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

• US 7,580,820 B2
• Filed: 06/19/2003
• Issued: 08/25/2009
• Est. Priority Date: 06/24/2002
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sawada, Mamoru
• Primary Examiner(s): Jones; Hugh
• Assistant Examiner(s): Luu; Cuong V
• Application Number:
  US10/515,382
• Publication Number:
  US 20050240319A1
• Time in Patent Office: 2,259 Days
• Field of Search: 701/1, 701/33, 701/48, 701/29, 701/85, 340/3.1, 340/995.13, 455/466, 700/86, 303/139, 713/323
• US Class Current: 703/8
• 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 information of an overall control of a vehicle having a plurality of control functions, the conveyance structure comprising:

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 hierarchies are constructed from a lower level to a higher level relative to an engine, based on how the power of the engine is transmitted to a vehicle body;

wherein the first hierarchy, at a lower level comprises;

a first operation-system control platform which makes adjustment based on a plurality of cognition-system devices and 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; and

a first determination-system control platform which generates execution determination on the engine control,

wherein the second hierarchy comprises;

a second 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 second 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 second operation-system control platform which receives a request from the second 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,

wherein the third hierarchy comprises;

a third 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 third determination-system control platform which generates a request to a third 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 third operation-system control platform which receives a request from the third 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,

wherein the plurality of control functions are provided by being divided into (i) the second and third cognition-system control platforms, (ii) the first, second, and third operation-system control platforms, and (iii) the first, second, and third determination-system control platforms to thereby perform the overall control of the vehicle, and

the first hierarchy, the second hierarchy and the third hierarchy are interconnected from each operation-system control platform at a lower level to each determination-system control platform at a higher level, and from each operation-system control platform at a higher level to each determination-system control platform at a lower level.

2. 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 information of an overall control of a vehicle having a plurality of control functions, wherein

control levels are hierarchically structured in correspondence with controlled objects of the plurality of control functions,

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 an/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,

the plurality of control functions are provided by being divided into, of the plurality of hierarchies, (i) the cognition-system control platforms, (ii) the operation-system control platforms, and (iii) the determination-system control platforms to thereby perform the overall control of the vehicle;

of the plurality of hierarchies, a first hierarchy that is in charge of parts related to a basic performance of the vehicle, which includes running, turning, and stopping 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,

of the plurality of hierarchies, a 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,

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,

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, and

the first hierarchy and the second hierarchy are interconnected from each operation-system control platform at a lower level to each determination-system control platform at a higher level, and from each operation-system control platform at a higher level to each determination-system control platform at a lower level.

3. 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 2, wherein

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.

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, wherein

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.

5. 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 2, wherein

a control unit of 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.

6. 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, wherein

the operation-system control platform generates the wheel stabilization control fundamental space by converting torque required for an axle of the vehicle into engine torque based on at least an operating state of the automatic transmission.

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 2, wherein

of the plurality of hierarchies, a 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.

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, wherein

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.

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 8, wherein

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.

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 7, wherein

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.

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 10, wherein

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.

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 to claim 7, wherein

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

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 12, wherein

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.

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 13, wherein

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.

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 12, wherein

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.

16. 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 15, wherein

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.

17. 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 12, wherein

of the plurality of hierarchies, a 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.

18. 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, wherein

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

19. 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, wherein

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.

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 19, wherein

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.

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 19, wherein

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.

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 21, wherein

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.

23. 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, the conveyance structure comprising:

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, wherein;

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; and

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.

24. 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, the conveyance structure comprising:

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;

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, wherein;

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; and

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.

25. 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, the conveyance structure comprising:

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, wherein

the plurality of control functions are distributed among hierarchies which are constructed from a lower level to a higher level relative to an engine, based on how the power of the engine is transmitted to a vehicle body, and are layered from a layer associated with an engine, at a lower level, towards a layer associated with a vehicle body, at a higher level, and all the cognition-system control platform, the operation-system control platform, and the determination-system platform are provided in every hierarchy, and

the hierarchies are interconnected from each operation-system control platform at a lower level to each determination-system control platform at a higher level and from each operation-system control platform at a higher level to each determination-system control platform at a lower level,

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.