Vehicle control system
First Claim
1. A vehicle control system comprising:
- a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver;
a command controller for generating a control target value based on the sensor signals taken in by said sensor controller; and
an actuator controller for receiving the control target value from said command controller and operating an actuator to control the vehicle, said sensor controller, said command controller and said actuator controller being interconnected via a network, wherein said actuator controller includes control target value generating means for generating a control target value based on the sensor signals taken in by said sensor controller and received by said actuator controller via the network when the control target value generated by said command controller is abnormal, and controls said actuator in accordance with the control target value generated by said control target value generating means.
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Abstract
A vehicle control system which can ensure high reliability, real-time processing, and expandability with a simplified ECU configuration and a low cost by backing up an error through coordination in the entire system without increasing a degree of redundancy of individual controllers beyond the least necessary level. The vehicle control system comprises a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver, a command controller for generating a control target value based on the sensor signals taken in by the sensor controller, and an actuator controller for receiving the control target value from the command controller and operating an actuator to control the vehicle, those three controller being interconnected via a network. The actuator controller includes a control target value generating unit for generating a control target value based on the sensor signals taken in by the sensor controller and received by the actuator controller via the network when the control target value generated by the command controller is abnormal, and controls the actuator in accordance with the control target value generated by the control target value generating unit.
154 Citations
55 Claims
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1. A vehicle control system comprising:
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a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver;
a command controller for generating a control target value based on the sensor signals taken in by said sensor controller; and
an actuator controller for receiving the control target value from said command controller and operating an actuator to control the vehicle, said sensor controller, said command controller and said actuator controller being interconnected via a network, wherein said actuator controller includes control target value generating means for generating a control target value based on the sensor signals taken in by said sensor controller and received by said actuator controller via the network when the control target value generated by said command controller is abnormal, and controls said actuator in accordance with the control target value generated by said control target value generating means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle control system comprising an operation amount generating node for computing an operation amount command value based on driver'"'"'s demand signals and vehicle status signals from sensors, and actuator driving nodes each controlling an actuator in accordance with the operation amount command value from said operation amount generating node, thereby driving, steering and braking a vehicle,
wherein each of said nodes has a failure detecting function and operates such that, when a failure is detected in itself with the failure detecting function, the relevant node does not make any action externally of the relevant node except for notifying that the relevant node is in a failed state, and when a failure occurs in any node, the other normal nodes than the failed node switch over control in accordance with a failure detecting notification from the failed node, thereby continuing normal operation as an entire system.
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29. A vehicle control system comprising an operation amount generating node for generating an operation amount, a correction amount generating node for generating a correction amount, and an actuator driving node for driving an actuator,
wherein said actuator driving node controls said actuator by using, as a control target value, a value obtained by adding the correction amount from said correction amount generating node to the operation amount from said operation amount generating node when said correction amount generating node is normal, and controls said actuator by using, as the control target value, the operation amount from said operation amount generating node when said correction amount generating node is abnormal.
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30. A vehicle control system comprising an operation amount generating node for generating an operation amount, a correction amount generating node for generating a correction amount, and an actuator driving node for driving an actuator,
wherein said actuator driving node controls said actuator by using, as a control target value, a value obtained by adding the correction amount generated from said correction amount generating node to the operation amount from said operation amount generating node when said correction amount generating node is normal, and controls said actuator by using, as the control target value, a value obtained by adding, to the operation amount from said operation amount generating node, a value resulting from multiplying the correction amount prior to the occurrence of an abnormality by a coefficient when said correction amount generating node is abnormal.
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40. A vehicle control system comprising a plurality of actuator driving means for controlling actuators in accordance with a driver'"'"'s demand and a vehicle status, and communication means for interconnecting said plurality of actuator driving means, thereby controlling at least one of driving, steering and braking of a vehicle,
wherein each of said actuator driving means has control method selecting means for selecting an actuator control method based on an operation state of itself and operation states of the other actuator driving means.
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42. A vehicle control system comprising a plurality of actuator driving means for controlling actuators in accordance with a driver'"'"'s demand and a vehicle status, and communication means for interconnecting said plurality of actuator driving means, thereby controlling at least one of driving, steering and braking of a vehicle,
wherein each of said actuator driving means has control method selecting means for selecting an actuator control method based on reception states of messages sent from the other actuator driving means via said communication means.
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44. A vehicle control system comprising at least one operation amount generating means for computing operation amount command values based on a driver'"'"'s demand and a vehicle status, a plurality of actuator driving means for controlling actuators in accordance with the operation amount command values from said operation amount generating means, and communication means for interconnecting said operation amount generating means and said plurality of actuator driving means, thereby controlling at least one of driving, steering and braking of a vehicle,
wherein each of said actuator driving means has control method selecting means for selecting an actuator control method based on an operation state of itself, operation states of the other actuator driving means, and an operation state of said operation amount generating means.
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46. A vehicle control system comprising at least one operation amount generating means for computing operation amount command values based on a driver'"'"'s demand and a vehicle status, a plurality of actuator driving means for controlling actuators in accordance with the operation amount command values from said operation amount generating means, and communication means for interconnecting said operation amount generating means and said plurality of actuator driving means, thereby controlling at least one of driving, steering and braking of a vehicle,
wherein each of said actuator driving means has control method selecting means for selecting an actuator control method based on reception states of messages sent from the other actuator driving means or said operation amount generating means.
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48. A vehicle control system comprising sensor means for detecting a driver'"'"'s demand and a vehicle status, at least one operation amount generating means for computing operation amount command values based on information from said sensor means, a plurality of actuator driving means for controlling actuators in accordance with the operation amount command values from said operation amount generating means or the information from said sensor means, and communication means for interconnecting said sensor means, said operation amount generating means and said plurality of actuator driving means, thereby controlling at least one of driving, steering and braking of a vehicle,
wherein each of said actuator driving means has control method selecting means for selecting one of a control method using the operation amount command value from said operation amount generating means, a control method using the information from said sensor means, and a control method of bringing said actuator into a predetermined state based on an operation state of itself, operation states of the other actuator driving means, and an operation state of said operation amount generating means.
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50. A vehicle control system comprising sensor means for detecting a driver'"'"'s demand and a vehicle status, at least one operation amount generating means for computing operation amount command values based on information from said sensor means, a plurality of actuator driving means for controlling actuators in accordance with the operation amount command values from said operation amount generating means or the information from said sensor means, and communication means for interconnecting said sensor means, said operation amount generating means and said plurality of actuator driving means, thereby controlling at least one of driving, steering and braking of a vehicle,
wherein each of said actuator driving means has control method selecting means for selecting one of a control method using the operation amount command value from said operation amount generating means, a control method using the information from said sensor means, and a control method of bringing said actuator into a predetermined state based on reception states of messages sent from the other actuator driving means or said operation amount generating means.
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52. A vehicle control system for driving, steering and braking a vehicle, said vehicle control system comprising:
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a node for detecting a driver'"'"'s demand and outputting a corresponding signal;
an operation amount generating node for computing an operation amount command value based on the driver'"'"'s demand signal and outputting a corresponding signal; and
an actuator driving node for controlling an actuator in accordance with the operation amount command value from said operation amount generating node, said three nodes being arranged in a decentralized manner, wherein each of said three nodes includes a data reception table storing the signals outputted from the other nodes and has a function of detecting a failure of the other nodes by determining data stored in said data reception table. - View Dependent Claims (53, 54, 55)
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Specification