Control device of vehicle, control method, and program
A control device of a vehicle includes a control target value setting part for setting the first reference value as the control target value when the control demand value is greater than or equal to a second reference value; and a demand signal output part for outputting a control demand signal including the set control target value to the equipment control device. The first reference value is a value wherein an equipment control device outputs a corresponding equipment control signal when the control demand signal including this value as the control target value is sent to the equipment control device. The second reference value is the smallest value among values wherein the equipment control device does not output a corresponding equipment control signal when the control demand signal including this value as the control target value is sent to the equipment control device.
1. A control device of a vehicle for outputting a control demand signal to an equipment controller that sends an equipment control signal to vehicle equipment for controlling equipment relating to running of the vehicle, the control device of a vehicle comprising a processor,
the processor is configured to:
set a control demand value of equipment demanded from the vehicle in automated driving control of a vehicle as a control target value of equipment when the control demand value is less than or equal to a first reference value, and set the first reference value as the control target value when the control demand value is greater than or equal to a second reference value greater than the first reference value; and
output a control demand signal including the set control target value to the equipment controller through a communication part, wherein
the equipment controller is configured to output an equipment control signal corresponding to the control target value if receiving the control demand signal including a control target value satisfying a predetermined condition and to output an equipment control signal not corresponding to the control target value if receiving the control demand signal including a control target value not satisfying the predetermined condition, wherein the equipment controller is configured to have an upper limit value, and wherein the equipment controller is further configured to send a failure signal to the processor if the control target value is greater or equal to the upper limit value,
the first reference value is a value wherein the equipment controller outputs a corresponding equipment control signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller, and
the second reference value is the smallest value among past values sent to the equipment controller wherein the equipment controller does not output a corresponding equipment control signal and outputs the failure signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller.
2. The control device of a vehicle according to claim 1 , wherein the first reference value is the greatest value among values wherein the equipment controller outputs a corresponding equipment control signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller.
3. The control device of a vehicle according to claim 1 , wherein the processor is configured to revise a control target value included in a provisional control demand signal received through the communication part from a driver assistance control device for assisting driving of the vehicle by a driver to the control target value by which the control target value setting part sets, and outputs the control demand signal including the revised control target value to the equipment controller through the communication part.
4. A control method of a vehicle for outputting a control demand signal to an equipment controller that sends an equipment control signal to vehicle equipment device for controlling equipment relating to running of the vehicle, the control method of a vehicle comprising:
setting a control demand value of equipment demanded from the vehicle in automated driving control of a vehicle as a control target value of equipment when the control demand value is less than or equal to a first reference value, and setting the first reference value as the control target value when the control demand value is greater than or equal to a second reference value greater than the first reference value; and
outputting a control demand signal including the set control target value to the equipment controller through a communication part, wherein
the equipment controller is configured to output an equipment control signal corresponding to the control target value if receiving the control demand signal including a control target value satisfying a predetermined condition and to output an equipment control signal not corresponding to the control target value if receiving the control demand signal including a control target value not satisfying the predetermined condition, wherein the equipment controller is configured to have an upper limit value, and wherein the equipment controller is further configured to send a failure signal to the processor if the control target value is greater or equal to the upper limit value,
the first reference value is a value wherein the equipment controller outputs a corresponding equipment control signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller, and
the second reference value is the smallest value among past values sent to the equipment controller wherein the equipment controller does not output a corresponding equipment control signal and outputs the failure signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller.
5. A non-transitory computer readable medium having recorded thereon a computer program of a vehicle for causing output of a control demand signal to an equipment controller that sends an equipment control signal to vehicle equipment for controlling equipment relating to running of the vehicle, the computer program causing a computer to execute a process comprising:
setting a control demand value of equipment demanded from the vehicle in automated driving control of a vehicle as a control target value of equipment when the control demand value is less than or equal to a first reference value and set the first reference value as the control target value when the control demand value is greater than or equal to a second reference value greater than the first reference value; and
outputting a control demand signal including the set control target value to the equipment controller through a communication part, wherein
the equipment controller is configured to output an equipment control signal corresponding to the control target value if receiving the control demand signal including a control target value satisfying a predetermined condition and to output an equipment control signal not corresponding to the control target value if receiving the control demand signal including a control target value not satisfying the predetermined condition, wherein the equipment controller is configured to have an upper limit value, and wherein the equipment controller is further configured to send a failure signal to the processor if the control target value is greater or equal to the upper limit value,
the first reference value is a value wherein the equipment controller outputs a corresponding equipment control signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller, and
the second reference value is the smallest value among past values sent to the equipment controller wherein the equipment controller does not output a corresponding equipment control signal and outputs the failure signal when the control demand signal including this value as the control target value is sent from the demand signal output part to the equipment controller.