WO2025022669A1 - 車両制御システム - Google Patents

車両制御システム Download PDF

Info

Publication number
WO2025022669A1
WO2025022669A1 PCT/JP2023/027632 JP2023027632W WO2025022669A1 WO 2025022669 A1 WO2025022669 A1 WO 2025022669A1 JP 2023027632 W JP2023027632 W JP 2023027632W WO 2025022669 A1 WO2025022669 A1 WO 2025022669A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
processing unit
software
vehicle control
data
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/JP2023/027632
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
矢野　直彦
政和 池田
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.)
Astemo Ltd
Original Assignee
Hitachi Astemo 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 Hitachi Astemo Ltd filed Critical Hitachi Astemo Ltd
Priority to JP2025535548A priority Critical patent/JPWO2025022669A1/ja
Priority to DE112023006407.5T priority patent/DE112023006407T5/de
Priority to PCT/JP2023/027632 priority patent/WO2025022669A1/ja
Publication of WO2025022669A1 publication Critical patent/WO2025022669A1/ja
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/14—Error detection or correction of the data by redundancy in operations
    • G06F11/1402—Saving, restoring, recovering or retrying
    • G06F11/1415—Saving, restoring, recovering or retrying at system level
    • G06F11/1433—Saving, restoring, recovering or retrying at system level during software upgrading
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/1629—Error detection by comparing the output of redundant processing systems
    • G06F11/1641—Error detection by comparing the output of redundant processing systems where the comparison is not performed by the redundant processing components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Prevention of errors by analysis, debugging or testing of software
    • G06F11/3668—Testing of software
    • G06F11/3672—Test management
    • G06F11/3688—Test management for test execution, e.g. scheduling of test suites
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Prevention of errors by analysis, debugging or testing of software
    • G06F11/3668—Testing of software
    • G06F11/3672—Test management
    • G06F11/3692—Test management for test results analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G06F8/71—Version control; Configuration management

