CN-115805935-B - Motion manager, vehicle control method, and non-transitory storage medium

CN115805935BCN 115805935 BCN115805935 BCN 115805935BCN-115805935-B

Abstract

The present disclosure relates to a motion manager, a vehicle control method, and a non-transitory storage medium. The motion manager is configured to request motion of the vehicle according to a motion plan regarding driving assistance of the vehicle from at least one of a plurality of actuators provided in the vehicle, the motion manager including one or more processors. The one or more processors are configured to arbitrate a plurality of motion plans respectively set in a plurality of applications, calculate a motion request for the vehicle based on an arbitration result of the plurality of motion plans, distribute the motion request to at least one of the plurality of actuators, and when an abnormality occurs in at least one of the plurality of actuators, receive information indicating that a function of the abnormality occurs and information for setting an operation of an application corresponding to the abnormality among the plurality of applications.

Inventors

YAMADA YOSHIHISA
MIYAKE KAZUKI
KANDA TAKASHI

Assignees

丰田自动车株式会社

Dates

Publication Date: 20260508
Application Date: 20220905
Priority Date: 20210915

Claims (8)

1. A motion manager configured to request motion of a vehicle according to a motion plan regarding driving assistance of the vehicle from at least one of a plurality of actuators provided in the vehicle, the motion manager characterized by comprising one or more processors configured to: Arbitrating a plurality of exercise plans respectively set in a plurality of applications; calculating a movement request for the vehicle based on arbitration results of the plurality of movement plans; Distributing the motion request to at least one of the plurality of actuators, and Transmitting to each of the plurality of applications a plurality of fault categories indicating operation states of the plurality of actuators, respectively, the plurality of fault categories being configured by associating a plurality of pieces of identification information for identifying types of the plurality of fault categories with a numerical value indicating a state including presence or absence of abnormality in function, wherein When the abnormality occurs in at least one of the plurality of actuators, the plurality of failure categories transmitted to each of the plurality of applications include additional information transmitted from the actuator in which the abnormality occurs, the additional information being used to set an operation of an application corresponding to the abnormality among the plurality of applications, and including at least one of information indicating a vehicle speed range affected by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after the abnormality occurs.
2. The motion manager of claim 1, wherein the portion of the anomaly that occurs includes communication between the plurality of actuators.
3. The motion manager of claim 1, wherein the one or more processors are configured to send, to at least the application of the plurality of applications corresponding to the exception, information indicating a function at which the exception occurred and the additional information for setting the operation of the application corresponding to the exception.
4. A vehicle, characterized by comprising: A driving assistance system includes a plurality of applications configured to independently set each of a plurality of motion plans for driving assistance of the vehicle, and A motion manager comprising more than one processor, the one or more processors are configured to: requesting a movement of the vehicle according to the movement plan set in at least one of the plurality of applications to at least one of a plurality of actuators provided in the vehicle, and Transmitting to each of the plurality of applications a plurality of fault categories indicating operation states of the plurality of actuators, respectively, the plurality of fault categories being configured by associating a plurality of pieces of identification information for identifying types of the plurality of fault categories with a numerical value indicating a state including presence or absence of abnormality in function, wherein When the abnormality occurs in at least one of the plurality of actuators, the plurality of failure categories transmitted to each of the plurality of applications include additional information transmitted from the actuator in which the abnormality occurs, the additional information being used to set an operation of an application corresponding to the abnormality among the plurality of applications, and including at least one of information indicating a vehicle speed range affected by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after the abnormality occurs.
5. The vehicle of claim 4, wherein the portion where the anomaly occurs includes communication between the plurality of actuators.
6. The vehicle according to claim 4, wherein the motion manager is configured to transmit, to at least the application corresponding to the abnormality among the plurality of applications, information indicating a function in which the abnormality occurs and the additional information for setting the operation of the application corresponding to the abnormality.
7. A vehicle control method executed by a computer, the vehicle control method characterized by comprising: Receiving a plurality of motion plans for driving assistance of a vehicle from a plurality of applications configured to set the plurality of motion plans; Arbitrating the received plurality of sports plans; calculating a movement request for the vehicle based on arbitration results of the plurality of movement plans; distributing the motion request to at least one of a plurality of actuators disposed in the vehicle, and Transmitting to each of the plurality of applications a plurality of fault categories indicating operation states of the plurality of actuators, respectively, the plurality of fault categories being configured by associating a plurality of pieces of identification information for identifying types of the plurality of fault categories with a numerical value indicating a state including presence or absence of abnormality in function, wherein When the abnormality occurs in at least one of the plurality of actuators, the plurality of failure categories transmitted to each of the plurality of applications include additional information transmitted from the actuator in which the abnormality occurs, the additional information being used to set an operation of an application corresponding to the abnormality among the plurality of applications, and including at least one of information indicating a vehicle speed range affected by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after the abnormality occurs.
8. A non-transitory storage medium storing instructions for execution by a computer and for causing the computer to perform functions comprising: Receiving a plurality of motion plans for driving assistance of a vehicle from a plurality of applications configured to set the plurality of motion plans; Arbitrating the received plurality of sports plans; calculating a movement request for the vehicle based on arbitration results of the plurality of movement plans; distributing the motion request to at least one of a plurality of actuators disposed in the vehicle, and Transmitting to each of the plurality of applications a plurality of fault categories indicating operation states of the plurality of actuators, respectively, the plurality of fault categories being configured by associating a plurality of pieces of identification information for identifying types of the plurality of fault categories with a numerical value indicating a state including presence or absence of abnormality in function, wherein When the abnormality occurs in at least one of the plurality of actuators, the plurality of failure categories transmitted to each of the plurality of applications include additional information transmitted from the actuator in which the abnormality occurs, the additional information being used to set an operation of an application corresponding to the abnormality among the plurality of applications, and including at least one of information indicating a vehicle speed range affected by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after the abnormality occurs.

