Vehicle control device and vehicle control system
Achieved is a vehicle control device capable of performing seamless automatic driving control even when an operation abnormality occurs in an operation processing unit in a vehicle control device, and improving safety. When operation processing of an actuator control command is performed by two microcomputers of microcomputers 11 b and 12 b in synchronization, and a monitoring circuit 11 m detects an abnormality of the microcomputer 11 b , a communication circuit 11 c that communicates the actuator control command of the microcomputer 11 b to a brake control unit 13 or the like is latched in a disabled state, and the actuator control command from an icon 12 b is transmitted to the brake control unit 13 or the like via the communication circuit 12 c . The disabled state of the communication circuit 11 c is maintained until an IGNSW or an automatic driving SW of the vehicle toggles, and until that time, the actuator control command from the microcomputer 12 b is transmitted to the brake control unit 13 or the like. The control moves from the microcomputer 11 b to the microcomputer 12 b to the microcomputer 11 b , so that it is possible to suppress the occurrence of the control gap at every control transition of multiple times, and it is possible to maintain the seamless automatic driving control.
1. A vehicle control device comprising:
a first control command generation unit that generates an actuator control command to be transmitted to an actuator control unit of a vehicle;
a second control command generation unit that generates an actuator control command to be transmitted to the actuator control unit;
a communication circuit for transmitting the actuator control command generated by the first control command generation unit and the actuator control command generated by the second control command generation unit to the actuator control unit; and
a first monitoring circuit that detects that an abnormality has occurred in the first control command generation unit,
wherein the second control command generation unit compares the actuator control command generated by the second control command generation unit with the actuator control command generated by the first control command generation unit to detect whether an abnormality has occurred in the first control command generation unit, and when the first monitoring circuit detects that an abnormality has occurred in the first control command generation unit, and the second control command generation unit detects that an abnormality has occurred in the first control command generation unit, the communication circuit is latched in a disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit.
2. The vehicle control device according to claim 1 , further comprising:
a first latch circuit that, when the first monitoring circuit detects that an abnormality has occurred in the first control command generation unit, latches the communication circuit in the disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit.
3. The vehicle control device according to claim 1 , further comprising
a first latch circuit that latches the communication circuit in the disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit,
wherein the second control command generation unit detects that an abnormality has occurred in the first control command generation unit, and outputs an abnormal signal to the first latch circuit, and the communication circuit is latched in the disabled state by the first latch circuit.
4. The vehicle control device according to claim 3 ,
wherein the second control command generation unit compares the actuator control command generated by the second control command generation unit with the actuator control command generated by the first control command generation unit to detect whether an abnormality has occurred in the first control command generation unit.
5. The vehicle control device according to claim 1 ,
wherein when an abnormality occurs in the first control command generation unit, the actuator control command generated by the second control command generation unit is transmitted to the actuator control unit through the communication circuit.
6. The vehicle control device according to claim 5 ,
wherein when the first control command generation unit recovers to normal from an abnormality, the first control command generation unit detects whether an abnormality has occurred in the second control command generation unit on the basis of the actuator control command generated by the second control command generation unit.
7. The vehicle control device according to claim 1 ,
further comprising a first latch circuit that latches the communication circuit in the disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit, wherein when an ignition switch signal or an automatic driving switch signal of the vehicle is input to the first latch circuit, latching in the disabled state of the communication circuit is released.
8. The vehicle control device according to claim 1 ,
further comprising an auxiliary control unit that generates an actuator control command to be transmitted to the actuator control unit of the vehicle, wherein the auxiliary control unit is notified that an abnormality has occurred in the first control command generation unit and the second control command generation unit.
9. The vehicle control device according to claim 1 ,
wherein the first control command generation unit and the second control command generation unit are supplied with power from separate power supplies, respectively.
10. The vehicle control device according to claim 1 ,
wherein the communication circuit comprises:
a first communication circuit for transmitting the actuator control command generated by the first control command generation unit to the actuator control unit; and a second communication circuit for transmitting the actuator control command generated by the second control command generation unit to the actuator control unit.
11. The vehicle control device according to claim 1 ,
wherein, in the communication circuit,
control software installed in the first control command generation unit and control software installed in the second control command generation unit have the same content.
12. A vehicle control system comprising:
an outside recognition sensor that recognizes the outside of a vehicle;
an automatic driving setting unit that sets automatic driving of the vehicle;
an actuator control unit that controls operation of the vehicle; and
a vehicle control device that generates an actuator control command for commanding the operation of the vehicle on the basis of outside recognition information from the outside recognition sensor and track information generated by a track information generation unit, and transmits the actuator control command to the actuator control unit,
wherein the vehicle control device comprises a first control command generation unit that generates an actuator control command to be transmitted to the actuator control unit, a second control command generation unit that generates an actuator control command to be transmitted to the actuator control unit, a communication circuit for transmitting the actuator control command generated by the first control command generation unit and the actuator control command generated by the second control command generation unit to the actuator control unit, and a first monitoring circuit that detects that an abnormality has occurred in the first control command generation unit, wherein the second control command generation unit compares the actuator control command generated by the second control command generation unit with the actuator control command generated by the first control command generation unit to detect whether an abnormality has occurred in the first control command generation unit, and when the first monitoring circuit detects that an abnormality has occurred in the first control command generation unit, and the second control command generation unit detects that an abnormality has occurred in the first control command generation unit, the communication circuit is latched in a disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit.
13. The vehicle control system according to claim 12 ,
wherein the vehicle control device comprises: a first latch circuit that, when the first monitoring circuit detects that an abnormality has occurred in the first control command generation unit, latches the communication circuit in the disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit.
14. The vehicle control system according to claim 12 ,
wherein the vehicle control device comprises a first latch circuit that latches the communication circuit in the disabled state so as to cut off transmission of the actuator control command generated by the first control command generation unit to the actuator control unit, and the second control command generation unit detects that an abnormality has occurred in the first control command generation unit, and outputs an abnormal signal to the first latch circuit, and the communication circuit is latched in a disabled state by the first latch circuit.
15. The vehicle control system according to claim 14 ,
wherein when the first control command generation unit recovers to normal from an abnormality, the first control command generation unit detects whether an abnormality has occurred in the second control command generation unit on the basis of the actuator control command generated by the second control command generation unit.