Definitions

  • the present invention relates to a vehicle control system.
  • An autonomous driving system is made up of multiple electronic control units (ECUs). Each of these ECUs is equipped with control software that realizes external environment recognition, driving route planning, vehicle control, etc., and as autonomous driving systems become more advanced, the control software is becoming more complex.
  • ECUs electronice control units
  • Patent Document 1 describes a technology that compares the output of an old version of control software with that of a new version of control software, and outputs information indicating the mismatch if the outputs are found to be inconsistent. Patent Document 1 also describes a technology in which the old and new control software sections perform recognition processing, route planning, and calculate control commands based on input sensor values.
  • Patent Document 1 describes a method for verifying software by comparing the old and new software, there are dedicated resources for verification that are not in use when not being verified. There is no mention of how to effectively utilize these resources.
  • the object of the present invention is to provide a vehicle control system that can effectively utilize verification resources that are not in use when verification is not in progress while ensuring reliability.
  • the present invention is configured as follows:
  • the vehicle control system includes a first processing unit that stores first software used to control the vehicle, receives external information from an external sensor as input information, and outputs a control signal used to control the vehicle; a second processing unit that stores second software, the same version as the first software or a different version from the first software, receives the external information as input information, and outputs a control signal related to the control of the vehicle; an output comparison unit that compares the output of the first processing unit with the output of the second processing unit; a transmission unit that outputs data to a server based on the determination result of the output comparison unit; a data path construction unit that receives the output of the first processing unit and the output of the second processing unit and constructs a data path; a software version confirmation unit that confirms the versions of the first software stored in the first processing unit and the second software stored in the second processing unit and outputs the confirmation result to the data path construction unit; and a vehicle control unit that controls the vehicle based on the control data from the data path construction unit.
  • FIG. 11 is a diagram illustrating a modified example of the vehicle control system according to the first embodiment of the present invention.
  • FIG. 11 is a block diagram of a vehicle control system according to a second embodiment of the present invention.
  • 10 is an operation flowchart of a vehicle control system according to a second embodiment of the present invention.
  • FIG. 11 is a block diagram of a vehicle control system according to a third embodiment of the present invention.
  • 11 is an operation flowchart of a vehicle control system according to a third embodiment of the present invention.
  • FIG. 11 is a timing chart according to a third embodiment of the present invention.
  • FIG. 11 is a block diagram of a vehicle control system according to a fourth embodiment of the present invention.
  • 10 is an operation flowchart of a vehicle control system according to a fourth embodiment of the present invention.
  • 11 is a comparison table in Example 4 of the present invention.
  • Example 1 1 shows a block diagram of a vehicle control system 100 in a first embodiment of the present invention.
  • the vehicle control system 100 is composed of a sensor receiving unit 101, a first processing unit 102, a data reception path switching unit 104, a vehicle control unit 105 that controls the vehicle, a software version checking unit 106, a second processing unit 107, an output comparing unit 109, a determining unit 110, a transmitting/receiving unit 111, a software update control unit 112, and a diagnosing unit 113.
  • the diagnosing unit 113 determines whether the first processing unit 113 is normal or faulty.
  • the first processing unit 102 also includes a first software unit 103 that is equipped with the current (Version.N) vehicle control software (first software), and outputs a control signal used to control the vehicle.
  • the second processing unit 107 includes a second software unit 108 that is equipped with the current (Version.N) vehicle control software (first software), or new (Version.N+1) vehicle control software that is different from the current (Version.N) software (first software), and outputs a control signal used to control the vehicle.
  • the data reception path switching unit 104 outputs the output result of the second processing unit 107 to the vehicle control unit 105 when the vehicle control software installed in the second software unit (second software) 108 is the same as the vehicle control software installed in the first software unit (first software) 103 (non-verification), and does not output the output result of the second processing unit 107 to the vehicle control unit 105 when they are different (verification).
  • This makes it possible to newly construct an output path from the second processing unit 107 to the vehicle control unit 105 without compromising reliability during verification, making it possible to effectively utilize verification resources during non-verification.
  • FIG. 2 is a flowchart showing the operation of the vehicle control system 100 in the first embodiment of the present invention. Here, the process flow is explained when the verification resource is used as a backup for the vehicle control system 100 when not being verified.