Description

Motion manager, vehicle control method, and non-transitory storage medium Technical Field The present disclosure relates to a motion manager, a vehicle control method, and a non-transitory storage medium. Background There is known a vehicle composed of a plurality of applications that set and request a movement plan concerning driving assistance of the vehicle, a movement manager that unifies the plurality of movement plans from the plurality of applications and sets a movement request based on the unified movement plan, and an actuator system that realizes the set movement request, Regarding such a vehicle, japanese unexamined patent application publication No. 2020-032894, for example, discloses a technique for arbitrating information indicating movement of the vehicle in a longitudinal direction and information indicating movement of the vehicle in a lateral direction, and based on the arbitration result, for outputting instruction information for driving an actuator. Disclosure of Invention When an abnormality occurs in any one of the plurality of actuators provided in the vehicle as described above, it may be necessary to change the operation of the corresponding application. At this time, in a configuration in which an application receives information required to change an operation of the application directly from an actuator, it may be configured that a plurality of applications respectively receive information from the actuator, and thus a relationship among the application, the motion manager, and the actuator may become complex. Thus, when performing design changes such as adding or correcting functions in various applications, a significant amount of work or work time may be required. The present disclosure provides a motion manager, a vehicle control method, and a non-transitory storage medium that can easily perform design changes in the operation of a corresponding application when an actuator fails. A movement manager according to a first aspect of the present disclosure is configured to request, from at least one of a plurality of actuators provided in a vehicle, movement of the vehicle according to a movement plan regarding driving assistance of the vehicle. The movement manager includes one or more processors configured to arbitrate a plurality of movement plans respectively set in a plurality of applications, calculate a movement request for the vehicle based on an arbitration result of the movement plans, distribute the movement request to at least one of the plurality of actuators, and receive information indicating that a function of the abnormality occurs and information for setting an operation of an application corresponding to the abnormality among the plurality of applications when the abnormality occurs in the at least one of the plurality of actuators. In this way, since the motion manager receives information indicating a function in which an abnormality occurs and information for setting an operation of the application corresponding to the abnormality from the actuator in which the abnormality occurs, the application can set the operation at the time of occurrence of the abnormality by receiving these information from the motion manager. Therefore, even when an abnormality occurs in any actuator, an appropriate operation (for example, continuing an operation, stopping an operation, holding a function, or restarting) can be selected. Further, since information required for the application when an abnormality occurs in the actuator can be received via the motion manager, the relationship among the application, the motion manager, and the actuator can be restricted from becoming complicated. In the first aspect, the information for setting the operation of the application corresponding to the abnormality may include at least one of information indicating a vehicle speed range affected by the abnormality, information indicating a portion where the abnormality occurs, and information indicating an operation mode after the abnormality occurs. In this way, the application can receive at least one of information indicating a vehicle speed range affected by the abnormality, information indicating a portion where the abnormality occurs, and information indicating an operation mode after the abnormality occurs via the motion manager. Therefore, it is possible to appropriately set the operation of the application corresponding to the abnormality, and to restrict the relationship among the application, the motion manager, and the actuator from becoming complicated. In the first aspect, the information for setting the operation of the application corresponding to the abnormality may include each of information indicating a vehicle speed range affected by the abnormality, information indicating a portion where the abnormality occurs, and information indicating an operation mode after the abnormality occurs. In this way, the application can receive, via the motion manager, each of the inform