Vehicle control information transmission structure, vehicle control device using the transmission structure, and vehicle control simulator using the transmission structure
First Claim
1. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that the conveyance structure comprises:
- a cognition-system control platform having information system and/or surroundings monitoring system constituent elements;
an operation-system control platform having vehicle movement system constituent elements; and
a determination-system control platform which coordinates information from the cognition-system control platform and the operation-system control platform and transmits requests to the cognition-system control platform and the operation-system control platform.
1 Assignment
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Accused Products
Abstract
A control information conveyance structure comprises: a cognition-system control platform which recognizes the circumstances of the surroundings of a vehicle and generates a control space; an operation-system control platform which recognizes the circumstances related to the movement of the vehicle body and generates a control space; and a determination-system control platform which generates a determination control space based on information from the cognition-system and operation-system control platforms. The conveyance structure is constituted so that sensors and individual control devices belong to either or both of the control platforms. This control information conveyance structure is adopted. Thus, control platforms of such a control structure that the individual control devices are managed at a higher level can be provided.
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Citations
47 Claims
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1. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that the conveyance structure comprises:
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a cognition-system control platform having information system and/or surroundings monitoring system constituent elements;
an operation-system control platform having vehicle movement system constituent elements; and
a determination-system control platform which coordinates information from the cognition-system control platform and the operation-system control platform and transmits requests to the cognition-system control platform and the operation-system control platform. - View Dependent Claims (2, 14, 15, 46, 47)
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3. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that the conveyance structure comprises:
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a first sensor which detects and outputs information of outside of the vehicle;
a cognition-system control platform to which information from the first sensor and/or information of surroundings of the vehicle is inputted;
a second sensor which detects and outputs an operating state of an actuator operated by an occupant and a third sensor comprising a sensor which detects and outputs a state of a vehicle body;
an operation-system control platform to which information from the second sensor and/or the third sensor is inputted; and
a determination-system control platform which makes execution determination on the plurality of control functions based on information from the cognition-system control platform and the operation-system control platform, and makes requests to the cognition-system control platform and the operation-system control platform in accordance with the execution determination. - View Dependent Claims (4, 13)
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5. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that the conveyance structure comprises:
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a first sensor which detects and outputs information of outside of the vehicle;
an information system constituent element provided with information of surroundings of the vehicle;
a cognition-system control platform having an allowable security space setting means which establishes an allowable security space of a vehicle body, or an allowable range of movement of the vehicle body, based on information from the first sensor and/or the information provided in the information system constituent element;
a second sensor which detects and outputs an operating state of an actuator operated by an occupant and a third sensor comprising a sensor which detects and outputs the state of the vehicle body;
an operation-system control platform having an allowable movement space setting means which establishes an allowable range within which the vehicle body is allowed to move as an allowable movement space of the vehicle body based on information from the second sensor and/or the third sensor; and
a determination-system control platform having a determination control space in which information of the allowable security space and the allowable movement space is received from the cognition-system control platform and the operation-system control platform, and control requests conveyed to the cognition-system control platform and the operation-system control platform are set. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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6. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that the conveyance structure comprises:
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cognition-system devices which are provided with a first sensor that detects and outputs information of outside of the vehicle, and operates based on the detected information of the outside and/or information of surroundings originally provided;
a cognition-system control platform which is provided with an allowable security space setting means that establishes an allowable security space of a vehicle body, or an allowable range of movement of the vehicle body established based on information from the first sensor and/or the cognition-system devices, and provides a determination-system control platform with information of the allowable security space;
operation-system devices provided with a second sensor which detects an operating state or a result of operation of each actuator provided in the vehicle and/or a third sensor which detects a state of movement of the vehicle body;
an operation-system control platform which is provided with an allowable movement space setting means that establishes an allowable movement space of the vehicle body, or an allowable range within which the vehicle body is allowed to move based on information from the second and/or third sensor and/or the operation-system devices, and provides the determination-system control platform with information of the allowable movement space; and
the determination-system control platform which is provided with a determination control space in which execution determination is made based on relative relation between the allowable security space and the allowable movement space, and outputs control requests to the cognition-system control platform and the operation-system control platform.