  • the software update control unit 112 receives update software from the outside, for example, via OTA (Over The Air), and updates the control software installed in the first software unit 103 and the second software unit 108 (step 201).
  • the software version checking unit 106 checks and compares the versions of the vehicle control software installed in the first software unit 103 and the second software unit 108 (step 202).
  • the software version checking unit 106 determines that the verification mode is in which the vehicle control software installed (stored) in the first software unit 103 is compared with the vehicle control software installed in the second software unit 108, and instructs the data transmission bus switching unit 301 not to construct an output path from the second software unit 108 to the data reception path switching unit 104.
  • the sensor receiving unit 101 receives sensor data from the external sensor 114 and transmits it as an input sensor value to the first processing unit 102 and the second processing unit 107 (step 203).
  • the first software unit 103 executes the current version (Version.N) of the vehicle control software based on the input sensor values, and transmits the output results to the output comparison unit 109 and the data reception path switching unit 104 (step 205).
  • the second software unit 108 executes the new version (Version.N+1) of the vehicle control software based on the input sensor values, and transmits the output results to the output comparison unit 109 (step 206).
  • the data reception path switching unit 104 receives the output results from the first processing unit 102, and transmits them to the vehicle control 105 (step 212).
  • the data reception path switching unit 104 constructs a path so as not to receive the output result from the second processing unit 107. Specifically, the output result of the second processing unit 107 is not sent to the data reception path switching unit 104, or the processing by the second software unit 108 is stopped.
  • the data reception path switching unit 104 may receive the output result from the second processing unit 107, and may operate so as not to output it to the vehicle control unit 105 during verification.
  • the advantage of preventing the data reception path switching unit 104 from receiving the output result from the second processing unit 107 is that data congestion in the data reception path switching unit 104 can be avoided.
  • the vehicle control unit 105 performs recognition processing, route planning, control command processing, etc. based on the results output by the vehicle control software to realize autonomous driving.
  • the output comparison unit 109 compares the output results of the first processing unit 102 and the second processing unit 107, and transmits the comparison result to the determination unit 110 (step 209). Based on the output comparison result, the determination unit 110 determines whether to output the input sensor value (step 213). If it is determined that the input sensor value should be output, it instructs the transmission/reception unit 111 to output the input sensor value to the outside. The transmission/reception unit 111 converts the sensor value to be output into an appropriate protocol, and outputs it to the external server 115 (step 216).
  • the software version checking unit 106 also determines that the mode is non-verification if the versions of the vehicle control software installed in the first software unit 103 and the second software unit 108 are the same (step 202). At this time, if the diagnosis unit 113 determines that the first processing unit 102 is normal (step 204), it instructs the data reception path switching unit 104 not to construct an output path from the second processing unit 107 (determines that the vehicle control software installed in the second software unit 108 will not be used as a backup).
  • the sensor receiving unit 101 receives sensor data from the external sensor 114 and transmits it as an input sensor value to the first processing unit 102 and the second processing unit 107 (step 207).
  • the first software unit 103 executes the current version (Version.N) of the vehicle control software based on the input sensor value and transmits the output result to the data reception path switching unit 104 (step 210).
  • the data reception path switching unit 104 receives the output result from the first processing unit 102 and transmits it to the vehicle control unit 105 (step 214). Note that when the first processing unit 102 is normal, the data reception path switching unit 104 constructs a path so as not to receive the output result from the second processing unit 107.
  • the software version checking unit 106 determines that the mode is non-verification and the diagnosis unit 113 determines that the first processing unit 102 is faulty (step 204), it instructs the data reception path switching unit 104 not to receive data from the first processing unit 102 and to construct an output path from the second software unit 108.
  • the sensor receiving unit 101 receives sensor data from the external sensor 114 and transmits it as an input sensor value to the first processing unit 102 and the second processing unit 107 (step 208).
  • the second software unit 108 executes the current version (Version.N) of the vehicle control software based on the input sensor value and transmits the output result to the data reception path switching unit 104 (step 211).
  • the data reception path switching unit 104 receives the output result from the second processing unit 107 and transmits it to the vehicle control unit 105 (step 215). Note that if the diagnosis unit 113 determines that the first processing unit 102 is faulty, the data reception path switching unit 104 does not receive data from the first processing unit 102 and constructs a path to receive data from the second processing unit 107.
