WO2023276434A1 - 車載装置及びその動作方法、並びに車両 - Google Patents

車載装置及びその動作方法、並びに車両 Download PDF

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Publication number
WO2023276434A1
WO2023276434A1 PCT/JP2022/019001 JP2022019001W WO2023276434A1 WO 2023276434 A1 WO2023276434 A1 WO 2023276434A1 JP 2022019001 W JP2022019001 W JP 2022019001W WO 2023276434 A1 WO2023276434 A1 WO 2023276434A1
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WIPO (PCT)
Prior art keywords
vehicle
server
information
function
sub
Prior art date
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Ceased
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PCT/JP2022/019001
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English (en)
French (fr)
Japanese (ja)
Inventor
明紘 小川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Wiring Systems Ltd
AutoNetworks Technologies Ltd
Sumitomo Electric Industries Ltd
Original Assignee
Sumitomo Wiring Systems Ltd
AutoNetworks Technologies Ltd
Sumitomo Electric Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Wiring Systems Ltd, AutoNetworks Technologies Ltd, Sumitomo Electric Industries Ltd filed Critical Sumitomo Wiring Systems Ltd
Priority to JP2023531471A priority Critical patent/JPWO2023276434A1/ja
Priority to CN202280044068.2A priority patent/CN117529764A/zh
Priority to US18/571,743 priority patent/US20240278787A1/en
Publication of WO2023276434A1 publication Critical patent/WO2023276434A1/ja
Anticipated expiration legal-status Critical
Priority to JP2026009546A priority patent/JP2026063350A/ja
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • This disclosure relates to an in-vehicle device, its operation method, and a vehicle.
  • This application claims priority based on Japanese application No. 2021-109959 filed on July 1, 2021, and incorporates all the descriptions described in the Japanese application.
  • a system that collects and analyzes sensor data from a large number of sensors on a server and uses it for driving support is becoming widespread.
  • the sensor data is transmitted from sensors mounted on vehicles and from sensors provided in roadside infrastructure equipment (hereinafter referred to as “infrastructure sensors”).
  • infrastructure sensors In such systems, vehicles use wireless communications to connect to a nearby wireless base station, through which they communicate with a server.
  • direct communication between vehicles can be used to transmit sensor data of a vehicle to other vehicles, or to transmit information possessed by a vehicle to other vehicles.
  • a server is installed near the site where the vehicle travels and sensor data is processed by this server.
  • This server is called an edge server in the sense of a server installed near the site.
  • edge servers that analyze sensor data like this
  • cloud servers that provide various services to vehicles via wireless communication are becoming popular. For example, distribution of so-called traffic information, management of dispatch schedules for transportation vehicles, distribution of sightseeing and event information near roads, vehicle failure diagnosis, route guidance, and the like.
  • edge servers and cloud servers vehicles can travel more safely and people can live meaningful lives using vehicles.
  • Patent Document 1 A proposal for solving these problems is disclosed in Patent Document 1.
  • an in-vehicle device is provided with a function of a mini-edge server, which is a scaled-down version of the same function as an edge server. Then, when communication with the edge server becomes impossible, the mini edge server is started.
  • the mini-edge server When the mini-edge server is activated, the mini-edge server is initialized using the data received from the edge server until then, and the output is used for driving support. Furthermore, it determines cooperative nodes that receive sensor data transmission from the surrounding vehicles and infrastructure sensors, and updates the information held by the mini-edge server using the sensor data received from them and the sensor data from the sensors equipped with the vehicle. do. When the communication with the edge server is restored, the mini edge server is stopped and the data received from the edge server is used for driving support.
  • An in-vehicle device is an in-vehicle device mounted in a vehicle equipped with a driving support device that uses information from an external server, and comprises one or more subsets of the functions of the external server. , and uses data received from the outside to output subset information that can be replaced with a part of the information; a function selection unit for selecting at least one sub-function to be executed by the in-vehicle server according to priority based on the traffic environment in which the vehicle is placed; and an in-vehicle/outdoor cooperation device that provides the subset information from the in-vehicle server to the driving support device in response to the determination by the reception determination unit that the reception has been interrupted.
  • a method of operating an in-vehicle device is a method of operating an in-vehicle device mounted in a vehicle equipped with a driving assistance device that uses information from an external server, the method comprising: constructing an in-vehicle server that can execute one or more sub-functions that constitute the and providing the subset information from the in-vehicle server to the driving support device in response to the determination that the reception has been interrupted.
  • a vehicle according to a third aspect of the present disclosure is equipped with any one of the on-vehicle devices described above.
  • FIG. 1 is a schematic block diagram of an in-vehicle device according to the first embodiment of this disclosure and various parts of a vehicle controlled by the in-vehicle device.
  • FIG. 2 is a functional block diagram of an in-vehicle device according to the first embodiment of this disclosure.
