Vehicle integrated control system

• US 20070169007A1
• Filed: 12/13/2004
• Published: 07/19/2007
• Est. Priority Date: 12/25/2003
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Otake, Hirotada, Takamatsu, Hideki, Hirose, Masanori, Hashimoto, Yoshiyuki
• Granted Patent: US 7,522,983 B2
• Time in Patent Office: Days
• US Class Current: 717/136
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal 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 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/02 Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
• CPC Class Codes: B60W 50/04 Monitoring the functioning of the control system
• CPC Class Codes: B60W 50/06 Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot

Abstract

An integrated control system includes subsystem with a driving system control subsystem controlling a driving system, a brake system control subsystem controlling a brake system, and a steering system control subsystem controlling a steering system, a subsystem stabilizing a current dynamic state of the vehicle, a subsystem realizing a driving support function such as automatic cruising, and a storage unit for storing shared signals. Each subsystem includes a request unit, an arbitration unit, and an output unit.

Claims

1. An integrated control system for vehicle control, comprising at least three subsystems operating autonomously and in parallel, dispensable of a hierarchical system for a level higher than said subsystem,

wherein said subsystem comprises

a sensing unit for sensing information related to an operation request with respect to at least one of said subsystems,

a connection unit for connection with another subsystem other than its own subsystem, and

a generation unit for generating information related to an individual control target of its own subsystem based on said sensed information related to an operation request.

2. The vehicle integrated control system according to claim 1, wherein said generation unit includes an arbitration unit for arbitrating a plurality of information to generate information related to an individual control target of its own subsystem, based on said sensed information related to an operation request.

4. The vehicle integrated control system according to claim 2, wherein said arbitration unit determines priority of information.

5. The vehicle integrated control system according to claim 2, wherein said arbitration unit corrects information.

6. The vehicle integrated control system according to claim 2, wherein said arbitration unit processes information.

7. The vehicle integrated control system according to claim 1, wherein said subsystem comprises a driving system control subsystem, a brake system control subsystem, and a steering system control subsystem.

8. The vehicle integrated control system according to claim 7, wherein said subsystem further comprises an automatic cruise subsystem controlling said vehicle for automatic cruising or pseudo automatic cruising of said vehicle.

9. The vehicle integrated control system according to claim 7, wherein said subsystem further comprises a dynamic stabilization subsystem controlling said vehicle so as to stabilize a behavior state of said vehicle.

3. An integrated control system for vehicle control, comprising at least three subsystems operating autonomously and in parallel, dispensable of a hierarchical system for a level higher than said subsystem,

wherein said subsystem comprises

a sensing unit for sensing information related to an operation request with respect to at least one of said subsystems,

a connection unit for connection with another system other than its own subsystem, and

an arbitration unit for arbitrating a plurality of information to generate information related to an individual control target of its own subsystem, based on said sensed information related to an operation request,

said arbitration unit in said subsystem being connected between each of said subsystem, and

when arbitration information arbitrated at each said subsystem is transmitted to the arbitration unit of another subsystem, control is executed at said another subsystem based on said transmitted arbitration information.

10. An integrated control system for vehicle control, comprising at least three subsystems operating autonomously and in parallel, dispensable of a hierarchical system for a level higher than said subsystem,

wherein said subsystem comprises

sensing means for sensing information related to an operation request with respect to at least one of said subsystems,

connection means for connection with another subsystem other than its own subsystem, and

generation means for generating information related to an individual control target of its own subsystem based on said sensed information related to an operation request.

11. The vehicle integrated control system according to claim 10, wherein said generation means includes arbitration means for arbitrating a plurality of information to generate information related to an individual control target of its own subsystem, based on said sensed information related to an operation request.

13. The vehicle integrated control system according to claim 11, wherein said arbitration means includes means for determining priority of information.

14. The vehicle integrated control system according to claim 11, wherein said arbitration means includes means for correcting information.

15. The vehicle integrated control system according to claim 11, wherein said arbitration means includes means for processing information.

16. The vehicle integrated control system according to claim 10, wherein said subsystem comprises a driving system control subsystem, a brake system control subsystem, and a steering system control subsystem.

17. The vehicle integrated control system according to claim 16, wherein said subsystem further comprises an automatic cruise subsystem controlling said vehicle for automatic cruising or pseudo automatic cruising of said vehicle.

18. The vehicle integrated control system according to claim 16, wherein said subsystem further comprises a dynamic stabilization subsystem controlling said vehicle so as to stabilize a behavior state of said vehicle.

12. An integrated control system for vehicle control, comprising at least three subsystems operating autonomously and in parallel, dispensable of a hierarchical system for a level higher than said subsystem,

wherein said subsystem comprises

sensing means for sensing information related to an operation request with respect to at least one of said subsystems,

connection means for connection with another system other than its own subsystem, and

arbitration means for arbitrating a plurality of information to generate information related to an individual control target of its own subsystem, based on said sensed information related to an operation request,

said arbitration unit in said subsystem being connected between each of said subsystem, and

when arbitration information arbitrated at each said subsystem is transmitted to the arbitration unit of another subsystem, control is executed at said another subsystem based on said transmitted arbitration information.