  • the vehicle control system 100 that can effectively utilize verification resources that are not in use during non-verification while ensuring reliability by preventing the output during verification from being used for vehicle control.
  • the second processing unit 107 is configured to have one second software unit 108, as shown in FIG. 3, it can be configured to have a backup second software unit 108A in addition to the second software unit 108. If the second software unit 108 fails, normal operation can be maintained by using the backup second software unit 108A.
  • the configuration is described as being composed of the first processing unit 102 and the second processing unit 107, but it may be similarly composed of three or more units.
  • FIG. 4 shows a block diagram of the vehicle control system 100 in the second embodiment of the present invention.
  • the server 115 is omitted.
  • the difference from FIG. 1 in the first embodiment is that a data transmission path switching unit 301 is added, and the vehicle control software installed in the first software unit 103 and the vehicle control software installed in the second software unit 108 are different versions.
  • the data transmission path switching unit 301 In the case of a verification mode in which an output comparison is performed, the data transmission path switching unit 301 outputs external sensor data (external information) to the first processing unit 102 and the second processing unit 107, and in the case of a non-verification mode in which the vehicle control software installed in the first software unit 103 and the software installed in the second software unit 108 are the same version and no output comparison is performed, the data transmission path switching unit 301 stops outputting the external sensor data to the second processing unit 107.
  • FIG. 5 is an operation flowchart of the vehicle control system 100 in the second embodiment of the present invention.
  • the software version check unit 106 determines that the mode is verification mode when the versions of the vehicle control software installed in the first software unit 103 and the second software unit 108 are different, and instructs the data transmission path switching unit 301 to construct an input path to the first processing unit 102 and the second processing unit 107.
  • the data transmission path switching unit 301 receives sensor data from the sensor receiving unit 101 and transmits it to the first processing unit 102 and the second processing unit 107 as an input sensor value (step 401).
  • the software version check unit 106 determines that the mode is non-verification mode when the versions of the vehicle control software installed in the first software unit 103 and the second software unit 108 are the same.
  • the diagnosis unit 113 determines that the first processing unit 102 is normal, it instructs the data transmission path switching unit 301 to construct only an input path to the first processing unit 102.
  • the data transmission path switching unit 301 receives sensor data from the sensor receiving unit 101 and transmits it to the first processing unit 102 as an input sensor value (step 402).
  • the software version checking unit 106 determines that the mode is non-verification
  • the diagnostic unit 113 determines that the first processing unit 102 is faulty, it instructs the data transmission path switching unit 301 not to transmit data to the first processing unit 102, and instructs the data transmission bus switching unit 301 to construct a path to transmit data only to the second software unit 108.
  • the data transmission path switching unit 301 receives sensor data from the sensor receiving unit 101 and transmits it to the second processing unit 107 as an input sensor value (step 403).
  • the output during verification is not used for vehicle control, thereby ensuring reliability and providing a vehicle control system 100 that can effectively utilize verification resources that are not in use during non-verification.
  • the second processing unit 107 can be configured to have a backup second software unit 108A in addition to the second software unit 108, as shown in FIG. 3, in the same way as in the first embodiment.
  • FIG. 6 shows a block diagram of the vehicle control system 100 in the third embodiment of the present invention.
  • the server 115 is omitted.
  • the difference from FIG. 4 in the second embodiment is that a processing data division unit 501 has been added in place of the data transmission bus switching unit 301, and a processing data integration unit 502 has been added in place of the data reception bus switching unit 104.
  • the processing data division unit 501 divides the input external sensor data and transmits the divided data to the first processing unit 102 and the second processing unit 107.
  • the processing data integration unit 502 also constructs a path to receive the output result of the second processing unit 107, integrates the output of the first processing unit 102 and the output of the second processing unit 107, and outputs the integrated data to the vehicle control unit 105.
  • the first processing unit 102 and the second processing unit 107 perform vehicle control processing in parallel, making it possible to speed up processing.
  • FIG. 7 is an operational flowchart of the vehicle control system 100 in the third embodiment of the present invention.
  • the software version check unit 106 determines that the verification mode is active when the versions of the vehicle control software installed in the first software unit 103 and the second software unit 108 are different, and instructs the processing data division unit 501 to construct input paths to the first processing unit 102 and the second processing unit 107, and instructs the processing data integration unit 502 not to construct an output path from the second processing unit 107.
