Control system and semiconductor device

An object of the present invention is to control a vehicle with less delay. A control system 100 according to the present invention includes: an estimating unit 103 that estimates a factor and a required time until encountering the factor based on a result of an observation of a periphery of a vehicle; and a deciding unit 104 that decides control contents of the vehicle based on data stored in a first storage unit 101 when the required time is longer than a threshold and that decides control contents of the vehicle based on data stored in a second storage unit 102 which can be accessed at a higher speed than the first storage unit 101 when the required time is equal to or shorter than the threshold.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from Japanese patent application No. 2014-152815, filed on Jul. 28, 2014, the disclosure of which is incorporated herein in its entirety by reference.

BACKGROUND

The present invention relates to a control system and a semiconductor device and relates to, for example, a technique for controlling a vehicle.

Japanese Unexamined Patent Application Publication No. 2009-217692 discloses a driving assistance device intended to perform accurate risk determination and output warning information. The driving assistance device recognizes various states such as positions and movement states of peripheral objects based on output from various sensors. In addition, the driving assistance device estimates a collision risk between a host vehicle and a peripheral object based on an equation of motion that is designed for each object type. Then, based on the various recognized states and the estimated collision risk, the driving assistance device estimates a risk factor that may occur in a current situation using a risk factor estimation table. The driving assistance device then displays warning information including a finally estimated risk factor and a collision risk. Accordingly, by notifying a driver of a risk factor and the like, the driving assistance device can cause the driver to avoid colliding with peripheral objects in an appropriate manner.

SUMMARY

When some factor occurs with respect to a vehicle, the driving assistance device disclosed in Japanese Unexamined Patent Application Publication No. 2009-217692 is capable of controlling the vehicle in accordance with the factor. However, usefulness of the driving assistance device can be improved if the driving assistance device is able to control a vehicle without delay in accordance with a factor that occurs with respect to the vehicle.

Other objects and novel features will become apparent with reference to the following description and to the accompanying drawings.

According to an embodiment, a control system decides control contents of a vehicle based on data stored in a first storage unit when a required time until encountering a factor is longer than a threshold, and decides the control contents of the vehicle based on data stored in a second storage unit, which can be accessed at a higher speed than the first storage unit, when the required time is equal to or shorter than the threshold.

According to the embodiment described above, a vehicle can be controlled with less delay.

DETAILED DESCRIPTION

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. It should be noted that specific numerical values and the like that are presented in the following embodiments are simply examples intended to facilitate understanding of the invention and that the present invention is not limited thereto unless otherwise stated. It should also be noted that, in the following description and in the drawings, matters obvious to a person skilled in the art are omitted or simplified as appropriate for clarity in the description.

First Embodiment

First, a first embodiment will be described. A configuration of a vehicle-mounted control system1according to the present first embodiment will now be described with reference toFIG. 1. As shown inFIG. 1, the vehicle-mounted control system1includes an electronic control unit (ECU)10, a camera11, a sensor12, volatile storage means13, a communication module14, a steering system15, and a brake16. The vehicle-mounted control system1is a system that is mounted to an automobile. Hereinafter, an automobile (vehicle) to which the vehicle-mounted control system1is mounted will also be referred to as a “host vehicle”.

The ECU10controls various units (the steering system, the brake, and the like) of the host vehicle. In this case, the ECU10has a manual control mode in which the host vehicle is controlled based on an operation performed by a driver and an automatic control mode in which the host vehicle is automatically controlled independently of an operation performed by the driver. In the automatic control mode, based on information obtained from the camera11and the sensor12, the ECU10performs recognition of a state which the host vehicle is in, a determination of control contents of the host vehicle in accordance with the state, and control of the host vehicle.

The camera11is a device for capturing images of a periphery of the host vehicle. By capturing an image of the periphery of the host vehicle, the camera11generates image information indicating the image of the periphery of the host vehicle and transmits the image information to the ECU10. In the present first embodiment, an example in which the camera11captures an image within a prescribed angle range to the front of the host vehicle will be described. In other words, as shown inFIG. 1, the camera11is installed in the host vehicle so as to face the front of the host vehicle.

The sensor12is a device for measuring a distance from the host vehicle to a peripheral object. For example, the sensor12measures a distance from the host vehicle to a peripheral object using electromagnetic waves such as light waves (for example, including infrared light) and radio waves (for example, including millimeter waves). The sensor12generates distance information indicating a measured distance to the peripheral object and transmits the distance information to the ECU10. In the present first embodiment, an example in which the sensor12measures a distance to an object present to the front of the host vehicle will be described. In other words, as shown inFIG. 1, the sensor12is installed in the host vehicle so as to face the front of the host vehicle.

Information used by the ECU10to execute processes and a program including instructions that cause the ECU10to execute the processes are stored in the volatile storage means13. By executing the program stored in the volatile storage means13, the ECU10realizes the processes according to the present first embodiment. The volatile storage means13is volatile storage means for retaining information while an ignition power supply of the host vehicle is switched on and power is being supplied and which loses retained information when the ignition power supply of the host vehicle is switched off and power is no longer supplied. The volatile storage means13is configured so as to include, for example, at least one volatile memory. Moreover, action characteristic information which is used to control the host vehicle and which is one of the types of information stored in the volatile storage means13will be described later.

The communication module14transmits information transmitted from the ECU10to outside of the vehicle-mounted control system1using a radio signal. In addition, the communication module14receives a radio signal from the outside of the vehicle-mounted control system1and transmits information indicated by the radio signal to the ECU10. A signal based on an arbitrary radio communication standard may be used as the radio signal. For example, a signal based on mobile communication may be used as the radio signal.

The steering system15changes a steering angle of tires of the host vehicle in accordance with an instruction from the ECU10. An effectiveness of the brake16is adjusted in accordance with an instruction from the ECU10.

Next, a configuration of a vehicle control system2according to the first embodiment will be described with reference toFIG. 2. As shown inFIG. 2, the vehicle control system2includes the vehicle-mounted control system1and a data management system3. While the vehicle-mounted control system1includes the respective devices10to16described above,FIG. 2further shows a configuration of the ECU10in greater detail.

The ECU10includes a recognition micro control unit (MCU)20, a determination MCU21, control MCUs22and23, and a communication MCU24. The respective MCUs20to24are connected to one another via a bus to be capable of transmitting and receiving information to and from one another. In addition, the respective MCUs20to24are connected to the respective devices10to16via a dedicated bus.

The recognition MCU20recognizes a state of the host vehicle based on image information received from the camera11and distance information received from the sensor12. More specifically, for example, the recognition MCU20recognizes an object present in a periphery of the host vehicle as a state of the host vehicle. For example, with respect to an object present in the periphery of the host vehicle, the recognition MCU20recognizes a position thereof, whether or not the object is traveling, a travel direction and a travel speed thereof, and the like. In addition, the recognition MCU20transmits recognition result information indicating a recognized state to the determination MCU21.

The determination MCU21estimates a factor that occurs with respect to the host vehicle based on recognition result information received from the recognition MCU20. A factor that occurs with respect to the host vehicle represents a presence of an object (a pedestrian, an obstacle, and the like) for which a necessity of evasion by the host vehicle may arise. Hereinafter, a factor estimated by the determination MCU21will also be referred to as an “estimated factor”. In addition, the determination MCU21calculates a time until the host vehicle faces a situation where an origin (object) of the factor is reached when a decision is made to continue traveling. Hereinafter, a time calculated by the determination MCU21will also be referred to as an “estimated time”. The determination MCU21performs control to retrieve, from the volatile storage means13, action characteristic information indicating an action to be taken by the host vehicle with respect to an estimated factor in consideration of an estimated time. While action characteristic information is stored in plurality in the volatile storage means13in this manner, the action characteristic information will be described later. Typically, the determination MCU21includes the volatile storage means13.

The control MCUs22and23select action characteristic information indicating action that is favorably taken by the host vehicle with respect to an estimated factor according to prescribed criteria from action characteristic information obtained by the control performed by the determination MCU21. The control MCUs22and23control the host vehicle based on the selected action characteristic information. Accordingly, control based on the action characteristic information is performed on at least one of the steering system15and the brake16.

The communication MCU24transmits and receives information to and from the data management system3via the communication module14. Typically, the communication MCU24includes the communication module14. The communication MCU24transmits information received from the other MCUs20to23to the data management system3via the communication module14. The communication MCU24transmits information received from the data management system3via the communication module14to the other MCUs20to23.

