CONTROL SYSTEM, RELAY DEVICE AND CONTROL METHOD

• US 20160059853A1
• Filed: 08/06/2015
• Published: 03/03/2016
• Est. Priority Date: 08/27/2014
• Status: Active Grant

• Current Assignee: Renesas Electronics Corporation
• Original Assignee: Renesas Electronics Corporation
• Inventors: YAMAKOSHI, Yasuhiro, TSUBOI, Yukitoshi, IGAKU, Yutaka
• Granted Patent: US 9,725,088 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 2050/0045 using databus protocols
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2050/009 Priority selection
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• 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 50/0205 Diagnosing or detecting failures; Failure detection models
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B60W 50/045 Monitoring control system parameters
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2304/076 : by add-on parts, e.g. retrofit
• CPC Class Codes: G05B 15/02 : electric
• CPC Class Codes: G05B 19/0423 : Input/output
• CPC Class Codes: G05B 2219/25032 : CAN, canbus, controller area network bus
• CPC Class Codes: G06F 13/00 : Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units interface circuits for specific input/output devices G06F3/00 ; multiprogram control therefor G06F9/46; multiprocessor systems G06F15/16
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/10 : Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
• 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
• CPC Class Codes: H04L 12/00 : Data switching networks interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units G06F13/00
• CPC Class Codes: H04L 12/6418 : Hybrid transport

Abstract

A control system 9 according to the present invention is mounted on a moving object. The control system 9 includes: an observing device 92 which transmits observation result data indicating an observation result of surroundings of the moving object; a first control instruction device 91 which transmits first control data indicating the control contents determined based on the observation result data; a movement control device 93 which controls movement of the moving object; and a relay device 95 which relays the first control data transmitted from the first control instruction device 91, to the movement control device 93. When a second control instruction device 94 which transmits second control data indicating the control contents determined based on the observation result data is provided to the control system 9, the relay device 95 transmits the second control data instead of the first control data, to the movement control device 93.

Claims

1. A control system that is mounted on a moving object comprising:

an observing device that observes surroundings of the moving object and transmits observation result data indicating an observation result;

a first control instruction device that determines control contents based on the observation result data transmitted from the observing device, and transmits first control data indicating the determined control contents;

a movement control device that controls movement of the moving object; and

a relay device that relays the first control data transmitted from the first control instruction device, to the movement control device,

wherein, when a second control instruction device that the determines control contents based on the observation result data and transmits second control data indicating the determined control contents is provided to the control system, the relay device transmits the second control data instead of the first control data, to the movement control device.

2. The control system according to claim 1, wherein

when an additional function that is not provided to the first control instruction device generates the second control data, the second control instruction device includes notification data for notifying that the second control data is generated by the additional function, in the second control data, and

the relay device compares the first control data and the second control data when the second control data is not included in the notification data, and determines an abnormality when the first control data and the second control data do not match.

3. The control system according to claim 2, further comprising a third control instruction device that determines control contents based on the observation result data, and transmits third control data indicating the determined control contents, wherein

the third control instruction includes an additional function that is provided to the second control instruction device, and

the relay device compares the second control data and the third control data when the second control data is included in the notification data, and determines an abnormality when the second control data and the third control data do not match.

4. The control system according to claim 3, wherein, when determining the abnormality in case where the second control data is not included in the notification data, the relay device transmits control data of the first control data, the second control data and the third control data whose normality has been determined by a majority vote, to the movement control device.

5. The control system according to claim 1, wherein

the first control instruction device and the second control instruction device diagnose whether or not there are abnormalities in the first control instruction device and the second control instruction device, and transmits abnormality notification data for notifying the abnormalities, to the relay device when detecting the abnormalities, and

the relay device transmits the first control data to the movement control device when receiving the abnormality notification data from the second control instruction device even in case where the second control instruction device is provided to the control system.

6. The control system according to claim 1, further comprising a central gateway that includes the relay device,

wherein the observing device transmits the observation result data to the first control instruction device and the second control instruction device without passing through the central gateway.

7. The control system according to claim 1, wherein

the first control data and the second control data are data frames that comply with a CAN protocol, and

the relay device changes a frame ID of the data frame of the second control data from the frame ID of the second control data to a frame ID of the first control data.

8. The control system according to claim 7, wherein the relay device calculates a CRC value based on the data frame of the changed frame ID, and sets the calculated CRC value to the data frame of the changed frame ID.

9. The control system according to claim 1, wherein

the moving object is a car, and

the first control instruction device and the second control instruction device determine the control contents to hedge an obstacle in the surroundings of the car.

10. A relay device that relays data to be transmitted and received in a moving object, the relay device comprising:

a first relaying unit that receives observation result data indicating an observation result of surroundings of the moving object, from an observing device and relays the observation result data to a first control instruction device that determines control contents of the moving object based on the observation result data; and

a second relaying unit that receives first control data indicating the control contents of the moving object, from the first control instruction device, and relays the first control data to a movement control device that controls the moving object,

wherein, when a second control instruction device that determines control contents based on the relayed observation result data and transmits second control data indicating the determined control contents is provided to the moving object, the second relaying unit transmits the second control data instead of the first control data, to the movement control device.

11. A control method that is performed in a moving object, the control method comprising:

a first transmitting step of, at an observing device, observing surroundings of the moving object, and transmitting observation result data indicating an observation result;

a second transmitting step of, at a first control instruction device, determining control contents of the moving object based on the transmitted observation result data, and transmitting first control data indicating the determined control contents;

a relaying step of relaying the first control data transmitted from the first control instruction device, to a movement control device; and

a controlling step of, at the movement control device, controlling movement of the moving object based on the transmitted control data,

wherein, when a second control instruction device that determines control contents based on the observation result data and transmits second control data indicating the determined control contents is provided to the moving object, the second control data is transmitted instead of the first control data to the movement control device in the relaying step.