  • the processing data division unit 501 receives sensor data from the sensor receiving unit 101 and transmits it as input sensor values to the first processing unit 102 and the second processing unit 107 (step 601).
  • the first software unit 103 executes the current version (Version.N) of the vehicle control software based on the input sensor values and transmits the output results to the output comparison unit 109 and the processing data integration unit 502 (step 205).
  • the second software unit 108 executes the new version (Version.N+1) of the vehicle control software based on the input sensor value, and transmits the output result to the output comparison unit 109 (step 206).
  • the processing data integration unit 502 receives the output result from the first processing unit 102, and transmits it to the vehicle control unit 105 (step 603).
  • the processing data integration unit 502 constructs a path so as not to receive the output result from the second processing unit 107.
  • the output result of the second processing unit 107 is not sent to the processing data integration unit 502, or the processing by the second software unit 108 is stopped.
  • the processing data integration unit 502 may receive the output results from the second processing unit 107 and operate not to output the results to the vehicle control unit 105 during verification.
  • the advantage of not having the processing data integration unit 502 receive the output results from the second processing unit 107 is that data crosstalk in the processing data integration unit 502 can be avoided.
  • the software version confirmation unit 106 determines that the mode is non-verification, instructs the processing data division unit 501 to divide the input sensor values by time or by input sensor and construct paths for inputting them to the first processing unit 102 and the second processing unit 107, and instructs the processing data integration unit 502 to construct output paths from the first processing unit 102 and the second processing unit 107, and to integrate and reconstruct the processing data.
  • the processing data division unit 501 receives sensor data from the sensor receiving unit 101, divides the sensor data by time and by input sensor, and transmits the input sensor values to the first processing unit 102 and the second processing unit 107 (step 602).
  • the first software unit 103 executes the current version (Version.N) of the vehicle control software based on the input sensor values and transmits the results to the processing data integration unit 502 (step 210).
  • the second software unit 108 executes the current version (Version.N) of the vehicle control software based on the input sensor values and transmits the output results to the processing data integration unit 502 (step 211).
  • the processing data integration unit 502 receives the output results from the first processing unit 102 and the second processing unit 107, integrates the output results of the first software unit 103 and the second software unit 108, and transmits them to the vehicle control unit 105 (step 604).
  • FIG. 8 is an example of a timing chart diagram during processing data division processing in the third embodiment of the present invention.
  • the processing of the processing data division unit 501, the first processing unit 102, the second processing unit 107, and the processing data integration unit 502 when data with sensor values 0 to 3 are input as input sensor values will be described.
  • the processing data division unit 501 divides the input sensor values and transmits them to the first processing unit 102 and the second processing unit 107, for example, transmitting sensor values 0 and 2 to the first processing unit 102 and sensor values 1 and 3 to the second processing unit 107.
  • the first processing unit 102 and the second processing unit 107 execute the current version (Version.N) of the vehicle control software based on the input sensor values, and transmit the output results to the processing data integration unit 502.
  • the processing data integration unit 502 organizes the output result sensor values received from the first processing unit 102 and the second processing unit 107 in the order of sensor value 0 to sensor value 3, and integrates and reconstructs them.
  • the input sensor value can be divided by time for processing, which can speed up processing.
  • a method of dividing by time has been explained, this is not a limitation.
  • the processing speed can be increased by dividing the processing for each input sensor. That is, in the same way as in the first embodiment, the second processing unit 107 can be configured to have a second software unit 108A in addition to the second software unit 108, as shown in FIG. 2. However, the second software unit 108A in the third embodiment is not for backup, but for further dividing the processing of the sensor values. By configuring it in this way, the processing of the sensor values can be further increased in speed.
  • the third embodiment in addition to being able to obtain the same effect as the first embodiment, it is also possible to obtain the effect of further speeding up the processing of sensor values.
  • FIG. 9 shows a block diagram of the vehicle control system 100 in the fourth embodiment of the present invention.
  • the server 115 is omitted.
  • the difference from FIG. 6 in the third embodiment is that an operation determination unit 801 is added, and a third software unit (third software) 802 that is equipped with the same version of the vehicle control software installed in the first software unit 103 is added to the second processing unit 107.