The data management system3includes non-volatile storage means30, a communication module31, an action information management server40, a data server41, and a communication MCU42.

The non-volatile storage means30stores a plurality of pieces of action characteristic information. The non-volatile storage means30is non-volatile storage means capable of retaining information regardless of whether power is being supplied or not. For example, the non-volatile storage means30is configured so as to include at least one non-volatile memory or at least one hard disk, or a combination thereof.

The communication module31transmits information from the communication MCU42to outside of the data management system3using a radio signal. In addition, the communication module31receives a radio signal from the outside of the data management system3and transmits information indicated by the radio signal to the communication MCU42. As the radio signal, a signal based on an arbitrary radio communication standard may be used in a similar manner as the radio signal described earlier.

The action information management server40is an information processing device that manages action characteristic information. In this case, when retrieving action characteristic information from the non-volatile storage means30, the determination MCU21transmits request information for requesting retrieval of action characteristic information to the data management system3via the communication module14. The action information management server40receives the request information transmitted from the determination MCU21via the communication module31. The action information management server40transmits instruction information for instructing retrieval of action characteristic information to the data server41in accordance with the request information. The action information management server40transmits the action characteristic information obtained by retrieval performed by the data server41to the vehicle-mounted control system1via the communication module31.

The data server41is an information processing device that retains information used by the vehicle-mounted control system1. In other words, the data server41includes the non-volatile storage means30. The data server41retrieves desired action characteristic information and provides the action information management server40with the action characteristic information in accordance with instruction information from the action information management server40.

The communication MCU42transmits and receives information to and from the vehicle-mounted control system1via the communication module31. Typically, the communication MCU42includes the communication module31. The communication MCU42transmits information received from the action information management server40and the data server41to the vehicle-mounted control system1via the communication module31. The communication MCU42transmits information received from the vehicle-mounted control system1via the communication module31to the action information management server40and the data server41.

For example, when radio signals transmitted and received between the communication module14and the communication module31are based on mobile communication, typically, a base station includes the communication MCU42and the communication module31. In this case, the base station, the action information management server40, and the data server41are connected to one another via a network (for example, a mobile communication network or the Internet) to be capable of transmitting and receiving information to and from one another.

As described above, when transmitting and receiving information between the respective MCUs20to23in the vehicle-mounted control system1and the respective servers40and41in the data management system3, information is transmitted and received via the communication MCU24, the communication module14, the communication module31, and the communication MCU42.

Next, an example of data stored in the volatile storage means13and the non-volatile storage means30will be described with reference toFIG. 3. As illustrated inFIG. 3, in addition to an “action” that corresponds to action characteristic information described earlier, data stored in the volatile storage means13and the non-volatile storage means30includes information indicating an “ID”, a “time until facing situation”, a “factor”, and a “priority” as associated information.

An “ID” is information that uniquely identifies data. While an example will be described in which an “ID” is expressed by an integer in the present first embodiment, an “ID” is not limited to an integer. For example, an “ID” may be expressed by a numerical value other than an integer.

A “time until facing situation” is a time until the host vehicle reaches an origin of a “factor” when the host vehicle continues traveling.

A “factor” represents a factor that occurs with respect to the host vehicle (a presence of an object for which a necessity of evasion by the host vehicle may arise). Examples of an origin (object) of a “factor” include a pedestrian and obstacles other than a pedestrian (such as a utility pole, a pole, a tree, a fence, a difference in level, and an automobile).

A “priority” represents a degree to which an “action” is to be preferentially selected with respect to a “factor”. By selecting an “action” with a higher “priority” with respect to the same “factor”, an origin of the “factor” can be evaded even in a state that is assumed by an “action” with a lower “priority”. In other words, a “priority” corresponds to a degree of evading the origin of the “factor”. Therefore, an “action” with a higher “priority” is preferentially selected as an action to be taken with respect to an estimated factor. For example, the “priority” of an “action” representing control contents involving stopping before reaching the origin of the “factor” (a “stop” to be described later) is set higher than that of an “action” representing control contents involving detouring the origin of the “factor” and continuing traveling by changing a travel route of the host vehicle before reaching the origin of the “factor” (a “detour” to be described later).

Moreover, while an example will be described in which a “priority” is expressed by an integer in the present first embodiment, a “priority” is not limited to an integer. For example, a “priority” may be expressed by a numerical value other than an integer. In addition, while an example will be described in which a higher “priority” is expressed by a greater numerical value, a “priority” is not limited to this example. For example, a higher “priority” may be expressed by a smaller numerical value. For example, a “priority” is set using at least one of the criteria described below.

(1) When an origin of a “factor” is an object capable of travel (for example, a pedestrian and an automobile), a “priority” of an “action” that assumes a traveling object is set higher than a “priority” of an “action” that assumes an object that is not traveling.

(2) When an origin of a “factor” is an object capable of travel, a “priority” of an “action” that assumes an object traveling toward the host vehicle is set higher than a “priority” of an “action” that assumes an object traveling away from the host vehicle.

(3) When an origin of a “factor” is a difference in level, a “priority” of a difference in level which cannot be negotiated by the host vehicle is set higher than a “priority” of a difference in level which can be negotiated by the host vehicle.

(4) When an origin of a “factor” is a pedestrian, a “priority” of an “action” which assumes that the pedestrian is a child is set higher than a “priority” of an “action” which assumes that the pedestrian is an adult.

An “action” represents control contents to be taken by the host vehicle with respect to a “factor”. By controlling the host vehicle according to the control contents represented by an “action”, the host vehicle can be controlled so that the host vehicle evades an origin of the “factor” before a “time until facing situation”. In other words, an “action” represents control contents that can be executed and completed before the “time until facing situation” lapses.

Next, respective pieces of data shown inFIG. 3will be described. The data with an “ID” of “1” assumes a case where a “pedestrian” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “3 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “pedestrian” that is the origin of the “factor” is traveling in a direction approaching the host vehicle. Therefore, as an “action”, the data indicates a “stop (sudden)” with control contents involving stopping the host vehicle before reaching the “pedestrian” by stopping the host vehicle before “3 seconds” lapse. A “priority” is set to 10.

The data with an “ID” of “2” assumes a case where a “pedestrian” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “5 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “pedestrian” that is the origin of the “factor” is traveling in a direction approaching the host vehicle. Therefore, as an “action”, the data indicates a “stop (normal)” with control contents involving stopping the host vehicle before “5 seconds” lapse. In other words, a “stop (normal)” represents control contents involving stopping the host vehicle before reaching the “pedestrian” by stopping the host vehicle more gradually than the “stop (sudden)” described above. Since the data assumes a case where a “pedestrian” is traveling in a direction approaching the host vehicle in a similar manner to the data with an “ID” of “1”, a “priority” of “10” is similarly set.

The data with an “ID” of “3” assumes a case where a “pedestrian” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “7 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “pedestrian” that is the origin of the “factor” is traveling in a direction approaching the host vehicle. Therefore, as an “action”, the data indicates a “stop (slow)” with control contents involving stopping the host vehicle before reaching the “pedestrian” by stopping the host vehicle before “7 seconds” lapse. In other words, a “stop (slow)” represents control contents involving stopping the host vehicle more gradually than the “stop (normal)” described above. Since the data assumes a case where a “pedestrian” is traveling in a direction approaching the host vehicle in a similar manner to the data with an “ID” of “1”, a “priority” of “10” is similarly set.

The data with an “ID” of “4” assumes a case where a “pedestrian” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “3 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “pedestrian” that is the origin of the “factor” is not traveling. Therefore, as an “action”, the data indicates a “detour (sudden)” with control contents involving detouring the “pedestrian” and continuing traveling by changing a travel route of the host vehicle before “3 seconds” lapse. Since the data assumes a case where a “pedestrian” is not traveling which differs from a case where the “pedestrian” is traveling as in the case of the data with an “ID” of “1”, a “priority” of “6” that is lower than the “priority” of “10” in the case of the data with an “ID” of “1” is set.

The data with an “ID” of “5” assumes a similar situation as the data with an “ID” of “4”. Therefore, a “time until facing situation” is “3 seconds”, an origin of a “factor” is a “pedestrian”, a “priority” is “6”, and an “action” is “detour (sudden)”. However, strictly speaking, there is a slight difference in the control contents of the host vehicle that are represented by the “action”. Obviously, the “action” generally represents control contents involving detouring the “pedestrian” and continuing traveling by changing a travel route of the host vehicle before “3 seconds” lapse. In this manner, options may be provided even with respect to the same situation.