  • FIG. 3 is a diagram schematically showing storage contents of a functional module storage unit that stores functional modules that can be used in the mini edge server according to the first embodiment of this disclosure.
  • FIG. 4 is a diagram showing a priority table referred to when the mini-edge server according to the first embodiment of this disclosure selects sub-functions.
  • FIG. 5 is a flow chart showing the control structure of a computer program that causes a computer to implement the functions of the in-vehicle device shown in FIG. FIG.
  • FIG. 6 is a flow chart showing the control structure of a computer program that implements the step of generating a subset of server functions in the computer program shown in FIG.
  • FIG. 7 is a block diagram showing an example of a hardware configuration for realizing the in-vehicle device shown in FIG. 1.
  • FIG. 8 is a block diagram of an in-vehicle device according to the second embodiment of this disclosure.
  • FIG. 9 is a block diagram showing the hardware configuration of an in-vehicle mini-server ECU, which is a computer that implements the mini-edge server according to the first and second embodiments of this disclosure.
  • Patent Document 1 there are further problems to be solved in order to put the technology disclosed in Patent Document 1 into practical use. For example, as described above, many cloud services are already provided in addition to edge servers. Patent Document 1 does not consider the use of such cloud services. There is also the issue of how to respond to new services added in the future. In addition, since the information processing resources installed in vehicles are limited, there is also the problem that it is not always possible to sufficiently implement necessary services with mini-edge servers.
  • the purpose of this disclosure is to provide an in-vehicle device that can flexibly replace its functions even when it cannot be connected to a server, an operation method thereof, and a vehicle equipped with the in-vehicle device.
  • An in-vehicle device is an in-vehicle device mounted in a vehicle equipped with a driving support device that uses information from an external server, and constitutes a subset of functions of the external server.
  • An in-vehicle server that can execute one or more sub-functions and uses data received from the outside to output subset information that can be replaced with a part of the information, and when the reception of information from the external server is interrupted
  • a function selection unit that selects at least one of the sub-functions to be executed by the in-vehicle server according to a priority based on the traffic environment in which the vehicle is placed, and a determination that reception of information from the external server has been interrupted.
  • an in-vehicle/outdoor communication device that provides subset information from the in-vehicle server to the driving support device in accordance with the reception determination unit's determination that the reception has been interrupted.
  • the in-vehicle server When communication with the external server is interrupted, the in-vehicle server will start up and provide sub-functions selected according to their priority based on the traffic environment. Therefore, it is possible to provide an in-vehicle device that can flexibly replace its function even when the connection with the server is interrupted.
  • the function selection unit includes a priority table storage device for storing a priority table that defines the priority of functions for each of one or more types of traffic environments, and a vehicle traffic environment that identifies and prioritizes
  • a priority table selection unit that selects one of the priority tables corresponding to the traffic environment from among the priority tables stored in the time table storage device, and a resource information acquisition that acquires current dynamic information of the information processing resources of the vehicle. selects a sub-function within a range allowed by the information processing resource based on the dynamic information acquired by the resource information acquisition unit according to the priority determined by the priority table selected by the priority table selection unit;
  • a sub-function selector may also be included.
  • Sub-functions are selected within the range allowed by the information processing resource situation according to the priority determined by the priority table. Since effective sub-functions are selected within the range of information processing resources, it is possible to provide an in-vehicle device that can flexibly substitute the function within the possible range even when the connection with the server is interrupted.
  • the priority table selection unit may identify the traffic environment of the vehicle based on the dynamic map and the position of the vehicle.
  • the priority table selection unit can identify the traffic environment based on the latest information.
  • the dynamic information acquired by the resource information acquisition unit is dynamic information covering at least a plurality of information processing resources among the information processing resources of the vehicle, and the in-vehicle server provides a plurality of information of the information processing resources of the vehicle. Functions may be distributed to processing resources for processing.
  • a vehicle may have multiple information processing resources. By distributing these information processing resources and executing the sub-functions of the in-vehicle server, the in-vehicle device can effectively use the information processing resources in the vehicle and flexibly substitute the functions even when the connection with the server is interrupted. can provide
  • the sub-function selection unit selects a sub-function within the allowable range of the information processing resource based on the dynamic information acquired by the resource information acquisition unit according to the priority determined by the priority table selected by the priority table selection unit.
  • a first sub-function selection unit that selects a sub-function with and a second sub-function selection unit that selects other sub-functions required for execution of the sub-function selected by the first sub-function selection unit may contain.
  • the second sub-function selector automatically selects the required sub-functions.
  • the function selection unit further includes a function storage unit that stores the function being executed by the driving assistance device in response to the reception determination unit determining that the reception has been interrupted, and the sub-function selection unit includes a priority According to the priority determined by the priority table selected by the priority table selection unit, based on the dynamic information acquired by the resource information acquisition unit, within the range allowed by the information processing resource and stored in the function storage unit
  • a sub-function selection unit may be included that selects a sub-function from among the existing functions.