  • the second software unit 108 is assumed to be equipped with both the current software (Version.N) and new vehicle control software (Version.N+1) that is different from the current software (Version.N).
  • the operation determination unit 801 determines whether to use the verification resources for verification processing or to use it as parallel processing of vehicle control depending on specific conditions (e.g., vehicle state, driving environment, etc.), and transmits to the software version confirmation unit 106 whether to switch and execute.
  • the software version confirmation unit 106 instructs the second processing unit 107 to execute the second software unit 108, and when performing parallel processing of vehicle control, instructs the second processing unit 108 to execute the third software unit 802.
  • FIG. 10 is an operation flowchart of the electronic control device in the fourth embodiment of the present invention.
  • the operation determination unit 801 determines whether to execute the switch based on the vehicle's running state and environment, and transmits the determination result to the software version confirmation unit 106 (step 901).
  • the software version confirmation unit 106 also checks and compares the versions of the vehicle control software installed in the first software unit 103 and the third software unit 802 (step 903).
  • the software version confirmation unit 106 determines that the verification mode is active, instructs the second processing unit 107 to execute the second software unit 108 (step 902), instructs the processing data division unit 501 to construct input paths to the first processing unit 102 and the second processing unit 107, and instructs the processing data integration unit 502 not to construct an output path from the second processing unit 107.
  • the software version checking unit 106 determines that the mode is non-verification mode when switching is performed based on the result of the judgment by the operation judgment unit 801 and when the versions of the vehicle control software installed in the first software unit 103 and the third software unit 802 are the same.
  • the software version checking unit 106 then instructs the second processing unit 107 to execute the third software unit 802 (step 904), and instructs the processing data division unit 501 to divide the input sensor values by time or by sensor and build paths for inputting them to the first processing unit 102 and the second processing unit 107.
  • the software version checking unit 106 then instructs the processing data integration unit 502 to build output paths from the first processing unit 102 and the second processing unit 107 and integrate the processing data.
  • the processing data division unit 501 receives the sensor data from the sensor receiving unit 101, divides the sensor data by time and by sensor, and transmits the data as input sensor values to the first processing unit 102 and the second processing unit 107 (step 602).
  • the first software unit 103 executes the current version (Version.N) of the vehicle control software based on the input sensor values, and transmits the results to the processing data integration unit 502 (step 210).
  • the third software unit 802 executes the current version (Version.N) of the vehicle control software based on the input sensor values, and transmits the output results to the processing data integration unit 502 (step 905).
  • the processing data integration unit 502 receives the output results from the first processing unit 102 and the second processing unit 107, integrates the output results from the first software unit 103 and the third software unit 802, and transmits them to the vehicle control unit 105 (step 906).
  • FIG. 11 is a comparison table showing examples of specific conditions for the operation determination unit 801 in the fourth embodiment.
  • FIG. 11 an example of a condition for switching execution by the operation determination unit 801 will be described.
  • the vehicle when the vehicle is moving forward, it is considered that the vehicle is moving normally, so verification process A is performed, and when the vehicle is moving backward, it is considered that the vehicle is being parked, so it is possible to dynamically switch to parallel process B to speed up control processing of a parking assistance system or the like. It is also possible to perform verification process A during the day, and switch to parallel process B at night when visibility is poor, in order to improve the accuracy and processing speed of the autonomous driving system.
  • the fourth embodiment in addition to being able to obtain the same effect as the first embodiment, it is also possible to obtain the effect of making effective use of verification resources that are not in use when verification is not being performed.
  • the data reception path switching unit 104 in the first and second embodiments and the processing data integration unit 502 in the third and fourth embodiments have in common the point of constructing a data path, and therefore can be collectively referred to as a data path construction unit.
  • 100 vehicle control system
  • 101 sensor receiver
  • 102 first processing unit
  • 103 first software unit (first software)
  • 104 data reception path switching unit
  • 105 vehicle control unit
  • 106 software version confirmation unit
  • 107 second processing unit
  • 108 second software unit (second software)
  • 108A backup second software unit (backup second software)
  • 109 output comparison unit
  • 110 judgment unit
  • 111 transmission/reception unit
  • 112 software update control unit
  • 113 diagnosis unit
  • 114 external sensor
  • 115 server
  • 301 data transmission path switching unit
  • 501 processing data division unit
  • 502 processing data integration unit
  • 801 operation judgment unit
  • 802 third software unit (third software)