The data with an “ID” of “6” assumes a case where a “pedestrian” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “5 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “pedestrian” that is the origin of the “factor” is not traveling. Therefore, as an “action”, the data indicates a “detour (normal)” with control contents involving detouring the “pedestrian” and continuing traveling by changing a travel route of the host vehicle before “5 seconds” lapse. In other words, the “detour (normal)” represents control contents involving changing the travel route of the host vehicle more gradually than the “detour (sudden)” described above. Since the data assumes a case where a “pedestrian” is not traveling in a similar manner to the data with an “ID” of “4”, a “priority” of “6” is similarly set.

The data with an “ID” of “7” assumes a similar situation as the data with an “ID” of “6”. Therefore, a “time until facing situation” is “5 seconds”, an origin of a “factor” is a “pedestrian”, a “priority” is “6”, and an “action” is “detour (normal)”. However, strictly speaking, there is a slight difference in the control contents of the host vehicle that are represented by the “action”. Obviously, the “action” generally represents control contents involving detouring the “pedestrian” and continuing traveling by changing a travel route of the host vehicle before “7 seconds” lapse. This is similar in intent to the data with an “ID” of “5”.

The data with an “ID” of “8” assumes a case where a “pedestrian” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “7 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “pedestrian” that is the origin of the “factor” is not traveling. Therefore, as an “action”, the data indicates a “detour (slow)” with control contents involving detouring the “pedestrian” and continuing traveling by changing a travel route of the host vehicle before “7 seconds” lapse. In other words, the “detour (slow)” represents control contents involving changing the travel route of the host vehicle more gradually than the “detour (normal)” described above. Since the data assumes a case where a “pedestrian” is not traveling in a similar manner to the data with an “ID” of “4”, a “priority” of “6” is similarly set.

The data with an “ID” of “9” assumes a similar situation as the data with an “ID” of “8”. Therefore, a “time until facing situation” is “7 seconds”, an origin of a “factor” is a “pedestrian”, a “priority” is “6”, and an “action” is “detour (slow)”. However, strictly speaking, there is a slight difference in the control contents of the host vehicle that are represented by the “action”. Obviously, the “action” generally represents control contents involving detouring the “pedestrian” and continuing traveling by changing a travel route of the host vehicle before “7 seconds” lapse. This is similar in intent to the data with an “ID” of “5”.

The data with an “ID” of “10” assumes a case where an “installation” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “3 seconds” that is the “time until facing situation”. An “installation” refers to an object that is incapable of traveling among obstacles. Therefore, as an “action”, the data indicates a “detour (sudden)” with control contents involving detouring the “installation” and continuing traveling by changing a travel route of the host vehicle before “3 seconds” lapse. A “priority” is set to 6.

The data with an “ID” of “11” assumes a case where an “installation” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “5 seconds” that is the “time until facing situation”. Therefore, as an “action”, a “detour (normal)” is set which involves detouring the “installation” and continuing traveling by changing a travel route of the host vehicle before “5 seconds” lapse. Since the data assumes an “installation” in a similar manner to the data with an “ID” of “10”, a “priority” of “6” is similarly set.

The data with an “ID” of “12” assumes a case where an “installation” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “10 seconds” that is the “time until facing situation”. Therefore, as an “action”, a “detour (slow)” is set which involves detouring the “installation” and continuing traveling by changing a travel route of the host vehicle before “7 seconds” lapse. Since the data assumes an “installation” in a similar manner to the data with an “ID” of “10”, a “priority” of “6” is similarly set.

The data with an “ID” of “13” assumes a case where a “difference in level” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “5 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “difference in level” that is the origin of the “factor” has a height that cannot be negotiated by the host vehicle. Therefore, as an “action”, the data indicates a “detour (normal)” which involves detouring the “difference in level” and continuing traveling by changing a travel route of the host vehicle before “5 seconds” lapse. A “priority” is set to 6.

The data with an “ID” of “14” assumes a case where a “difference in level” is present as an origin of a “factor” at a point when the host vehicle reaches a location which can be reached in “5 seconds” that is the “time until facing situation”. In addition, the data assumes a case where the “difference in level” that is the origin of the “factor” has a height that can be negotiated by the host vehicle. Therefore, as an “action”, the data indicates a “deceleration” with control contents involving decelerating the host vehicle and continuing traveling before “5 seconds” lapse. Since the data assumes a case where a “difference in level” has a height that can be negotiated by the host vehicle which differs from a case where the “difference in level” has a height that cannot be negotiated by the host vehicle as in the case of the data with an “ID” of “13”, a “priority” of “2” that is lower than the “priority” of “6” in the case of the data with an “ID” of “13” is set.

Hereinafter, in the present first embodiment, a description will be given on the assumption that the plurality of pieces of data shown inFIG. 3are stored in advance in the non-volatile storage means30. In this case, the volatile storage means13and the non-volatile storage means30respectively store a plurality of pieces of data. Compared to the non-volatile storage means30, the volatile storage means13enables data to be accessed from the ECU10at a higher speed but the number of pieces of data that can be retained is smaller. On the other hand, compared to the volatile storage means13, data in the non-volatile storage means30can only be accessed by the ECU10at a lower speed but the non-volatile storage means30is capable of retaining a greater number of pieces of data. In other words, a capacity of the volatile storage means13is too small to store all of the data that is stored in the non-volatile storage means30. Therefore, several pieces of data among the plurality of pieces of data stored in the non-volatile storage means30are to be selectively stored in the volatile storage means13.

Next, functional blocks of the vehicle control system2according to the first embodiment will be described with reference toFIG. 4. As shown inFIG. 4, the vehicle control system2according to the first embodiment includes a state recognizing unit50, a situation estimating unit51, an action acquiring unit52, and an output control unit53.

The state recognizing unit50recognizes a state which the host vehicle is in based on image information received from the camera11and distance information received from the sensor12. In other words, the state recognizing unit50recognizes objects present in a periphery of the host vehicle as described earlier. For example, the recognition MCU20functions as the state recognizing unit50.

The situation estimating unit51calculates the estimated factor described earlier based on the state which the host vehicle is in as recognized by the state recognizing unit50. In addition, the situation estimating unit51calculates the estimated time described earlier. In this case, for example, the situation estimating unit51decides a factor that is encountered first by the host vehicle along a travel route of the host vehicle as calculated in the automatic control mode as the estimated factor. In addition, for example, the situation estimating unit51calculates an estimated time based on a distance to an origin of the estimated factor and a speed of the host vehicle. The situation estimating unit51calculates the estimated time by dividing the distance to the origin of the factor by the speed of the host vehicle. The speed of the host vehicle may be acquired by an arbitrary method. For example, the situation estimating unit51may acquire angle information indicating a rotation angle of an axle from an axle sensor (not shown) of the host vehicle and calculate the speed of the host vehicle based on a change in the rotation angle as indicated by the acquired angle information. Alternatively, the situation estimating unit51may acquire acceleration information indicating an acceleration of the host vehicle from an acceleration sensor (not shown) of the host vehicle and calculate the speed of the host vehicle by integrating the acceleration indicated by the acquired acceleration information. For example, the determination MCU21functions as the situation estimating unit51.

The action acquiring unit52retrieves and acquires action characteristic information indicating an action to be taken by the host vehicle with respect to the estimated factor calculated by the situation estimating unit51from the volatile storage means13or the non-volatile storage means30. For example, the determination MCU21, the control MCUs22and23, the action information management server40, and the data server41function as the action acquiring unit52.

In this case, the action acquiring unit52uses the volatile storage means13and the non-volatile storage means30in a discriminating manner as an acquisition source of the action characteristic information depending on whether or not the estimated time calculated by the situation estimating unit51is equal to or shorter than a threshold t1. The threshold t1is a time arbitrarily set in advance. In addition, when acquiring action characteristic information from the non-volatile storage means30, the action acquiring unit52stores the action characteristic information in the volatile storage means13.

The output control unit53selects optimal action characteristic information according to prescribed criteria from action characteristic information acquired as a result of the retrieval by the action acquiring unit52. The output control unit53controls the host vehicle based on the selected action characteristic information. For example, the control MCU22functions as the output control unit53.

Acquisition of action characteristic information by the action acquiring unit52from the volatile storage means13or the non-volatile storage means30is performed by any one of methods (1) and (2) described below.

(1) In a first method, the determination MCU21acquires action characteristic information by retrieving action characteristic information from any one of the volatile storage means13and the non-volatile storage means30.