  • the function storage stores the functions that were being executed when communication with the external server was interrupted.
  • the sub-function selector preferentially selects this function. Therefore, even if the connection with the server is interrupted, it is possible to provide an in-vehicle device with flexible functions that can continue to substitute for the function.
  • the in-vehicle server may determine, for each function selected by the function selection unit, a cooperation node as a collection destination of data necessary for realizing the function.
  • each function can be effectively performed. As a result, it is possible to provide an in-vehicle device that can flexibly and efficiently replace its functions even when the connection with the server is interrupted.
  • the in-vehicle server may commonly determine a cooperation node, which is a collection destination of data necessary for realizing the function selected by the function selection unit, for all of the selected functions.
  • a method of operating an in-vehicle device is a method of operating an in-vehicle device mounted in a vehicle equipped with a driving support device that uses information from an external server, constructing an in-vehicle server capable of executing one or more sub-functions constituting a subset of functions and outputting subset information that can be replaced with a part of the information using data received from the outside; selecting one of the sub-functions to be performed by the in-vehicle server according to a priority based on the traffic environment in which the vehicle is located, in response to interruption of receiving information from the external server; determining that reception has been interrupted; and providing the subset information from the in-vehicle server to the driving support device in response to the determination that reception has been interrupted.
  • the in-vehicle server When communication with the external server is interrupted, the in-vehicle server will start up and provide sub-functions selected according to their priority based on the traffic environment. Therefore, it is possible to provide an operation method of an in-vehicle device that can flexibly replace the function even when the connection with the server is interrupted.
  • a vehicle according to a third aspect of the present disclosure is equipped with any one of the in-vehicle devices described above.
  • the in-vehicle server When communication with the external server is interrupted, the in-vehicle server starts up in the same way as the in-vehicle device described above, and provides sub-functions selected according to the priority based on the traffic environment. Therefore, even when the connection with the server is interrupted, the function is flexibly replaced. As a result, vehicles can be provided that continue to utilize a subset of the functionality they were providing when the servers were interrupted.
  • FIG. 1 shows a block diagram of a driving support system 50 according to this disclosure.
  • the driving support system 50 includes an edge server 62 and a cloud server 64 that distributes traffic information and various other information.
  • the function of the edge server 62 is to collect sensor information from vehicles 66 and infrastructure sensors such as LiDAR (Light Detection And Ranging) 68 and cameras 70, integrate it with pre-stored high-definition maps, and assist driving. It is to generate information (driving support information) and deliver it to the vehicle.
  • Driving support information includes, for example, dynamic maps regarding traffic environment and traffic conditions.
  • the traffic environment here mainly refers to road shapes such as intersections, junctions, straight roads, and curves.
  • traffic conditions refer to road conditions such as whether there is traffic congestion, whether there are sections where traffic is restricted, whether there are accidents, and whether there are stopped vehicles. Say things.
  • the driving support system 50 further includes a vehicle 60 that can wirelessly communicate with external servers such as an edge server 62 and a cloud server 64 .
  • the driving support system 50 further includes an in-vehicle device 90 which is mounted on the vehicle 60 and uses information obtained from the edge server 62 for driving support of the vehicle and information obtained from the cloud server 64 for various purposes.
  • the driving support system 50 cooperates with a millimeter-wave radar 80, an on-board camera 82, and a LiDAR 84, which are in-vehicle sensors connected to the in-vehicle device 90, and the on-board device 90 to electronically control the mechanical parts of each part of the vehicle 60. and various ECUs (Electronic Control Units) 92 for control.
  • ECUs Electronic Control Units
  • the in-vehicle device 90 is substantially a computer, and implements an in-vehicle mini server 94 by executing a predetermined program.
  • the in-vehicle mini-server 94 performs a subset of the functionality of the edge server and a subset of the functionality of the cloud server. By executing a subset of the functions of each server in this manner, the in-vehicle mini-server 94 replaces some of the information that would normally be generated by the edge and cloud servers based on the data collected by the in-vehicle mini-server 94. Generate. This information generated by the in-vehicle mini-server 94 is referred to as subset information of the information provided by the edge and cloud servers.
  • the subset information here does not relate to the content of the information, but rather to the type of information.
  • the subset information generated by the in-vehicle mini-server 94 is generated by a subset of the functions of each server. Therefore, this subset information is the same type of information as part of the information provided by each server. Therefore, the in-vehicle device 90 can use this subset information to replace part of the information that should have been provided from the server.
  • the content does not necessarily match the content of the information provided by the server.
  • the in-vehicle device 90 includes an exterior communication device 154 capable of performing wireless communication with a wireless base station outside the vehicle and other vehicles, an in-vehicle network, and an exterior communication device. 154 and an in-vehicle GW (Gateway) 150 provided between them.