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16. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that the conveyance structure comprises:
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a first hierarchy which manages at least engine power;
a second hierarchy which manages a state of driving force, or the engine power transmitted to an axle through an automatic transmission; and
a third hierarchy which manages tire generative force delivered by each wheel based on at least the driving force on the axle, wherein the first hierarchy makes adjustment based on a command space generated based on a driver command and desired values which have influence on engine power to generate at least a request to carry out engine control, and generates an automatic transmission control fundamental space which becomes basic information for controlling the automatic transmission in the second hierarchy, wherein the second hierarchy comprises;
a first cognition-system control platform which generates an automatic transmission control allowable space based on information on outside of the vehicle and/or inside of the vehicle in order to specify a range within which control of the automatic transmission is permitted;
a first determination-system control platform which generates execution determination on the automatic transmission as a request based on any or all of the automatic transmission control fundamental space in the first hierarchy, the vehicle stabilization control fundamental space in the third hierarchy, the automatic transmission control allowable space, and the command space based on a driver command; and
a first operation-system control platform which receives a request from the first determination-system control platform and transmits a control request to the automatic transmission, and receives an operating state of the automatic transmission and transmits a first allowable movement space to the first hierarchy and/or the third hierarchy, and wherein the third hierarchy comprises;
a second cognition-system control platform which generates a wheel stabilization allowable space using information on outside in order to manage a road surface reaction force on each wheel;
a second determination-system control platform which generates a request to the second operation-system control platform corresponding to operation-system devices that control movement of wheels, based on any or all of the wheel stabilization allowable space, the allowable movement space from the second hierarchy, and the command space; and
the second operation-system control platform which receives a request from the second determination-system control platform and transmits a control request to the operation-system devices, and receives information from the operation-system devices and transmits a second allowable movement space to the second hierarchy.
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17. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that
control levels are hierarchically structured in correspondence with controlled objects of the plurality of control functions, and each of the plurality of hierarchies is provided with a cognition-system control platform which recognizes information on inside and outside of the vehicle, an operation-system control platform for coordinating movement of the vehicle itself, and a determination-system control platform which transmits requests to the cognition-system control platform and/or the operation-system control platform based on information from the cognition-system control platform and the operation-system control platform and commands arising from driver'"'"'s operation.
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18. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that
control platforms are structured in a plurality of hierarchies according to relation of positional order of action force on the vehicle, each of the plurality of hierarchies is provided with a cognition-system control platform which generates an allowable security space as a control domain, an operation-system control platform which generates an allowable movement space as a control domain, and a determination-system control platform having a determination control space in which requests corresponding to execution determination on the plurality of control functions are generated, in each hierarchy, individual control devices which individually fulfill the plurality of control functions, and sensors which detect operating states of the individual control devices and/or states of movements of parts of the vehicle are correspondingly positioned, and driver commands are communicated to every determination-system control platform in the plurality of hierarchies, and command spaces corresponding to the driver commands are generated.
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19. A vehicle control information conveyance structure, a vehicle control device using the conveyance structure, and a vehicle control simulator using the conveyance structure, the conveyance structure being for control information of a vehicle having a plurality of control functions, characterized in that
control platforms are structured in a plurality of hierarchies according to relation of positional order of action force on the vehicle, each of the plurality of hierarchies is provided with a cognition-system control platform which generates an allowable security space as a control domain, an operation-system control platform which generates an allowable movement space as a control domain, and a determination-system control platform having a determination control space in which requests corresponding to execution determination on the plurality of control functions are generated, the operation-system control platform transmits information of the allowable movement space to the determination-system control platform in an immediately higher and/or immediately lower hierarchy, and the determination-system control platform receives information used in the determination control space from the operation-system control platform in the immediately higher and/or immediately lower hierarchy, and transmits requests to the operation-system control platform in a same hierarchy.
Specification