When the estimated time is equal to or shorter than the threshold t1, the determination MCU21retrieves data with a “factor” that is consistent with the estimated factor from the volatile storage means13. Subsequently, the determination MCU21transmits the data acquired by the retrieval to the control MCUs22and23.

On the other hand, when the estimated time is longer than the threshold t1, the determination MCU21transmits, to the action information management server40, request information for requesting data with a “factor” that is consistent with the estimated factor to be retrieved from the non-volatile storage means30. In response to the request information from the determination MCU21via the communication MCU24, the action information management server40transmits instruction information for instructing the retrieval requested by the request information to the data server41. In accordance with the instruction information from the action information management server40, the data server41retrieves data instructed by the instruction information from the non-volatile storage means30. In other words, the data server41retrieves data with a “factor” that is consistent with the estimated factor from the non-volatile storage means30. The estimated factor may be made recognizable by the data server41by having the request information and the instruction information include information indicating the estimated factor. The data server41transmits the data obtained by the retrieval to the action information management server40. The action information management server40transmits the data received from the data server41to the control MCUs22and23.

Therefore, the control MCUs22and23receive data from any one of the determination MCU21and the action information management server40. The control MCUs22and23acquire action characteristic information included in the received data as a candidate for action characteristic information to be selected and utilized to control the host vehicle.

(2) In a second method, the determination MCU21retrieves action characteristic information from both the volatile storage means13and the non-volatile storage means30and the control MCUs22and23acquire any one of the action characteristic information obtained by retrieval from the volatile storage means13and the action characteristic information obtained by retrieval from the non-volatile storage means30.

The determination MCU21retrieves data from the volatile storage means13in a similar manner to the first method described above regardless of whether or not the estimated time is equal to or shorter than the threshold t1. Subsequently, the determination MCU21transmits the data acquired by the retrieval to the control MCUs22and23.

In addition, the determination MCU21transmits request information for requesting data to be retrieved to the action information management server40in a similar manner to the first method described above regardless of whether or not the estimated time is equal to or shorter than the threshold t1. Accordingly, in a similar manner to the description given earlier, the data server41performs retrieval of data and the action information management server40transmits data obtained as a retrieval result from the data server41to the control MCUs22and23.

The determination MCU21transmits estimated time information indicating an estimated time to the control MCUs22and23. When the estimated time indicated by the estimated time information received from the determination MCU21is equal to or shorter than the threshold t1, the control MCUs22and23acquire data obtained by the retrieval from the volatile storage means13as a candidate for action characteristic information to be selected and utilized to control the host vehicle. In other words, the control MCUs22and23do not acquire action characteristic information included in the data received from the action information management server40as a candidate for action characteristic information to be selected and utilized to control the host vehicle but acquire action characteristic information included in the data received from the determination MCU21as a candidate for action characteristic information to be selected and utilized to control the host vehicle. On the other hand, when the estimated time indicated by the estimated time information received from the determination MCU21is longer than the threshold t1, the control MCUs22and23acquire action characteristic information included in data obtained by the retrieval from the non-volatile storage means30as a candidate for action characteristic information to be selected and utilized to control the host vehicle. In other words, the control MCUs22and23do not acquire action characteristic information included in the data received from the determination MCU21as a candidate for action characteristic information to be selected and utilized to control the host vehicle but acquire action characteristic information included in the data received from the action information management server40as a candidate for action characteristic information to be selected and utilized to control the host vehicle.

In this manner, in the present first embodiment, when a time until encountering a factor to be evaded by the host vehicle is short, action characteristic information is acquired from the volatile storage means13which requires only a short time to retrieve action characteristic information. On the other hand, when a time until encountering a factor to be evaded by the host vehicle is long, action characteristic information is acquired from the non-volatile storage means30which requires a longer time to retrieve action characteristic information but which enables a larger number of pieces of action characteristic information to be retrieved. Accordingly, even when a time until encountering a factor to be evaded by the host vehicle is short, a best possible action to be taken by the host vehicle can be decided while making the decision without delay before the host vehicle reaches the factor. In addition, when a time until encountering a factor to be evaded by the host vehicle is long, a best possible action to be taken by the host vehicle can be decided from a larger number of actions while obviously making the decision without delay before the host vehicle reaches the factor. Therefore, an action that is suitable for a factor that has occurred with respect to the vehicle can be decided without delay.

In this case, from the perspective of reducing communication traffic, the first method is favorably used rather than the second method. According to the first method, when the estimated time is longer than the threshold t1and there is not enough time to acquire action characteristic information from the non-volatile storage means30, action characteristic information is only retrieved from the volatile storage means13and retrieval of action characteristic information from the action information management server40is not performed. As a result, reception of unnecessary action characteristic information from the data management system3by the control MCUs22and23can be eliminated and communication traffic can be reduced.

Next, an operation of the vehicle control system2according to the present first embodiment will be described with reference toFIG. 5. In this case, prior to the operation described below, the vehicle-mounted control system1selectively acquires several pieces of data from the data management system3among a plurality of pieces of data stored in the non-volatile storage means30and stores the acquired data in the volatile storage means13.

The action acquiring unit52acquires data to be stored in the volatile storage means13in an initial state from the non-volatile storage means30when an ignition power supply of the host vehicle is switched on and power is supplied to the ECU10to make the ECU10operable. The action acquiring unit52stores the acquired data in the volatile storage means13.

More specifically, when an ignition power supply of the host vehicle is switched on and power is supplied to the ECU10to make the ECU10operable, the determination MCU21transmits request information for requesting transmission of data to be stored in the volatile storage means13in an initial state to the action information management server40. In response to the request information from the determination MCU21, the action information management server40transmits instruction information for instructing acquisition of data to be stored in the volatile storage means13in an initial state to the data server41.

In accordance with the instruction information from the action information management server40, the data server41acquires data to be stored in the volatile storage means13in an initial state and transmits the acquired data to the action information management server40. At this point, the data server41acquires at least one piece of data for each “factor”. In addition, the data server41acquires as many pieces of data as can be stored in the volatile storage means13in an ascending order of a “time until facing situation” that is included in the data. The action information management server40transmits the data received from the data server41to the determination MCU21. The determination MCU21stores the data received from the action information management server40in the volatile storage means13.

Subsequently, when operating in the automatic control mode, the vehicle-mounted control system1executes an operation described below. For example, the vehicle-mounted control system1executes the operation described below at prescribed constant intervals.

The state recognizing unit50acquires image information from the camera11and acquires distance information from the sensor12. Based on the acquired image information and distance information, the state recognizing unit50recognizes a state which the host vehicle is in (S1). More specifically, as described earlier, the recognition MCU20recognizes a state which the host vehicle is in based on the image information and the distance information.

Based on the state which the host vehicle is in as recognized by the state recognizing unit50, the situation estimating unit51estimates a factor occurring with respect to the host vehicle and a time until the host vehicle faces a situation where the host vehicle reaches an origin of the factor (S2). The factor and the time that are estimated at this point are to be used as the estimated factor and the estimated time described earlier. More specifically, as described earlier, based on the image information and the distance information, the determination MCU21estimates a factor occurring with respect to the host vehicle based on recognition result information received from the recognition MCU20.

The action acquiring unit52and the output control unit53start retrieving a best possible action from the volatile storage means13or the non-volatile storage means30(S3). In other words, retrieval of action characteristic information according to the first method or the second method described earlier is started.

When the estimated time calculated by the situation estimating unit51is equal to or shorter than the threshold t1(yes in S4), the action acquiring unit52acquires action characteristic information corresponding to the estimated factor calculated by the situation estimating unit51from the volatile storage means13. The output control unit53selects an action which can be executed within the estimated time and which has a highest priority e1among actions indicated by the action characteristic information acquired from the volatile storage means13by the action acquiring unit52(S5).

On the other hand, when the estimated time calculated by the situation estimating unit51is longer than the threshold t1(no in S4), the action acquiring unit52acquires action characteristic information corresponding to the estimated factor calculated by the situation estimating unit51from the non-volatile storage means30. The output control unit53selects an action which can be executed within the estimated time calculated by the situation estimating unit51and which has a highest priority e1among actions indicated by the action characteristic information acquired from the non-volatile storage means30by the action acquiring unit52(S6).

At this point, more specifically, a selection of an action which can be executed within the estimated time calculated by the situation estimating unit51and which has a highest priority is performed as described below.

The determination MCU21transmits estimated time information indicating an estimated time to the control MCUs22and23. Meanwhile, the control MCUs22and23have acquired data that indicate the estimated factor as a “factor” from the determination MCU21or the action information management server40as described earlier. The control MCUs22and23select an “action” indicated by data with a highest “priority” among acquired data indicating a “time until facing situation” that is equal to or shorter than an estimated time indicated by the estimated time information from the determination MCU21.