  • the function of the vehicle-mounted GW 150 is to transmit information obtained from vehicle-mounted sensors and various ECUs 92 (see FIG. 1) mounted on the vehicle to the edge server 62 .
  • the in-vehicle GW 150 also performs processing such as distributing information received from the edge server 62 or the cloud server 64 by the external communication device 154 to the in-vehicle device 90 .
  • the in-vehicle device 90 further includes an in-vehicle/outside communication unit 152 connected to the in-vehicle communication device 154 , the in-vehicle GW 150 and the in-vehicle mini server 94 .
  • the function of the in-vehicle/outdoor communication unit 152 is to control the data flow among the in-vehicle GW 150, the in-vehicle communication device 154, and the in-vehicle mini server 94 according to the communication status of the vehicle-external communication device 154, thereby coordinating the inside and outside of the vehicle 60. It is to control.
  • the in-vehicle mini server 94 includes an in-vehicle resource observation unit 200 for observing dynamic states such as load of information processing resources such as various ECUs 92 and in-vehicle networks installed in the vehicle 60 via the in-vehicle GW 150 .
  • the in-vehicle mini-server 94 further includes a priority table storage unit 212 for storing a table called a priority table transmitted from the edge server 62 via the external communication device 154 and the in-vehicle GW 150 .
  • the hardware configuration of the in-vehicle mini server 94 will be described later with reference to FIG.
  • the priority table is a table for determining what functions should be executed by the in-vehicle mini-server 94 in what order of priority when communication between the outside communication device 154 and the external server is interrupted. .
  • a priority table is created in advance and stored in the edge server 62 .
  • a plurality of priority tables are prepared according to traffic conditions in which vehicles are placed.
  • the in-vehicle device 90 further includes a mini-server 208 which is the main body of the in-vehicle mini-server, a module storage unit 204 storing functional modules executable by the mini-server 208, and an external communication device 154 which is connected to the server when communication with the server is interrupted. and an active function storage unit 210 for storing active functions such as services that the vehicle 60 was using.
  • the in-vehicle device 90 further includes an execution priority determination unit 202 for selecting the optimum one from among the priority tables stored in the priority table storage unit 212 according to the traffic conditions in which the vehicle 60 is placed. include. Traffic conditions can be determined based on the shape of the road and the position of the vehicle 60 shown by the dynamic map.
  • In-vehicle device 90 further includes mini-server construction unit 206 .
  • the function of the mini-server construction unit 206 is to construct the mini-server 208 so that the function module corresponding to the function to be executed by the mini-server 208 is selected from the module storage unit 204 and executed.
  • the mini-server construction unit 206 determines the priority table selected by the execution priority determination unit 202, the functions in execution stored in the function-in-execution storage unit 210, and the in-vehicle resources observed by the in-vehicle resource observation unit 200. Use the dynamic state of information processing resources.
  • the in-vehicle/outside cooperation unit 152 detects the state of communication with the external server by the in-vehicle communication device 154, and responds to the interruption of communication with one of the external servers by detecting the interruption.
  • a communication state detection unit 180 for notifying the function storage unit 210 is included.
  • In-vehicle/outdoor cooperation unit 152 further includes operation mode switching unit 182 .
  • the function of the operation mode switching unit 182 is to switch the operation mode of the in-vehicle device 90 from the normal mode to the interruption mode in response to detection of interruption of communication with the external server by the communication state detection unit 180. It is to notify the mini-server 94 of switching of the operation mode.
  • the vehicle interior/exterior communication unit 152 operates by communicating with an external server.
  • the in-vehicle/outdoor cooperation unit 152 operates using information generated by the in-vehicle mini server 94 instead of communicating with an external server.
  • the in-vehicle/outside cooperation unit 152 is further controlled by the operation mode switching unit 182, and transmits information received by the outside communication device 154 to the in-vehicle GW 150 in the normal mode, and transmits the output of the mini server 208 to the in-vehicle GW 150 in the interruption mode.
  • the in-vehicle/outdoor cooperation unit 152 is further controlled by the operation mode switching unit 182, and selects switching so that the output of the in-vehicle GW 150 is transmitted to the external communication device 154 in the normal mode, and transmitted to the mini server 208 in the interruption mode. 186 is included.
  • FIG. 3 shows an example of a function module group stored in the module storage unit 204. As shown in FIG. These functional module groups provide functions similar to those provided by the external server. However, when looking at individual functions, it is difficult to completely replace the functions due to the limited resources available to the vehicle 60 . Therefore, most functional modules can be called sub-functional modules in the sense that they provide part of the functions of the external server. However, hereinafter, such sub-functional modules are simply referred to as "functional modules”.
  • the functional module groups stored in the module storage unit 204 are roughly classified into three groups.
  • the first is an in-vehicle mini edge server module group 250 for implementing a subset of the functions of the edge server 62 .
  • the second is an in-vehicle mini-cloud server module group 252 for implementing a subset of the functions of the cloud server 64 .
