Mobile object control system
A mobile object control system includes: a higher-level ECU that calculates a requested physical quantity according to each of switchable first and second higher-level applications; a lower-level ECU that receives the requested physical quantity and calculates an actuator command value for causing the detected physical quantity to follow the requested physical quantity according to the first or second lower-level application while switching the first and second lower-level applications along with switching the higher-level applications; and an actuator. The first and second lower-level applications implement controls different in followability of the detected physical quantity to the requested physical quantity. The lower-level ECU performs a change amount suppression process for a gentler change from a previous value to a current value of the requested physical quantity; and substitutes the detected physical quantity into the previous value in the change amount suppression process in response to switching the first and second higher-level applications.
1 . A mobile object control system comprising:
a higher-level electronic control circuit configured to calculate a requested physical quantity that is a requested value related to a driving operation of a mobile object according to a first higher-level application being switchable with a second higher-level application;
a lower-level electronic control circuit configured to receive the requested physical quantity from the higher-level electronic control circuit, and calculate an actuator command value to cause a detected physical quantity that is a detected value to follow the requested physical quantity according to a first lower-level application or a second lower-level application while switching between the first lower-level application and the second lower-level application in conjunction with switching between the first higher-level application and the second higher-level application;
a recognition sensor including at least one of a camera, a millimeter-wave radar, and a laser imaging detection and ranging; and
an actuator to be controlled according to the actuator command value,
wherein
the recognition sensor is configured to detect periphery information of the mobile object,
the first lower-level application and the second lower-level application are configured to implement control operations different in terms of followability of the detected physical quantity with respect to the requested physical quantity,
the lower-level electronic control circuit is configured to
perform a change amount suppression process for achieving a gentler change from a previous value to a current value of the requested physical quantity than in a case where the requested physical quantity is changed stepwise from the previous value to the current value, and
substitute the detected physical quantity into the previous value in the change amount suppression process in response to the switching between the first higher-level application and the second higher-level application,
the first higher-level application provides a function of calculating a requested steering angle to avoid an obstacle present on a traveling lane in front of the mobile object in a case where the obstacle is detected by the recognition sensor, and
the second higher-level application provides a function of calculating a requested steering angle such that the mobile object travels following the traveling lane on the basis of the periphery information from the recognition sensor.
2 . A mobile object control system comprising:
a higher-level electronic control circuit configured to calculate a requested physical quantity that is a requested value related to a driving operation of a mobile object according to a first higher-level application being switchable with a second higher-level application;
a lower-level electronic control circuit configured to receive the requested physical quantity from the higher-level electronic control circuit, and calculate an actuator command value to cause a detected physical quantity that is a detected value to follow the requested physical quantity according to a first lower-level application or a second lower-level application while switching between the first lower-level application and the second lower-level application in conjunction with switching between the first higher-level application and the second higher-level application;
a recognition sensor including at least one of a camera, a millimeter-wave radar and a laser imaging detection and ranging; and
an actuator to be controlled according to the actuator command value,
wherein
the recognition sensor is configured to detect periphery information of the mobile object,
the first lower-level application and the second lower-level application are configured to implement control operations different in terms of followability of the detected physical quantity with respect to the requested physical quantity,
the lower-level electronic control circuit is configured to
perform a change amount suppression process for achieving a gentler change from a previous value to a current value of the requested physical quantity than in a case where the requested physical quantity is changed stepwise from the previous value to the current value, and
substitute, into the previous value in the change amount suppression process, an estimated physical quantity value of the physical quantity, based on one or more parameters indicating behavior of the mobile object, in response to the switching between the first higher-level application and the second higher-level application,
the first higher-level application provides a function of calculating a requested steering angle to avoid an obstacle present on a traveling lane in front of the mobile object in a case where the obstacle is detected by the recognition sensor, and
the second higher-level application provides a function of calculating a requested steering angle such that the mobile object travels following the traveling lane on the basis of the periphery information from the recognition sensor.
3 . A mobile object control system comprising:
a higher-level electronic control circuit configured to calculate a requested physical quantity that is a requested value related to a driving operation of a mobile object according to a first higher-level application being switchable with a second higher-level application;
a lower-level electronic control circuit configured to receive the requested physical quantity from the higher-level electronic control circuit, and calculate an actuator command value to cause a detected physical quantity that is a detected value to follow the requested physical quantity according to a first lower-level application or a second lower-level application while switching between the first lower-level application and the second lower-level application in conjunction with switching between the first higher-level application and the second higher-level application;
a recognition sensor including at least one of a camera, a millimeter-wave radar and a laser imaging detection and ranging; and
an actuator to be controlled according to the actuator command value,
wherein
the recognition sensor is configured to detect periphery information of the mobile object, the first lower-level application and the second lower-level application are configured to implement control operations different in terms of followability of the detected physical quantity with respect to the requested physical quantity,
the lower-level electronic control circuit is configured to
perform a change amount suppression process for achieving a gentler change from a previous value to a current value of the requested physical quantity than in a case where the requested physical quantity is changed stepwise from the previous value to the current value, and
substitute zero into the previous value in the change amount suppression process in response to the switching between the first higher-level application and the second higher-level application,
the first higher-level application provides a function of calculating a requested steering angle to avoid an obstacle present on a traveling lane in front of the mobile object in a case where the obstacle is detected by the recognition sensor, and
the second higher-level application provides a function of calculating a requested steering angle such that the mobile object travels following the traveling lane on the basis of the periphery information from the recognition sensor.
4 . The mobile object control system according to claim 1 , wherein:
the mobile object is a vehicle;
the physical quantity is the steering angle of a wheel of the vehicle;
the actuator is an electric motor configured to generate a torque for changing the steering angle; and
the actuator command value is a torque command value for causing an actual steering angle serving as the detected physical quantity to follow the requested steering angle serving as the requested physical quantity.
5 . The mobile object control system according to claim 1 , wherein the first lower-level application and the second lower-level application are configured to implement different torque gains.