In addition, when an action is selected from the non-volatile storage means30(S6), the output control unit53determines whether or not a “time until facing situation” indicated by the data including the action characteristic information indicating the selected action is equal to or shorter than the threshold t1(S7). Moreover, the threshold t1in step S4and the threshold t1in step S7have the same value. When the output control unit53determines that the “time until facing situation” is equal to or shorter than the threshold t1(yes in S7), the output control unit53instructs the action acquiring unit52to perform replacement with the data including the action characteristic information indicating the selected action. The action acquiring unit52replaces one piece of arbitrary selected data among the plurality of pieces of data stored in the volatile storage means13with the data including the action characteristic information selected by the output control unit53(S8).

More specifically, the control MCUs22and23transmit data including the action characteristic information indicating the selected action to the determination MCU21. The determination MCU21replaces one piece of arbitrary selected data among the plurality of pieces of data stored in the volatile storage means13with the data transmitted from the control MCUs22and23. Moreover, obviously, only one piece of data is to be replaced regardless of whether both control MCUs22and23are to transmit data or any one of the control MCUs22and23is to transmit data. Simply put, overlapping of requests for data replacement can be avoided by having only one control MCU determined in advance among the control MCUs22and23transmit data. In addition, an arbitrary method may be used as a method of selecting data to be a replacement target among the plurality of pieces of data stored in the volatile storage means13. For example, data to be a replacement target may be randomly decided.

At this point, favorably, the determination MCU21decides data to be a replacement target so that at least data with a shortest “time until facing situation” is retained for each “factor”. Accordingly, since a worst case action can be retained in the volatile storage means13for each factor that may occur to the host vehicle, any situation can be accommodated. However, this method is not restrictive as long as safety can be guaranteed. For example, as an alternative method, when data with a “time until facing situation” that is equal to or shorter than the estimated time indicated by the estimated time information cannot be found, the control MCUs22and23may perform, in a fixed manner, a shortest action (for example, stopping in a shortest amount of time) that can be performed by the host vehicle.

Subsequently, the output control unit53controls the host vehicle with the selected action (S9). More specifically, as described earlier, the control MCUs22and23control the host vehicle with the selected action. For example, when the action is a “stop”, the control MCU23controls the brake so that the host vehicle stops in conformance to the selection action. For example, when the action is a “detour”, the control MCU22controls the steering system so that the host vehicle evades the factor in conformance to the selection action.

As described above, in the present first embodiment, a plurality of pieces of data which indicate, in association with each other, a factor that occurs with respect to a vehicle and control contents of the vehicle to be performed with respect to the factor are stored in the non-volatile storage means30. In addition, the volatile storage means13enables access at a higher speed than the non-volatile storage means30but stores a smaller number of pieces of data than the non-volatile storage means30. The situation estimating unit51estimates a factor and a required time until encountering the factor based on observation results of a periphery of the vehicle. Based on the estimated factor and the data, the action acquiring unit52and the output control unit53cooperate to decide control contents of the vehicle.

At this point, the action acquiring unit52and the output control unit53decide the control contents of the vehicle based on data stored in the non-volatile storage means30when the estimated required time is longer than a threshold t1and decide the control contents of the vehicle based on data stored in the volatile storage means13when the estimated required time is equal to or shorter than the threshold t1.

Accordingly, when the required time until encountering the factor is long, the action is selected based on data stored in the non-volatile storage means30. On the other hand, when the required time until encountering the factor is short and there is not sufficient time, the action is selected from the volatile storage means13that enables access at a higher speed than the non-volatile storage means30. Therefore, the vehicle can be controlled with less delay in accordance with a factor that has occurred with respect to the vehicle.

For example, let us assume that all of the plurality of pieces of data shown inFIG. 3are stored in the non-volatile storage means30and that data with “IDs” of “1”, “2”, “4”, “5”, “10”, and “13” among the plurality of pieces of data shown inFIG. 3are stored in the volatile storage means13. Let us also assume that a host vehicle is in a situation where the host vehicle is to reach a “pedestrian” in “4 seconds” and the threshold t1is set to “5 seconds”. In this case, since an estimated time is equal to or shorter than the threshold t1, action characteristic information is selected from data stored in the volatile storage means13. As a result, action characteristic information of data which includes a “pedestrian” as a “factor” and a “time until facing situation” that is equal to or shorter than the estimated time of “4 seconds” and which has a highest “priority” of “10” is selected. In other words, control of the host vehicle is performed in conformance to a “stop (sudden)” that is indicated by the “action” of the data with the “ID” of “1”.

In this manner, when selecting action characteristic information from the non-volatile storage means30results in taking “5 seconds” that is longer than “4 seconds” which is the time required by the host vehicle to reach the “pedestrian”, action characteristic information can be selected from data stored in the volatile storage means13that enables access at a higher speed than the non-volatile storage means30and a quick response may be made. Furthermore, in the present first embodiment, an action with a “time until facing situation” that is equal to or shorter than the estimated time is selected. Therefore, as described above, the host vehicle can be stopped before a lapse of “3 seconds” that is shorter than “4 seconds” required by the host vehicle to reach the “pedestrian”. In other words, the host vehicle can be controlled with an inclination toward a safer side.

In addition, in the present first embodiment, action characteristic information of data with a highest “priority” is selected among data with a “time until facing situation” that is equal to or shorter than the estimated time. Therefore, even when selecting the action characteristic information from the volatile storage means13with a limited number of pieces of data, an effective action can be selected. For example, as in the case of the example described above, while the factor can actually be accommodated by an action represented by the data with an “ID” of “4”, even when the data is not stored in the volatile storage means13, the factor can be evaded by adopting an action represented by the data with an “ID” of “1” which is even more effective. In this manner, by selecting action characteristic information included in data with a higher “priority”, the host vehicle can be controlled with an inclination toward a safer side.

First Modification of First Embodiment

In the example described last, when the estimated time until facing the situation is “6 seconds” instead of “4 seconds”, action characteristic information can be selected from all of the data stored in the non-volatile storage means30. However, even in this case, action characteristic information included in the data with an “ID” of “1” is to be selected as action characteristic information included in data with a “time until facing situation” that is equal to or shorter than the estimated time and which has a highest “priority”. In other words, even though the time that it actually takes to reach an origin of the factor is the estimated time “6 seconds” and data that is closer thereto exist (data with a “time until facing situation” of “5 seconds”), the action characteristic information included in the data with a “time until facing situation” is “3 seconds” ends up being selected.

In consideration thereof, as a first modification, in order to acquire action characteristic information that is more appropriate, action characteristic information included in data with a “time until facing situation” within a range of time that is shorter by a prescribed time than the estimated time may be selected instead of selecting action characteristic information included in data with a “time until facing situation” that is equal to or shorter than the estimated time as the criteria in steps S5and S6.

For example, let us assume that the prescribed time is “2 seconds”. In this case, in the example described above, action characteristic information included in the data with an “ID” of “2” is selected as action characteristic information included in data with a highest “priority” of “10” among data with a “time until facing situation” that is within a range from “6 seconds” that is the estimated time until facing the situation to “4 seconds” that is 2 seconds shorter than “6 seconds” from the data stored in the non-volatile storage means30.

Accordingly, in conformance to “6 seconds” that is the time required by the host vehicle to reach the “pedestrian”, the host vehicle can be stopped in “5 seconds” instead of in “3 seconds”. In other words, in the example described in the first embodiment, the factor can be evaded by a normal stopping operation without having to perform an emergency stopping operation. In this manner, according to the first modification, since a host vehicle can be controlled to evade a factor by using up time that is closer to a time required by the host vehicle to reach an origin of the factor, there is less divergence from an actual situation and control of the host vehicle can be performed without giving a driver a sense of discomfort.

Second Modification of First Embodiment

In the example described in the first modification, action characteristic information included in the data with an “ID” of “2” is to be selected as action characteristic information included in data with a highest “priority” among data with a “time until facing situation” that is within a range from the estimated time to a time that is shorter than the estimated time by a prescribed time. In this case, for example, when the “pedestrian” is actually not traveling, action characteristic information included in data with an “ID” of “6” or “7” which assumes that the “pedestrian” is not traveling is favorably selected. However, even in this case, in the example described so far, action characteristic information included in the data with an “ID” of “2” is selected and control that is excessively inclined toward a side of safety is performed.