  • the third is a common module group 254 used by both the in-vehicle mini-edge server and the in-vehicle mini-cloud server.
  • the in-vehicle mini-edge server module group 250 includes, for example, an intersection assistance module 272 used when the vehicle is near an intersection, a driving lane control module 274 used when the vehicle is traveling on a road with multiple lanes, and an automotive module. and a target map building module 270 .
  • the dynamic map construction module 270 is a functional module commonly required by the intersection support module 272 and the driving lane control module 274 . That is, the intersection support module 272 and the driving lane control module 274 constitute a group of functional modules in the first layer, and the dynamic map construction module 270 functions as a base of the functional modules in the first layer. is a module.
  • Such a hierarchical structure is the same for the in-vehicle mini-cloud server module group 252 and the common module group 254 .
  • the first-layer functional module group of the in-vehicle mini-cloud server module group 252 includes a vehicle dispatch service module 294, a route guidance module 296, a vehicle failure diagnosis module 298, and the like.
  • the second-layer functional module group of the in-vehicle mini-cloud server module group 252 includes a vehicle information management module 290 that manages basic vehicle information of the vehicle 60 and an AI (Artificial Intelligence) diagnosis module 292 that is required for vehicle diagnosis. and so on.
  • AI Artificial Intelligence
  • the first-layer functional module group of the common module group 254 includes a data backup module 312 for backing up the data of the in-vehicle device 90 to the cloud server.
  • the functional module group of the first layer further includes a log management module 314 that writes the operation status of the in-vehicle device 90 as a temporary log to the in-vehicle storage device and periodically uploads it to the cloud server.
  • the second layer functional module group of the common module group 254 includes a vehicle abnormality management module 310 .
  • the vehicle anomaly management module 310 is a functional module commonly used by the data backup module 312 and the log management module 314 .
  • the mini-server construction unit 206 uses various conditions to select these functional modules. These conditions include, for example, how much room there is in the information processing resources distributed over the entire vehicle, and what kind of traffic environment the vehicle 60 is in.
  • the traffic environment can be determined based on the shape of the road and the position of the vehicle 60 indicated by the dynamic map. Since the dynamic map was downloaded from the edge server 62 when communication with the edge server 62 was possible, it is the latest information available to the mini-server construction unit 206 . Therefore, the mini-server builder 206 can select functional modules based on new traffic environments as much as possible.
  • the information processing resources include an in-vehicle device 90, various ECUs 92 that execute part of the functions of an in-vehicle mini server 94 together with the in-vehicle device 90, and an in-vehicle network that connects them.
  • FIG. 4 shows an example of the priority table received from the edge server 62 and stored by the priority table storage unit 212 in FIG.
  • the mini-server construction unit 206 refers to this priority table when specifying the functions of the mini-server 208 .
  • a priority table 330 defines the priority of each functional module by classifying it into three categories, ie, an intersection, a junction, and others, depending on the traffic environment in which the vehicle is placed. ing.
  • the first priority is intersection support
  • the second priority is lane control
  • the third priority is vehicle dispatch service, route guidance, and vehicle failure diagnosis. Note that in this embodiment, the smaller the number, the higher the priority.
  • this priority table is distributed from the edge server 62 to each vehicle in this embodiment.
  • this embodiment is not limited to such embodiments.
  • the manufacturer of the in-vehicle device may create it in advance and incorporate it into the in-vehicle mini server.
  • the traffic environment for which the priority table is prepared is not limited to the three types of classification shown in FIG. 4, and may be two types or four types or more. It is also possible to use a single priority table in some cases.
  • FIG. 5 is a flow chart showing the control structure of a computer program for causing a computer to function as the in-vehicle device 90 according to this embodiment.
  • this program is executed, for example, when distribution of data from edge server 62 is interrupted, identifies a device (service) whose distribution has been interrupted, and stores the information in the active function storage shown in FIG. Storing 350 in unit 210 is included.
  • the program further includes a step 352 in which the execution priority determination unit 202 determines an appropriate priority table from among the priority tables stored in the priority table storage unit 212 based on the traffic environment of the vehicle 60. .
  • This program further includes step 354 in which the in-vehicle resource observation unit 200 observes the static and dynamic states of the information processing resources available in the vehicle 60 .
  • the static state of information processing resources includes, for example, CPU (Central Processing Unit) specifications, operating clock, memory capacity, network communication capacity, and the like.
  • Dynamic states include, for example, CPU load state, free memory capacity, network throughput and delay time.
  • a dynamic map is stored in the in-vehicle device 90 based on information when communication with the edge server 62 was possible. Using this dynamic map and information about the vehicle's position, the vehicle's traffic environment can be determined at least at the time the mini-server is started.
  • the program further processes the server provided by the external server. It includes a step 356 of generating a subset of functions for mini-server 208 to perform.
