Abnormality determination apparatus, abnormality determination method, and computer readable medium

1. An abnormality determination apparatus comprising:

processing circuitry:

to obtain a control value for controlling an actuator from each of a first processing circuit and a second processing circuit that are duplicated processing circuits;

to compare a state normal range and a history normal range with a first control value and a second control value in a case where the first control value does not match the second control value, and to determine whether an abnormality has occurred in the first processing circuit and the second processing circuit, the first control value being obtained from the first processing circuit, the second control value being obtained from the second processing circuit, the state normal range being a range of a normal value of the control value that is estimated from a current operation state of a vehicle that is a higher-order system that includes the actuator or a current operation state of the actuator, the history normal range being a range of the normal value of the control value that is estimated from a plurality of control values that is acquired in the past from the first processing circuit or the second processing circuit;

to generate a mean value of the first control value and the second control value; and

to output, to the actuator, the mean value that has been generated, in a case where the first control value and the second control value are within the state normal range and within the history normal range, and it has been determined that no abnormality has occurred in either the first processing circuit or the second processing circuit.

2. The abnormality determination apparatus according to claim 1 , wherein

the processing circuitry estimates the state normal range from a state value that indicates the current operation state of the vehicle or the current operation state of the actuator.

3. The abnormality determination apparatus according to claim 1 , wherein

the processing circuitry outputs the second control value to the actuator in a case where the processing circuitry has determined that the first processing circuit has the abnormality, and outputs the first control value to the actuator in a case where the processing circuitry has determined that the second processing circuit has the abnormality.

4. An abnormality determination method comprising:

obtaining a control value for controlling an actuator from each of a first processing circuit and a second processing circuit that are duplicated processing circuits;

comparing a state normal range and a history normal range with a first control value and a second control value in a case where the first control value does not match the second control value, and determining whether an abnormality has occurred in the first processing circuit and the second processing circuit, the first control value being obtained from the first processing circuit, the second control value being obtained from the second processing circuit, the state normal range being a range of a normal value of the control value that is estimated from a current operation state of a vehicle that is a higher-order system that includes the actuator or a current operation state of the actuator, the history normal range being a range of the normal value of the control value that is estimated from a plurality of control values that is acquired in the past from the first processing circuit or the second processing circuit;

generating a mean value of the first control value and the second control value; and

outputting to the actuator, the mean value that has been generated, in a case where the first control value and the second control value are within the state normal range and within the history normal range, and it has been determined that no abnormality has occurred in either the first processing circuit or the second processing circuit.

5. A non-transitory computer readable medium storing an abnormality determination program for causing a computer to execute:

control value obtaining processing of obtaining a control value for controlling an actuator from each of a first processing circuit and a second processing circuit that are duplicated processing circuits;

abnormality determination processing of comparing a state normal range and a history normal range with a first control value and a second control value in a case where the first control value does not match the second control value, and determining whether an abnormality has occurred in the first processing circuit and the second processing circuit, the first control value being obtained from the first processing circuit, the second control value being obtained from the second processing circuit, the state normal range being a range of a normal value of the control value that is estimated from a current operation state of a vehicle that is a higher-order system that includes the actuator or a current operation state of the actuator, the history normal range being a range of the normal value of the control value that is estimated from a plurality of control values that is acquired in the past from the first processing circuit or the second processing circuit;

mean value generation processing of generating a mean value of the first control value and the second control value; and

output processing of outputting, to the actuator, the mean value that has been generated by the mean value generation processing, in a case where the first control value and the second control value are within the state normal range and within the history normal range, and it has been determined by the abnormality determination processing that no abnormality has occurred in either the first processing circuit or the second processing circuit.

6. The abnormality determination apparatus according to claim 1 , wherein

the processing circuitry obtains first self-diagnosis information that indicates a result of self-diagnosis performed in the first processing circuit, and second self-diagnosis information that indicates a result of self-diagnosis performed in the second processing circuit,

determines whether the abnormality has occurred in the first processing circuit by using the first self-diagnosis information, and determines whether the abnormality has occurred in the second processing circuit by using the second self-diagnosis information; and

determines whether the first control value matches the second control value in a case where it has been determined that no abnormality has occurred in either the first processing circuit or the second processing circuit.

7. The abnormality determination apparatus according to claim 1 , wherein

the processing circuitry outputs an initialization notification to a processing circuit that has been determined that the abnormality has occurred in, in a case where it has been determined that the abnormality has occurred in any one of the first processing circuit and the second processing circuit, the initialization notification causing initialization processing to be performed.

8. The abnormality determination apparatus according to claim 7 , wherein

after the initialization processing, when a processing circuit being an output destination of the initialization notification has become able to perform calculation identical to calculation of another processing circuit by using calculation information that has been obtained from the another processing circuit and that notifies of a calculation state of the another processing circuit, the processing circuitry obtains a restoration completion notification that notifies that the processing circuit being the output destination of the initialization notification has been restored to a normal state.