In consideration thereof, as a second modification, in order to acquire action characteristic information that is more appropriate, action characteristic information included in data with a “priority” that is closer to a priority estimated based on a recognized state may be selected instead of selecting action characteristic information included in data with a highest “priority” as the criteria in steps S5and S6. Hereinafter, the estimated priority will also be referred to as an “estimated priority”. Moreover, calculation of an estimated priority may be performed by the situation estimating unit51based on a state recognized by the state recognizing unit50and according to the same calculation criteria as the “priority” in data to be stored in the non-volatile storage means30. Therefore, for example, when the “pedestrian” is not traveling, “6” is to be calculated as an estimated priority. In addition, the output control unit53selects action characteristic information based on the estimated priority calculated by the situation estimating unit51.

More specifically, the determination MCU21calculates an estimated priority based on recognition result information received from the recognition MCU20. The determination MCU21transmits estimated priority information indicating the calculated estimated priority to the control MCUs22and23. The control MCUs22and23select action characteristic information included in data indicating a “priority” that is closer to the estimated priority indicated by the estimated priority information received from the determination MCU21.

Accordingly, in the example described in the first modification, action characteristic information included in the data with an “ID” of “6” or “7” is selected as action characteristic information included in data with a “priority” that is closer to the estimated priority of “6” among data with a “time until facing situation” that is within a range from “6 seconds” to “4 seconds” from the data stored in the non-volatile storage means30.

In this manner, when a “pedestrian” is not traveling, by having the host vehicle evade the “pedestrian” by making a “detour” instead of stopping before reaching the “pedestrian”, travel of the host vehicle can be continued while guaranteeing safety. In other words, as described above, while the host vehicle can be controlled with an inclination toward a safer side by selecting action characteristic information included in data with a higher “priority”, the selection may sometimes be excessive. By comparison, according to the second modification, since the host vehicle can be controlled in control contents corresponding to an actual situation, control can be performed without giving a driver a sense of discomfort due to a divergence from the actual situation.

Second Embodiment

Next, a second embodiment will be described. Since a configuration of the vehicle-mounted control system1, a configuration of the vehicle control system2, and functional blocks of the vehicle control system2according to the present second embodiment are similar to those of the first embodiment, a description thereof will be omitted. Hereinafter, a description will be given while omitting contents similar to the first embodiment as appropriate.

The vehicle-mounted control system1according to the present second embodiment differs from the vehicle-mounted control system according to the first embodiment in that the vehicle-mounted control system1according to the present second embodiment manages a frequency of selection of an action with respect to each of a plurality of pieces of data stored in the volatile storage means13. In addition, when replacing data stored in the volatile storage means13, the vehicle-mounted control system1according to the present second embodiment preferentially selects data with a low selection frequency as a replacement target.

In other words, in the present second embodiment, when the output control unit53selects action characteristic information for controlling the host vehicle from data acquired from the volatile storage means13, the output control unit53instructs the situation estimating unit51to update a frequency of data including the action characteristic information. In addition, the situation estimating unit51updates the frequency of the data instructed by the output control unit53.

Furthermore, when action characteristic information for controlling the host vehicle is selected from data acquired from the non-volatile storage means30and a plurality of pieces of data stored in the volatile storage means13are replaced, action acquiring unit52preferentially selects data with a low selection frequency as a replacement target.

In this case, frequency of data is made recognizable by storing frequency information indicating a selection frequency of data in the volatile storage means13in association with each piece of data. The frequency information may be information of any format as long as the information represents a selection frequency of data. Typically, for example, frequency information is information indicating the number of times the data has been selected.

Next, an operation of the vehicle control system2according to the present second embodiment will be described with reference toFIG. 6. Moreover, inFIG. 6, an operation block that performs a similar operation to an operation block in an operation of the vehicle control system2according to the first embodiment shown inFIG. 5will be denoted using the same reference character and a description thereof will be omitted.

The operation shown inFIG. 6differs from the operation shown inFIG. 5in that the operation shown inFIG. 6includes step S10as a process following step S5. The operation shown inFIG. 6also differs from the operation shown inFIG. 5in that the operation shown inFIG. 6includes step S11in place of step S8.

After selection of an action from the volatile storage means13(S5), the output control unit53instructs the situation estimating unit51to update a frequency q1of data including action characteristic information indicating the action. In addition, the situation estimating unit51updates the frequency of the data instructed by the output control unit53.

More specifically, the control MCUs22and23transmit instruction information for instructing data including action characteristic information indicating the selected action to be updated to the determination MCU21. The instruction information includes information identifying data to be an update object. Information that identifies data may be arbitrary information as long as data can be identified. For example, information that identifies data may be the “ID” described earlier.

In accordance with the instruction information from the control MCUs22and23, the determination MCU21updates frequency information corresponding to the data for which an update has been instructed among a plurality of pieces of data stored in the volatile storage means13so as to indicate a higher frequency (S10). For example, when the frequency information indicates the number of times the data has been selected, the number of selections is increased by 1.

In addition, an action is selected from the non-volatile storage means30(S6), and when it is determined that the “time until facing situation” is equal to or shorter than the threshold t1(yes in S7), the output control unit53instructs the action acquiring unit52to perform replacement with the data including action characteristic information indicating the selected action. The action acquiring unit52replaces data with a lowest frequency among the plurality of pieces of data stored in the volatile storage means13with the data including the action characteristic information selected by the output control unit53(S11).

More specifically, the control MCUs22and23transmit data including action characteristic information indicating the selected action to the determination MCU21. The determination MCU21replaces data corresponding to frequency information indicating a lowest frequency with data transmitted from the control MCUs22and23. At this point, favorably, as described in the first embodiment, the determination MCU21decides data to be a replacement target so that at least data with a shortest “time until facing situation” is retained for each “factor”. Specifically, favorably, at least data corresponding to frequency information indicating a lowest frequency among data other than the data with a shortest “time until facing situation” is set as a replacement target for each “factor”. However, as described in the first embodiment, this is not restrictive. In other words, as long as data corresponding to frequency information that indicates a lower frequency is to be preferentially set as a replacement target, various modifications can be made.

As described above, in the present second embodiment, when control contents of a vehicle are decided based on data stored in the non-volatile storage means30, the action acquiring unit52and the output control unit53update frequency information corresponding to the data indicating the decided control contents so as to indicate a higher frequency. In addition, the action acquiring unit52replaces data corresponding to frequency information that indicates a lower frequency with the preferentially decided data indicating the decided control contents of the vehicle.

Accordingly, a probability of data with a high selection frequency being stored in the volatile storage means13increases and the volatile storage means13with limited capacity can be effectively utilized.

Third Embodiment

Next, a third embodiment will be described. Since a configuration of the vehicle-mounted control system1and a configuration of the vehicle control system2according to the present third embodiment are similar to those of the second embodiment, a description thereof will be omitted. Hereinafter, a description will be given while omitting contents similar to the second embodiment as appropriate.

The vehicle control system2according to the present third embodiment performs learning based on contents of an operation by a driver when the vehicle control system2according to the second embodiment operates in the manual control mode. Accordingly, an action of the host vehicle based on the operation by the driver is fed back to data stored in the volatile storage means13and the non-volatile storage means30to optimize the data stored in the volatile storage means13and the non-volatile storage means30.

Next, an example of data stored in the volatile storage means13and the non-volatile storage means30will be described with reference toFIG. 7. As illustrated inFIG. 7, in the present third embodiment, the data stored in the volatile storage means13and the non-volatile storage means30further includes information indicating a “result” as compared to data exemplified in the first embodiment with reference toFIG. 3.

A “result” is an evaluation value of an “action”. A “result” is updated so that, the more an “action” is actually performed by a vehicle due to an operation by a driver, the higher the “result” is set relative to other data, and the less an “action” is actually performed by a vehicle due to an operation by a driver, the lower the “result” is set relative to other data.

Next, functional blocks of the vehicle control system2according to the third embodiment will be described with reference toFIG. 8. As shown inFIG. 8, the vehicle control system2according to the third embodiment includes a state recognizing unit50, a situation estimating unit51, an action acquiring unit52, an output control unit53, a time measuring unit54, an action selecting unit55, an action comparing unit56, and an action learning unit57.

Since operations of the state recognizing unit50, the situation estimating unit51, and the action acquiring unit52according to the present third embodiment are similar to operations of the units according to the second embodiment with the exception of the situation estimating unit51further calculating an estimated priority based on a state recognized by the state recognizing unit50, a description thereof will be omitted.

