Regarding the completion of the callback setting, the setting completion report is sent to the priority setting unit 106, the data selection unit 102, and the application execution unit 101 by the reverse route as shown by the dotted line.

The flow of data processing with high urgency after the callback function registration processing is performed will be described in the lower part of FIG. 10.

When the priority giving unit 106 acquires information on an urgent object that may affect the running of the own vehicle or an object that may collide, the priority giving unit 106 gives a particularly high priority. Granted.

Based on the condition of FIG. 3 defined in advance in the priority definition unit 105, when the corresponding data is event-corresponding data, the data is not stored in the data management unit 103 from the priority assignment unit 106 and is set in advance. Call the callback function of the data selection unit 102.

Further, the data selection unit 102 that has called the callback function from the priority giving unit 106 calls the callback function set by the application execution unit 101. Thus, the application execution unit 101 that has received the event notification can process the high-priority data received in advance of the other data.

In each of the embodiments of the present invention described above, in short, "a priority assigning unit that assigns a priority to the data sensed according to the external world situation and the own vehicle situation, and a priority assigning to the data are operated. A priority determination unit that is specifically changed and determined, a data management unit that stores the data to which the priority is given, an application execution unit, and the data management unit passes the data to the application execution unit according to the priority. It is configured as an "electronic control device having a data selection unit for selecting data".

Of these, the data selection unit that selects the data to be passed from the data management unit to the application execution unit performs processing including data selection from various viewpoints. The viewpoint of processing including these data selections is that when data having different priorities exists in the data management unit, the data is selected according to the preset priority definition and priority, or in descending order of priority. , In low order or in the order specified by the user, or when high priority data and low priority data are mixed, the data management unit to the application execution unit according to the data priority. It is to change the processing cycle of the data to be passed to, or to operate the data return method according to the situation for the data with high priority. In addition, the situation that is the condition to operate the data return method is that it is event-driven and preferentially passed to the application execution part, sorted in order of priority and passed to the application, only the data with high priority is passed to the application, etc. Is.

10: In-vehicle electronic control device 101: Application execution unit 102: Data selection unit 103: Data management unit 104: Priority determination unit 105: Priority definition unit 106: Priority assignment unit 107: Data collection unit 108: External world recognition sensor 109 : Map information 110: Internal recognition sensor 111: External control device

Claims (15)

A priority assigning unit that assigns a priority to the data sensed according to the external world situation and the own vehicle situation, a priority determination unit that dynamically changes and determines the priority assigned to the data, and the priority. An electronic control device having a data management unit for storing the added data, an application execution unit, and a data selection unit for selecting data to be passed from the data management unit to the application execution unit according to the priority. The electronic control device according to claim 1.
When the data having different priorities exists in the data management unit, the data selection unit selects the data to be passed to the application execution unit according to the preset priority definition and the priority, and the application. An electronic control device characterized by passing it to an execution unit. The electronic control device according to claim 1.
The data selection unit sorts the data managed by the data management unit in the order of high priority, low priority, or the order specified by the user, and passes the data to the application execution unit. apparatus. The electronic control device according to claim 1.
The data selection unit is characterized in that when high-priority data and low-priority data are mixed, the processing cycle of data passed from the data management unit to the application execution unit is changed according to the data priority. Electronic control device. The electronic control device according to claim 1.
The data selection unit is an electronic control device characterized in that a method of returning data having a high priority is operated according to a situation. The electronic control device according to claim 1.
The external world situation is a moving object (which may include vehicles, pedestrians, obstacles, etc. around the vehicle) or a static object (traffic light, sign) sensed by an external world recognition sensor mounted on the vehicle. , Obstacles, etc.), including at least one electronic control device. The electronic control device according to claim 1.
The priority is the external world situation, the internal world situation of the own vehicle, the track prediction result, the tracking situation, the risk map, the moving speed of the target object, the target object type, the running situation of the own vehicle, and the sensed object. An electronic control device characterized in that it is set based on at least one of relative distances. The electronic control device according to claim 1.
The priority is an object that affects the running of the own vehicle, an object that is expected to affect the running of the own vehicle, an object that exists on the predicted orbit of the own vehicle, a blind spot of the own vehicle, and a blind spot of the own vehicle. An electronic control device characterized in that it is set high for at least one of the objects existing in the region where it is predicted to be. The electronic control device according to claim 1.
The electronic control device is characterized in that the priority giving unit assigns the priority determined by the priority determining unit to data and registers the priority in the data management unit. The electronic control device according to claim 1.
The priority determination unit determines the priority to be given according to at least one of the external world situation, the own vehicle situation, the track prediction result processed by the application execution unit, and the tracking situation. Electronic control device. The electronic control device according to claim 1.
Normally, the application execution unit specifies the type of data in the data selection unit and executes processing using the data selected by the data selection unit.
The data selection unit selects data to be stored in the data management unit according to the designated data type and comes to the application execution unit, and when the priority determination unit determines high-priority data, the data selection unit is described. An electronic control device characterized in that data having a high priority determined by the priority determination unit is placed in the application execution unit in preference to data stored in the data management unit. The electronic control device according to claim 1.
The electronic control device to which the priority is given includes the sensed data, the time series information of the data, the processing information, and the processing information by a plurality of sensed data. The electronic control device according to claim 1.
The electronic control device is an electronic control device characterized in that, at the time of its activation, priority definition information for defining a priority is obtained from the outside and reflected in the priority determination unit and the data selection unit. The electronic control device according to claim 1.
Regarding the data to which the priority is given, the data having the highest priority is directly given to the application execution unit via the data selection unit, and the data having a relatively low priority is held in the data management unit. An electronic control device characterized by being The electronic control device according to claim 13.
The priority definition information for defining the priority is a moving object such as a pedestrian, a vehicle, a bicycle, a motorcycle, an object moving on a course or a side road, or a static object as sensed data. When prioritizing the information of at least one object such as a sign, a traffic light, an obstacle, a street tree, and an object stationary on a path or a side road, the resolution of the priority, the condition for assigning the priority, and the priority are given. An electronic control device that defines at least one of data processing means according to the degree.

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