  • the program further includes a step 358 of determining cooperating nodes for each function comprising the subset generated in step 356 .
  • a cooperative node is a node that collects sensor data from surrounding communication nodes, such as infrastructure sensors and vehicles, to be used to generate information about the service.
  • the program also dynamically builds and launches mini-servers 208 to perform each function by collecting sensor data from the cooperating nodes determined in step 358 for the subset of server functions generated in step 356. including step 360 to do. After step 360, execution of this program ends.
  • FIG. 6 shows a flow chart showing the control structure of the computer program executed in step 356 of FIG.
  • step 356 of FIG. 5 includes step 400 of performing the following steps 402 in order from the priority 1 server function in the priority table selected in step 352 of FIG.
  • Step 402 includes step 404 of performing steps 404 in the order of priority given to the server functions by default when the priority being processed is assigned to a plurality of server functions.
  • the default priority here is set in advance by, for example, the manufacturer of the in-vehicle device 90, the manufacturer of the vehicle 60, or the vendor of the vehicle 60 so that the same priority is not assigned to a plurality of server functions. I assume there is.
  • the default priority may be set by the user.
  • Step 404 includes step 420 for branching control flow according to whether there are sufficient resources to execute the server function in process as a result of the observation at step 354 of FIG.
  • step 404 when the determination in step 420 is affirmative, whether or not the server function to be determined was being executed in the in-vehicle device 90 immediately before the interruption of communication with the external server (or whether the server function was used or the application It includes a step 422 for branching the control flow according to whether it is running or not.
  • Step 404 further includes, when the determination at step 422 is affirmative, branching control flow according to whether the current vehicle position is within the performance area of the function being determined.
  • Step 404 further includes step 426 of adding the function module corresponding to the function to be determined as a function of the mini-server and ending step 404 when the determination of step 424 is affirmative. When the determinations in steps 420 and 422 and step 424 are negative, step 404 is terminated without adding the functional module to be determined.
  • Operation (1) Normal time Referring to FIG. 1, when communication with all external servers such as the edge server 62 and the cloud server 64 is normally performed, the operation mode switching unit 182 shown in FIG. Mode is set to normal mode. That is, the operation mode switching unit 182 switches the selection unit 184 so that the data received by the external communication device 154 from the external server is provided to the vehicle-mounted GW 150 . The operation mode switching unit 182 switches the selection unit 186 so that the sensor data output by the in-vehicle GW 150 and the data to be transmitted to the external server regarding the vehicle 60 are transmitted to the external server via the external communication device 154 .
  • the in-vehicle GW 150 transmits the data received from the external server to the autonomous driving ECU. In-vehicle GW 150 also transmits sensor data output from millimeter-wave radar 80 , in-vehicle camera 82 and LiDAR 84 installed in vehicle 60 to an external server via external communication device 154 .
  • the in-vehicle mini-server 94 While this normal mode is running, the in-vehicle mini-server 94 is dormant in this embodiment. However, the in-vehicle mini-server 94 may be operated even in the normal mode, and the selectors 184 and 186 may be switched so that the output of the in-vehicle mini-server 94 is immediately used when communication with the external server is interrupted.
  • the in-execution function storage unit 210 constantly monitors and records the functions executed by the automatic driving ECU via the in-vehicle GW 150.
  • the priority table received from the edge server 62 via the external communication device 154 is separated from the received data by the in-vehicle GW 150 and stored in the priority table storage unit 212 .
  • the communication state detector 180 detects the interruption and notifies the function-in-execution storage 210 of the interruption.
  • the function-in-execution storage unit 210 stores information representing the functions that the automatic driving ECU is executing at that time.
  • the communication state detection unit 180 also notifies the operation mode switching unit 182 of communication interruption.
  • the operation mode switching unit 182 switches the operation mode from normal mode to interruption mode in response to this notification.
  • the operation mode switching unit 182 switches the selection unit 184 so that the selection unit 184 gives the output of the mini-server 208 to the in-vehicle GW 150 for the communication with the external server with which communication has been interrupted.
  • the selector 186 is switched so that the output of the in-vehicle GW 150 is given to the mini-server 208 .
  • the operation mode switching unit 182 switches between the selecting unit 184 and the selecting unit 186 so that data flows through the same route as in the normal time for the external server with which communication continues.
  • the operation mode switching unit 182 also notifies the in-vehicle resource observation unit 200, the execution priority determination unit 202, and the mini-server construction unit 206 that the operation mode has been switched to the suspension mode.
  • the execution priority determination unit 202 selects a traffic environment suitable for the traffic environment at the current position of the vehicle from the priority table stored in the priority table storage unit 212 . read the priority table.
  • the traffic environment can be determined based on the shape of the road and the position of the vehicle 60 indicated by the dynamic map.
  • the execution priority determining unit 202 also reads out information about the service from the external server that has been interrupted among the processes that the automatic driving ECU was executing when the communication was interrupted, stored in the function-in-execution storage unit 210 .