The time measuring unit54measures a time from a point when a factor is recognized (estimated) by the situation estimating unit51to a point when a driver causes a host vehicle to perform an action to evade the estimated factor. Hereinafter, this time will also be referred to as a “reaction time”. The time measuring unit54notifies the action learning unit57of the measured reaction time. For example, the determination MCU21functions as the time measuring unit54.

The action selecting unit55selects optimal action characteristic information according to prescribed criteria from action characteristic information acquired as a result of retrieval by the action acquiring unit52. However, unlike the output control unit53according to the first and second embodiments, the action selecting unit55does not perform control of the host vehicle based on the selected action characteristic information. A method of selecting action characteristic information by the action selecting unit55is the same as the output control unit53. For example, the control MCUs22and23function as the action selecting unit55.

The action comparing unit56compares control contents of the host vehicle in an action performed based on an operation by the driver with control contents of the host vehicle in an action indicated by the action characteristic information selected by the action selecting unit55. In addition, the action comparing unit56notifies the action learning unit57of a comparison result. For example, the control MCUs22and23function as the action comparing unit56.

The action learning unit57performs learning of an action to be taken with respect to an estimated factor based on the comparison result and the reaction time notified from the action comparing unit56. In other words, the action learning unit57newly generates or corrects learned action characteristic information and writes back the action characteristic information to the non-volatile storage means30. Accordingly, from an operation by the drive with respect to a given estimated factor, an action to be taken with respect to the estimated factor is to be learned. For example, the determination MCU21, the control MCUs22and23, the action information management server40, and the data server41function as the action learning unit57.

Next, a learning method of the vehicle-mounted control system1according to the present third embodiment will be described with reference toFIG. 9.

When a result indicating that the control contents are inconsistent is obtained as a comparison result by the action comparing unit56, the action learning unit57generates action characteristic information indicating an action performed based on an operation by the driver and adds the action characteristic information to the non-volatile storage means30. On the other hand, when a result indicating that the control contents are consistent is obtained as a comparison result by the action comparing unit56, the action learning unit57corrects selected action characteristic information based on an action performed based on an operation by the driver.

(1) Addition of Action Characteristic Information

In this case, the action learning unit57is to add new data to the non-volatile storage means30. As the data, the action learning unit57generates data including an estimated time calculated by the situation estimating unit51as a “time until facing situation”, an estimated factor calculated by the situation estimating unit51as a “factor”, an estimated priority calculated by the situation estimating unit51as a “priority”, and an action performed based on an operation by the driver as an “action”. In addition, an “ID” of the data may be set to an arbitrary non-overlapping value. Moreover, estimation of a priority may be performed as described in the second modification of the first embodiment.

Furthermore, in this case, since the selected action characteristic information is to indicate an action that differs from an action desired by the driver, a certain penalty is to be imposed upon the action characteristic information by lowering the priority, lowering a value representing the result, or performing both. In other words, the action learning unit57updates data including the action characteristic information so as to lower at least one of the “priority” and the “result”.

(2) Correction of Action Characteristic Information

In this case, the action learning unit57corrects data including selected action characteristic information among a plurality of pieces of data stored in the non-volatile storage means30. More specifically, as shown inFIG. 9, control contents of a host vehicle are defined in action characteristic information (“action” in data), and a time (“control time” inFIG. 9) for performing control of the host vehicle based on the control contents is defined in a “time until facing situation”. In other words, this means that a time from a point when a factor is recognized to a point when control of the host vehicle is started (“reaction time” inFIG. 9) is defined in “action”, and a time following a point when a period of performing the control of the host vehicle by the control contents expires (“preliminary time” inFIG. 9) is also defined in a “time until facing situation”.

In this case, the reaction time in the “action” in the data is desirably defined in conformance to a reaction time in a case where control is performed by the driver actually operating the host vehicle. Accordingly, a sense of discomfort that is felt by the driver under control in the automatic drive mode can be reduced.

Therefore, when correcting data, the action learning unit57corrects the reaction time in the “action” to an actual reaction time that is measured by the time measuring unit54. In other words, as shown inFIG. 9, when the actually measured reaction time is longer than the reaction time in the “action” in the data by a time t2, the action learning unit57corrects the reaction time in the “action” in the data to a time obtained by adding the time t2thereto. Moreover, since a control time remains unchanged, the preliminary time is to be corrected to a time obtained by subtracting the time t2therefrom.

Next, an operation of the vehicle control system2according to the present third embodiment will be described with reference toFIGS. 10A and 10B. Moreover, inFIGS. 10A and 10B, an operation block that performs a similar operation to an operation block in an operation of the vehicle control system2according to the second embodiment shown inFIG. 6will be denoted using the same reference character and a description thereof will be omitted.

The operation shown inFIGS. 10A and 10Bdiffers from the operation shown inFIG. 6in that the operation shown inFIGS. 10A and 10Bincludes step S12in place of step S2. In addition, the operation shown inFIGS. 10A and 10Bdiffers from the operation shown inFIG. 6in that the operation shown inFIGS. 10A and 10Bincludes step S13. Furthermore, the operation shown inFIGS. 10A and 10Bdiffers from the operation shown inFIG. 6in that step S9is not included as a process subsequent to step S10, no in step S7, and step S11, and steps S14to S18are included.

An operation in step S12differs from the operation in step S2in that, in step S12according to the present third embodiment, an estimated priority is further calculated. In other words, based on a state which the host vehicle is in as recognized by the state recognizing unit50, the situation estimating unit51estimates a factor occurring with respect to the host vehicle, a time until the host vehicle faces a situation where the host vehicle reaches an origin of the factor, and a priority of the factor (S12). The factor, the time, and the priority that are estimated at this point are the estimated factor, the estimated time, and the estimated priority described earlier.

In addition, the vehicle-mounted control system1controls the host vehicle based on an operation by the driver (S13). More specifically, the control MCUs22and23control the host vehicle based on an operation by the driver.

The control MCU22controls the steering system15of the host vehicle based on contents of an operation by the driver. For example, a handle operation is detected by a steering angle sensor (not shown) that is provided on a handle. The steering angle sensor detects a steering angle of the handle that is created as a result of a handle operation by the driver and generates operation information indicating the detected steering angle. An operation MCU (not shown) included in the vehicle-mounted control system1transmits operation information that is generated by the steering angle sensor to the control MCU22. Accordingly, the control MCU22controls the steering system15of the host vehicle based on operation information received from the operation MCU.

In addition, the control MCU22controls the brake16of the host vehicle based on a brake operation by the driver. For example, a brake operation is detected by a brake pedal position sensor (not shown) that is provided on a brake pedal. The brake pedal position sensor detects a depression amount of the brake pedal due to the brake operation by the driver and generates operation information indicating the detected depression amount. An operation MCU (not shown) included in the vehicle-mounted control system1transmits operation information that is generated by the brake pedal position sensor to the control MCU23. Accordingly, the control MCU23controls the brake16of the host vehicle based on operation information received from the operation MCU.

After selection of an action (S5or S6) from the volatile storage means13or the non-volatile storage means30, the action comparing unit56compares control contents of the host vehicle in an action performed based on an operation by the driver with control contents of the host vehicle in an action indicated by action characteristic information selected by the action selecting unit44(S14).

More specifically, the control MCUs22and23compare control contents of the host vehicle which is performed based on operation information received from the operation MCU with control contents of the host vehicle in an action indicated by the selected action characteristic information.

When the action comparing unit56determines that the control contents are inconsistent (no in S15), the action learning unit57performs learning based on the action performed based on the operation by the driver and the estimated factor, the estimated priority, and the estimated time calculated based on the recognized state (S16).

More specifically, when it is determined that the compared control contents are inconsistent, the control MCUs22and23transmit notification information which notifies that the compared control contents are inconsistent to the determination MCU21. The notification information includes information indicating the action performed based on the operation by the driver.

In accordance with the notification information from the control MCUs22and23, the determination MCU21transmits request information for requesting addition of data to be performed to the action information management server40via the communication MCU24. The request information includes information indicating a “time until facing situation”, a “factor”, a “priority”, and an “action” that are included in data to be newly added. The “time until facing situation”, the “factor”, and the “priority” are, respectively, the estimated time, the estimated factor, and the estimated priority calculated by the determination MCU21. In addition, the “action” is the action which is indicated by the notification information received from the control MCUs22and23and which is performed based on an operation by the driver.