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Stored Programmes (AREA)
PCT/JP2023/027632 2023-07-27 2023-07-27 車両制御システム Pending WO2025022669A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2025535548A JPWO2025022669A1 (https=) 2023-07-27 2023-07-27
DE112023006407.5T DE112023006407T5 (de) 2023-07-27 2023-07-27 Fahrzeugsteuerungssystem
PCT/JP2023/027632 WO2025022669A1 (ja) 2023-07-27 2023-07-27 車両制御システム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/027632 WO2025022669A1 (ja) 2023-07-27 2023-07-27 車両制御システム

Publications (1)

Publication Number Publication Date
WO2025022669A1 true WO2025022669A1 (ja) 2025-01-30

Family

ID=94374736

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/027632 Pending WO2025022669A1 (ja) 2023-07-27 2023-07-27 車両制御システム

Country Status (3)

Country Link
JP (1) JPWO2025022669A1 (https=)
DE (1) DE112023006407T5 (https=)
WO (1) WO2025022669A1 (https=)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017196965A (ja) * 2016-04-26 2017-11-02 三菱電機株式会社 自動運転制御装置および自動運転制御方法
JP2019032656A (ja) * 2017-08-07 2019-02-28 株式会社Ihi 検証システム及び検証方法
JP2019144669A (ja) * 2018-02-16 2019-08-29 トヨタ自動車株式会社 車両制御装置、プログラム更新方法およびプログラム
WO2021166167A1 (ja) * 2020-02-20 2021-08-26 三菱電機株式会社 検証装置
JP2022013187A (ja) * 2020-07-03 2022-01-18 日立Astemo株式会社 車両制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017196965A (ja) * 2016-04-26 2017-11-02 三菱電機株式会社 自動運転制御装置および自動運転制御方法
JP2019032656A (ja) * 2017-08-07 2019-02-28 株式会社Ihi 検証システム及び検証方法
JP2019144669A (ja) * 2018-02-16 2019-08-29 トヨタ自動車株式会社 車両制御装置、プログラム更新方法およびプログラム
WO2021166167A1 (ja) * 2020-02-20 2021-08-26 三菱電機株式会社 検証装置
JP2022013187A (ja) * 2020-07-03 2022-01-18 日立Astemo株式会社 車両制御装置

Also Published As

Publication number Publication date
DE112023006407T5 (de) 2026-03-12
JPWO2025022669A1 (https=) 2025-01-30

Similar Documents

Publication Publication Date Title
JP7034987B2 (ja) 自動車アプリケーションのための電力およびデータセンタ（ＰＤＣ：ｐｏｗｅｒ ａｎｄ ｄａｔａ ｃｅｎｔｅｒ）
JP3965410B2 (ja) 冗長構成の車両用制御装置
CN110678375B (zh) 车辆控制装置及车辆控制系统
WO2019208442A1 (ja) 車両制御装置
JPWO2018110124A1 (ja) 車両制御装置
CN113672254A (zh) 车辆ota升级方法、装置、存储介质和无人驾驶设备
JP2018067312A (ja) 自動化された車両用のデータを処理するための方法
JP2004518578A (ja) 分配された安全上重要なシステムのコンポーネントの駆動方法
CN113474230B (zh) 安全系统和用于运行安全系统的方法
KR102690454B1 (ko) 차량의 이중화 시스템과, 그 전원 공급 장치 및 방법
JP6732143B1 (ja) 車両制御装置
US11318929B2 (en) Electronic control apparatus, electronic control system, and electronic control method
US11789730B2 (en) Electronic control device and control method
JP6441380B2 (ja) 車載用変速機制御装置
WO2025022669A1 (ja) 車両制御システム
EP3726330B1 (en) Method and system for fail-operational handover of service during vehicle operation
CN115933504B (zh) 行驶控制系统，行驶控制方法及装置
CN112636881A (zh) 一种信号切换方法、装置及车辆
JP7007226B2 (ja) 電子制御装置、制御方法
US11427227B2 (en) Safety device for use in a vehicle, vehicle, and method for operating a vehicle
US20230075731A1 (en) System for monitoring an event chain including components for carrying out at least one semiautomated driving function of a motor vehicle and method for operating the system
JP7164483B2 (ja) 電子制御装置、制御システム
WO2023084581A1 (ja) 電子制御装置及び車両制御システム
CN109154928A (zh) 管理状态帧的丢失的多路复用网络
US10391924B2 (en) Lighting device control system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23946745

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2025535548

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 112023006407

Country of ref document: DE

WWP Wipo information: published in national office

Ref document number: 112023006407

Country of ref document: DE