Vehicle control information transmission structure, vehicle control device using the transmission structure, and vehicle control simulator using the transmission structure

• US 20050240319A1
• Filed: 06/19/2003
• Published: 10/27/2005
• Est. Priority Date: 06/24/2002
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sawada, Mamoru
• Granted Patent: US 7,580,820 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 2510/0628 Inlet air flow rate
• CPC Class Codes: B60W 2510/0638 Engine speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 50/00 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
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: F02D 11/105 characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
• CPC Class Codes: F02D 29/02 peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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.

Claims

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.

2. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 1, characterized in that

the determination-system control platform is provided with a function of monitoring conditions of a driver, and takes the conditions of the driver into account in addition to the information from the cognition-system control platform and the operation-system control platform before transmitting requests to the cognition-system control platform and the operation-system control platform.

14. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 1, characterized in that

the plurality of control functions are distributed among hierarchies, and all the cognition-system control platform, the operation-system control platform, and the determination-system platform are provided in every hierarchy.

15. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 1, the conveyance structure being for the control information of the vehicle having the plurality of control functions, characterized in that

a plurality of control platforms obtained by hierarchically structuring the plurality of control functions in an order in which power of an engine is transmitted, and

a plurality of hierarchies are provided with the cognition-system control platform, the operation-system control platform, and the determination-system control platform.

46. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 14, characterized in that

a signal indicating the driver command is transmitted to the determination-system control platforms in the plurality of hierarchies, and

the signal indicating the driver command is of an instantaneous command value in a lower-level hierarchy, and of a processed value obtained by carrying out integration for a predetermined time in a higher-level hierarchy.

47. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 14, characterized in that

the control platforms in the plurality of hierarchies use parameters with which conveyances of requests between the control platforms and the operation-system devices corresponding to their respective hierarchies are standardized in the respective hierarchies.

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:

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.

4. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 3, characterized in that

the determination-system control platform is provided with a function of monitoring conditions of a driver, and takes the conditions of the driver into account when making execution determination on the control functions.

13. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 3, characterized in that

the first sensor detects at least any of a car location, a following distance, and a collision,

the second sensor detects at least any of an engine speed, an amount of engine intake air, a braking force, a steering angle, an amount of accelerator operation, and an amount of brake pedal operation, and

the third sensor detects at least any of a vehicle body longitudinal acceleration, a vehicle body lateral acceleration, and a vehicle body yaw rate.

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:

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.

7. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 5, characterized in that

the allowable security space setting means establishes an allowable range of position within which the vehicle body is allowed to move a predetermined time later based on information from the first sensor at predetermined time intervals, and

the allowable movement space setting means establishes an allowable range of position within which the vehicle body is allowed to physically move a predetermined time later based on information from the second sensor and/or the third sensor at predetermined time intervals.

8. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 7, characterized in that

the allowable security space setting means establishes an allowable range of position within which the vehicle body is allowed to move a predetermined time later in correspondence with a probability with consideration given to safety based on information from the first sensor, and

the allowable movement space setting means establishes an allowable range of position in correspondence with a probability that the vehicle body is allowed to physically move a predetermined time later based on information from the second sensor and/or the third sensor.

9. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 5, characterized in that

the second sensor detects a state of at least one of an accelerator operation, a brake operation, and a steering wheel operation of the driver, and

the determination-system control platform receives a result of detection from the second sensor, generates a command space which indicates a state of an driver command, and generates a control request based on the allowable security space, the allowable movement space, and the command space.

10. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 9, characterized in that

with respect to the determination control space, an overlap portion of the allowable security space, the allowable movement space, and the command space is taken as a control request feasible range, and control requests to the operation-system control platform and/or the cognition-system control platform are made based on the control request feasible range.

11. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 5, characterized in that

the determination-system control platform sets information, reported to the driver, based on the allowable security space and the allowable movement space.

12. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according claim 9, characterized in that

when an overlap region of the command space and the allowable security space and/or

the allowable movement space does not exist, the determination-system control platform outputs a report request to a reporting device provided with a function of reporting to the driver.

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:

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.

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:

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.

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.

20. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 17, characterized in that

of the plurality of hierarchies, the first hierarchy that is in charge of parts related to a most basic performance of the vehicle is not provided with the determination-system control platform or the cognition-system control platform, but the first hierarchy is provided with a power source coordinator which adjusts power of an engine in correspondence with a plurality of requests.

21. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 17, characterized in that

of the plurality of hierarchies, the first hierarchy that is in charge of parts related to a most basic performance of the vehicle has, as a control platform, a power source coordinator which is provided with functions including functions of the determination-system control platform and functions of the cognition-system control platform.

22. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 17, characterized in that

of the plurality of hierarchies, the first hierarchy that is in charge of parts related to a basic performance of the vehicle ranks at least an engine control device of the vehicle as an operation-system device in the first hierarchy.

23. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 22, characterized in that

a control platform in the first hierarchy receives information from a sensor which detects any or all of an engine speed, an amount of fuel injection, and an amount of intake air as an operating state of the operation-system device.

24. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 20, characterized in that

of the plurality of hierarchies, the second hierarchy as a hierarchy immediately higher than the first hierarchy ranks at least the automatic transmission as an operation-system device in the second hierarchy.

25. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 24, characterized in that

the operation-system control platform in the first hierarchy of the plurality of hierarchies generates an automatic transmission control fundamental space as basic information for controlling, in the second hierarchy, the operation-system devices in the second hierarchy, and

the determination-system control platform in the second hierarchy generates requests to the operation-system devices in the second hierarchy, using at least information of the automatic transmission control fundamental space from the first hierarchy and information of the allowable security space from the cognition-system control platform in the second hierarchy.

26. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 25, characterized in that

the determination-system control platform in the second hierarchy receives a state of at least one of an accelerator operation, a brake operation, and a steering wheel operation of the driver as a driver command, generates a command space which defines a control request to the operation-system devices based on the driver command, and generates a request to the operation-system devices in the second hierarchy based on an overlap portion of the command space, information of the automatic transmission control fundamental space from the first hierarchy, and the information of the allowable security space from the cognition-system control platform in the second hierarchy.

27. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 26, characterized in that

the automatic transmission control fundamental space transmitted from the first hierarchy to the determination-system control platform in second hierarchy is related to the allowable movement space in which the scope of control which can be implemented by the automatic transmission is defined based on at least a present driving state of the engine.

28. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 24, characterized in that

the operation-system control platform in the second hierarchy of the plurality of hierarchies transmits, to the control platform in the first hierarchy, information of a wheel stabilization control fundamental space based on an operating state of the operation-system devices in the second hierarchy.

29. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 28, characterized in that

the wheel stabilization control fundamental space is generated by converting torque required for an axle of the vehicle into engine torque based on at least an operating state of the automatic transmission.

30. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 24, characterized in that

of the plurality of hierarchies, the third hierarchy that is a hierarchy immediately higher than the second hierarchy ranks at least an antiskid control device as an operation-system device in the third hierarchy.

31. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 30, characterized in that

the operation-system control platform in the second hierarchy generates a wheel stabilization control fundamental space as basic information for controlling, in the third hierarchy, the operation-system devices in the third hierarchy, and

the determination-system control platform in the third hierarchy generates requests to the operation-system devices in the third hierarchy, using at least information of the wheel stabilization control fundamental space from the second hierarchy and information of the allowable security space from the cognition-system control platform in the third hierarchy.

32. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 31, characterized in that

the wheel stabilization control fundamental space transmitted from the operation-system control platform in the second hierarchy to the determination-system control platform in the third hierarchy is generated as an allowable movement space corresponding to information on torque transmitted from the axle to each wheel with consideration given to at least a wheel speed, a vehicle body speed, and an efficiency of transmission of engine power from the engine to the automatic transmission.

33. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 30, characterized in that

the operation-system control platform in the third hierarchy of the plurality of hierarchies transmits, to the determination-system control platform in the second hierarchy, information of a vehicle stabilization control fundamental space based on the operating state of an operation-system device in the third hierarchy.

34. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 33, characterized in that

a vehicle stabilization control fundamental space transmitted from the operation-system control platform in the third hierarchy to the determination-system control platform in the second hierarchy is generated as an allowable movement space corresponding to information on tire generative force based on at least the wheel speed and the vehicle body speed.

35. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 30, characterized in that

of the plurality of hierarchies, the fourth hierarchy that is the hierarchy immediately higher than the third hierarchy ranks at least a vehicle behavior control device as an operation-system device in the fourth hierarchy.

36. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 35, characterized in that

the operation-system control platform in the third hierarchy generates a vehicle stabilization control fundamental space as basic information for controlling the operation-system devices in the fourth hierarchy in the fourth hierarchy, and

the determination-system control platform in the fourth hierarchy generates requests to the operation-system devices in the fourth hierarchy, using at least information of the vehicle stabilization control fundamental space in the third hierarchy and information of the allowable security space from the cognition-system control platform in the fourth hierarchy.

37. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 36, characterized in that

the vehicle stabilization control fundamental space transmitted from the operation-system control platform in the third hierarchy to the determination-system control platform in the fourth hierarchy is an allowable movement space in which a degree of margin for friction circle of present tire generative force on each wheel is defined so that the vehicle body does not vibrate.

38. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 35, characterized in that

the operation-system control platform in the fourth hierarchy of the plurality of hierarchies transmits, to the determination-system control platform in the third hierarchy, information of a vehicle safety control fundamental space based on an operating state of the operation-system device in the fourth hierarchy.

39. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 38, characterized in that

the vehicle safety control fundamental space transmitted from the operation-system control platform in the fourth hierarchy to the determination-system control platform in the third hierarchy is a wheel stabilization command space indicated by a torque request given to each wheel with consideration given to suppression of longitudinal and/or lateral vibration in the vehicle body.

40. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 35, characterized in that

of the plurality of hierarchies, the fifth hierarchy that is a hierarchy immediately higher than the fourth hierarchy ranks at least a navigation system as a cognition-system device in the fourth hierarchy.

41. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 40, characterized in that

the fifth hierarchy ranks at least an adaptive cruise control system as an operation-system device in the fifth hierarchy.

42. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 40, characterized in that

the operation-system control platform in the fourth hierarchy generates a vehicle safety control fundamental space as basic information for controlling, in the fifth hierarchy, the operation-system devices in the fifth hierarchy, and

the determination-system control platform in the fifth hierarchy generates requests to the operation-system devices in the fifth hierarchy, using at least information of the vehicle safety control fundamental space from the fourth hierarchy and information of the allowable security space from the cognition-system control platform.

43. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 42, characterized in that

the vehicle safety control fundamental space transmitted from the operation-system control platform in the fourth hierarchy to the determination-system control platform in the fifth hierarchy is an allowable movement space based on requests to the operation-system devices required for stabilizing the vehicle.

44. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 42, characterized in that

the operation-system control platform in the fifth hierarchy of the plurality of hierarchies transmits, to the determination-system control platform in the fourth hierarchy, information of a vehicle stabilization command space based on an operating state of the operation-system device in the fifth hierarchy.

45. The vehicle control information conveyance structure, the vehicle control device using the conveyance structure, and the vehicle control simulator using the conveyance structure according to claim 44, characterized in that

the vehicle stabilization command space transmitted from the operation-system control platform in the fifth hierarchy to the determination-system control platform in the fourth hierarchy is generated using at least information from the navigation system.

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.

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.