  • the execution priority determination unit 202 provides the mini-server construction unit 206 with the read priority information and the information on the function being executed.
  • the in-vehicle resource observation unit 200 observes the dynamic state of other ECUs in the vehicle (CPU load, memory usage, etc.) and the dynamic state of the network (throughput, delay time) via the in-vehicle GW 150. , and gives the result to the mini-server construction unit 206 .
  • the mini-server construction unit 206 selects a function module corresponding to the function to be executed by the mini-server 208 from among the function modules stored in the module storage unit 204 by the program shown in FIG. to add.
  • the functional modules to be added are the functional modules of the first layer corresponding to the functions to be executed by the miniserver 208 and the functional modules of the second layer necessary for executing the functional modules.
  • the mini-server construction unit 206 uses the priority table given from the execution priority determination unit 202 and the information about the functional modules being executed, and the dynamic state of the in-vehicle resources given from the in-vehicle resource observation unit 200.
  • the mini-server builder 206 writes the selected functional modules into an initialization file that specifies the functional modules to be read when the mini-server 208 is started. It should be noted that when the mini-server construction unit 206 executes step 420 in FIG. sometimes not. In such a case, the mini-server construction unit 206 needs to determine whether or not there are in-vehicle resources necessary for executing both the first layer functional module and the second layer functional module.
  • the available memory capacity and the memory capacity consumed by adding a new function module are within the range of the memory capacity available to the miniserver 208 (for example, within 80%). or not.
  • the allowable amount e.g. 65%
  • the average utilization rate of the CPU falls below a certain threshold (e.g. 80%)
  • the mini-server construction unit 206 adds all functional modules executable by the vehicle 60 among the necessary functional resources to the initial setting file of the mini-server 208 .
  • the mini-server construction unit 206 determines nodes (coordination nodes) from which the mini-server 208 collects sensor data from communication nodes such as surrounding infrastructure sensors and vehicles. Add to the initialization file.
  • the mini-server construction unit 206 starts the mini-server 208 .
  • the mini-server 208 When the mini-server 208 is activated, it first reads this initial setting file, reads the recorded function module from the module storage unit 204, and incorporates it into its own function.
  • the mini-server 208 further collects and analyzes sensor data from the cooperative nodes determined for each function based on the description in the initial setting file, and analyzes the subset of functions provided by the external server with which the communication was interrupted. to start offering.
  • the mini-server 208 updates its own position based on the sensors mounted on the vehicle 60, the high-precision map stored by the vehicle 60, and the sensor data received from the cooperative nodes. continue.
  • the mini-server 208 also updates the vehicles and infrastructure sensors that make up the cooperative nodes by itself according to its own position.
  • the in-vehicle mini-server 94 causes other ECUs to perform some of the functions it executes in a distributed manner based on the dynamic state of the in-vehicle information processing resources acquired in step 354 of FIG. Basically, the in-vehicle mini-server 94 executes each function, and another ECU may be used only when the load on the in-vehicle mini-server 94 increases. Further, most of the functions executed by the in-vehicle mini-server 94 may be distributed to other ECUs, and the in-vehicle mini-server 94 may be configured to control only those ECUs.
  • the mini-server 208 stops functioning, and the operation mode switching unit 182 switches the selection units 184 and 186 to the normal mode connection. returns to normal mode.
  • FIG. 7 shows the hardware configuration of an in-vehicle device 90 mounted on a vehicle 60 and its peripherals according to this embodiment.
  • the in-vehicle device 90 includes an HMI (Human-Machine Interface) controller 554 connected to an in-vehicle LAN (Local Area Network), and an external communication controller 552 connected to the in-vehicle LAN like the HMI controller 554. including.
  • In-vehicle device 90 further includes integrated antenna 550 connected to off-vehicle communication controller 552 .
  • the integrated antenna 550 is a fifth-generation mobile communication system (so-called “5G”), an intelligent transport system (ITS (Intelligent Transport Systems)), a GPS (Global Positioning System) which is a kind of GNSS (Global Navigation Satellite System), and Acts as an antenna for Wi-Fi.
  • the in-vehicle device 90 further includes an automatic driving controller 556 connected to the HMI controller 554 and the external communication controller 552 via an in-vehicle LAN, and a running system controller 558 connected to the in-vehicle LAN.
  • a monitor 500 and a plurality of ECUs 502 and 504 are connected to the HMI controller 554 .
  • the automatic driving controller 556 is connected to the automatic driving ECU 514 in addition to the millimeter wave radar 80, the onboard camera 82, and the LiDAR 84.
  • a plurality of ECUs 506, 508, 510 and 512, etc. are connected to the running system controller 558 for electronically controlling each part related to running of the vehicle.
  • the in-vehicle mini-server ECU 516 is connected to the outside communication controller 552 .
  • the in-vehicle mini-server ECU 516 cooperates with the in-vehicle device 90 and substantially implements the mini-server function as part of the in-vehicle device 90 .
  • all of the ECUs 502, 504, 506, 508, 510 and 512 and the automatic driving ECU 514 are substantially computers, each having a CPU, a memory, and a communication function.
  • the in-vehicle mini-server ECU 516 distributes and executes the mini-server functions to these resources, so that these resources can be used effectively and stable mini-server functions can be provided.
  • FIG. 8 is a block diagram of an in-vehicle device 600 according to a second embodiment of this disclosure.
  • In-vehicle device 600 differs from in-vehicle device 90 shown in FIG. to include each.
  • In-vehicle device 600 also differs from in-vehicle device 90 in that mini-server construction unit 624 and change detection unit 626 are newly included in place of mini-server construction unit 206 .
  • the change detection unit instructs the execution priority determination unit 622 and the mini-server construction unit 624 to rebuild the mini-server 208 when a predetermined change occurs in the in-vehicle resource according to the output of the vehicle resource observation unit 620. belongs to.
  • in-vehicle resource observation unit 620 differs from in-vehicle resource observation section 200 shown in FIG.
  • the execution priority determination unit 622 sets the execution priority not only when receiving a notification of switching to the suspension mode from the operation mode switching unit 182 but also when receiving an instruction to rebuild the mini server 208 from the fluctuation detection unit 626. It differs from the execution priority determining unit 202 in FIG. 2 in that it determines the priority.
  • the mini-server construction unit 624 rebuilds the mini-server 208 when receiving a notification of switching to the suspension mode from the operation mode switching unit 182 .
  • mini-server constructing unit 624 differs from mini-server constructing unit 206 shown in FIG.
  • the operation of the in-vehicle device 600 in the normal mode and when the operation mode is switched from the normal mode to the interruption mode is the same as that of the in-vehicle device 90 of the first embodiment.
  • the change detection unit 626 detects it, reconfigures the mini-server 208 according to the new situation, and restarts it. It differs from the first embodiment. For this reason, the change detection unit 626 notifies the execution priority determination unit 622 and the mini-server construction unit 624 of this change.
  • Some kind of big change is, for example, when there is a large margin in in-vehicle resources, or when there is a large decrease.
  • the delay time of in-vehicle communication exceeds a threshold value, or when the load (operating ratio) of the CPU executing the functions of the mini-server 208 exceeds a predetermined threshold value, such changes occur.
  • the functions of the mini-server 208 can be flexibly rearranged depending on the situation not only when the mini-server is started but also after the start-up, and a subset of the functions of the external server whose communication has been interrupted can be realized in the car. can.
  • Hardware configuration of the third in-vehicle mini-server ECU 516 is a processor MPU (Micro-Processing Unit) 702, a high-speed bus 700 to which the MPU 702 is connected, an SRAM (Static Random Access Memory) 704 connected to the high-speed bus 700, and connected to the high-speed bus 700 and a ROM (Read-Only Memory) 708 connected to the high-speed bus 700 .
  • the SRAM 704 retains data necessary for program execution.
  • the SRAM 704 corresponds to the priority table storage unit 212 and the function-in-execution storage unit 210 shown in FIGS.
  • Flash memory 706 stores a program 726 for implementing the functions implemented by in-vehicle mini-server 610 . Flash memory 706 also functions as function module storage unit 204 shown in FIGS.
  • a boot-up program for the MPU 702 and the like are stored in the ROM 708 .
  • the in-vehicle mini-server ECU 516 further includes a low-speed bus 710 connected to the high-speed bus 700 via a bridge 712, a serial I/F (Interface) 714 and an ADC (Analog-to-Digital Converter) connected to the low-speed bus 710. ) 716 , timer/counter 718 , clock generator 720 , power control unit 722 and general purpose I/F 724 .
  • the serial I/F 714 is connected to an in-vehicle network (not shown) and is used to receive information necessary for the in-vehicle mini-server ECU 516 to operate as the in-vehicle mini-servers 94 and 610 via the in-vehicle network.
  • the functions of the mini-server 208 are rearranged in accordance with large changes in in-vehicle resources.
  • this disclosure is not limited to such embodiments.
  • the execution priority determination unit 622 and the mini-server construction unit 624 may be operated at regular intervals to rearrange the functions of the mini-server 208 .
  • an instruction to rearrange the functions of the mini-server 208 may be given manually.
  • cooperation nodes are determined separately for each functional module. By doing so, the data required by each functional module can be used, and each functional module can be efficiently operated.
  • this disclosure is not limited to such embodiments.
  • the same cooperation node may be used for all functional modules. This saves time for determining cooperating nodes.
  • the functional modules may be divided into several groups and the same cooperative node may be determined for each group. These cooperative node determination methods may be appropriately combined according to changes in the traffic environment.

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