In response to the request information from the determination MCU21via the communication MCU24, the action information management server40transmits instruction information for instructing addition of data to the data server41. The instruction information includes information indicating the “time until facing situation”, the “factor”, the “priority”, and the “action” that are included in the request information. The data server41generates new data and additionally stores the data in the non-volatile storage means30in accordance with the instruction information from the action information management server40. The “time until facing situation”, the “factor”, the “priority”, and the “action” in the data represent contents included in the instruction information. In addition, as an “ID” of the data, the data server41may decide a value that does not overlap with data stored in the non-volatile storage means30.

Furthermore, the action learning unit57imposes a certain penalty upon the selected action characteristic information by lowering a priority thereof, lowering a value representing the result, or performing both.

More specifically, information that identifies the selected data is included in the notification information, the request information, and the instruction information described above. In addition, in accordance with the instruction information from the action information management server40, the data server41updates data identified by the instruction information so as to impose the penalty described above. Moreover, when data that is a target is stored in the volatile storage means13, the determination MCU21may also update the data in a similar manner in accordance with the notification information.

Accordingly, when a priority is to be lowered, since a “priority” of data indicating an action that is not performed by the driver among the data is lowered, an “action” represented by the data is less likely to be selected. As a result, a sense of discomfort that is felt by the driver under control in the automatic drive mode can be reduced. For example, when an action of data with an “ID” of “5” is more frequently used than an action of data with an “ID” of “4” as shown inFIG. 7in a manual drive mode, a “priority” of the data with an “ID” of “4” is adjusted to be lower than a “priority” of the data with an “ID” of “5”. Therefore, learning is performed so that the action of the data with an “ID” of “5” is preferentially selected over the action of the data with an “ID” of “4” in the automatic drive mode.

In addition, a value of a “result” is used to manage data. For example, when the value of a “result” is below a prescribed threshold, the data server41may delete the data from the non-volatile storage means30. Accordingly, the probability of data that is not used by the driver being stored in the volatile storage means13and the non-volatile storage means30can be reduced.

On the other hand, when the action comparing unit56determines that the control contents are consistent (yes in S15), the action learning unit57compares a reaction time in an action performed based on the operation by the driver with a reaction time in an action indicated by the action characteristic information selected by the action selecting unit55and calculates a time difference t2between the reaction times (S17).

More specifically, when it is determined that the compared control contents are consistent, the control MCUs22and23transmit notification information which notifies that the compared control contents are consistent to the determination MCU21. The notification information includes data of the selected action characteristic information.

In accordance with the notification information from the control MCUs22and23, the determination MCU21compares a reaction time in an action performed based on the operation by the driver with a reaction time in an action indicated by the selected action characteristic information and calculates a time difference t2between the reaction times. The reaction time in an action indicated by the selected action characteristic information is recognized from an action indicated by action characteristic information in the data received from the control MCUs22and23. In addition, for the reaction time in an action performed based on the operation by the driver, a notification at a point when an operation by the driver is started may be received from the control MCUs22and23and a time from a point when a factor is recognized (estimated) to a point when the notification of a start of the operation by the driver is received may be adopted as the reaction time.

The action learning unit57reflects the calculated time t2in data in the non-volatile storage means30(S18). More specifically, the determination MCU21transmits request information for requesting correction of data to the action information management server40. For example, the request information includes target identification information for identifying data that is a correction target and time difference information indicating the calculated time difference t2. As information identifying data that is a correction target, for example, an “ID” of data included in the notification information from the control MCUs22and23may be used.

The action information management server40transmits instruction information for instructing correction of data to the data server41in accordance with the request information from the determination MCU21. The instruction information includes the target identification information and the time difference information included in the request information. In accordance with the instruction information from the action information management server40, the data server41corrects data that is the correction target in the non-volatile storage means30. In other words, correction is performed so that a reaction time in an “action” in the data that is the correction target equals a reaction time in an action that is actually performed based on the time difference t2indicated in the instruction information. Moreover, the data that is the correction target is identified based on the target identification information included in the instruction information. In addition, when data that is a target is stored in the volatile storage means13, the determination MCU21may also correct the data in a similar manner.

As described above, in the present third embodiment, the action comparing unit56compares decided control contents of a vehicle with control contents of the vehicle based on an operation performed by a driver with respect to a factor. In addition, when the compared control contents are not consistent, the action learning unit57additionally stores data indicating the factor and control contents of the vehicle based on an operation performed by the driver with respect to the factor in association with each other in the non-volatile storage means30. Furthermore, in the present third embodiment, when the compared control contents are consistent, the action learning unit57corrects a reaction time in data indicating decided control contents of the vehicle so as to approach a measured reaction time.

Accordingly, since control contents of the vehicle in an action performed in the automatic control mode, a time until a start of the action, and the like can be approximated to those when the driver actually performs driving, a sense of discomfort that is felt by the drive can be reduced.

Fourth Embodiment

Next, a fourth embodiment will be described. Since a configuration of the vehicle-mounted control system1and a configuration of the vehicle control system2according to the present fourth embodiment are similar to those of the third embodiment, a description thereof will be omitted. Hereinafter, a description will be given while omitting contents similar to the third embodiment as appropriate.

Compared to the vehicle control system2according to the third embodiment, the vehicle control system2according to the present fourth embodiment performs learning based on contents of an operation by a driver when operating in the automatic control mode instead of in the manual control mode. In other words, in the present fourth embodiment, instead of performing an operation in order to actually control a host vehicle, the driver performs an operation in order to teach how the host vehicle would be controlled if the host vehicle was to be controlled by the driver.

Next, functional blocks of the vehicle control system2according to the fourth embodiment will be described with reference toFIG. 11. As shown inFIG. 11, the vehicle control system2according to the fourth embodiment includes a state recognizing unit50, a situation estimating unit51, an action acquiring unit52, an output control unit53, a time measuring unit54, an action comparing unit56, and an action learning unit57.

Since operations of the state recognizing unit50, the situation estimating unit51, the action acquiring unit52, the time measuring unit54, the action comparing unit56, and the action learning unit57according to the present fourth embodiment are similar to operations of the units according to the third embodiment with the exception of the action comparing unit56setting control contents of a host vehicle in an action to be performed based on an operation by a driver as a comparison target instead of control contents of the host vehicle in an action that has actually been performed based an operation by a driver, a description thereof will be omitted. In addition, since an operation of the output control unit53according to the present fourth embodiment is similar to the operation of the output control unit53according to the third embodiment, a description thereof will be omitted.

Next, an operation of the vehicle control system2according to the present fourth embodiment will be described with reference toFIGS. 12 and 13. Moreover, inFIGS. 12 and 13, an operation block that performs a similar operation to an operation block in an operation of the vehicle control system2according to the second embodiment shown inFIG. 6or an operation block in an operation of the vehicle control system2according to the third embodiment shown inFIGS. 10A and 10Bwill be denoted using the same reference character and a description thereof will be omitted.

The operation shown inFIGS. 12 and 13differs from the operation shown inFIGS. 10A and 10Bin that the operation shown inFIGS. 12 and 13does not include step S13. The operation shown inFIGS. 12 and 13differs from the operation shown inFIGS. 10A and 10Bin that step S9is further included as a process subsequent to step S10, no in step S7, and step S11, and steps S14to S18are included as steps subsequent thereto.

Furthermore, in the present fourth embodiment, in step S14, the action comparing unit56sets control contents of a host vehicle in an action to be performed based on an operation by a driver as a comparison target instead of control contents of the host vehicle in an action that has actually been performed based an operation by a driver.

As described above, learning based on contents of an operation by the driver can also be performed in the automatic control mode. Accordingly, in a similar manner to the third embodiment, since control contents of the vehicle in an action performed in the automatic control mode, a time until a start of the action, and the like can be approximated to those when the driver actually performs driving, a sense of discomfort that is felt by the drive can be reduced.

Fifth Embodiment

Next, a fifth embodiment will be described. Hereinafter, a description will be given while omitting contents similar to the fourth embodiment as appropriate. A configuration of a vehicle control system2according to the present fifth embodiment will now be described with reference toFIG. 14.

The vehicle control system2according to the present fifth embodiment differs from the vehicle control system2according to the fourth embodiment in that the vehicle-mounted control system1further includes non-volatile storage means17and a storage MCU25and that the data management system3further includes non-volatile storage means32and a data server43.

The non-volatile storage means17stores a plurality of pieces of action characteristic information. The non-volatile storage means17is capable of retaining information regardless of whether power is being supplied or not. For example, the non-volatile storage means17is configured so as to include at least one non-volatile memory or at least one hard disk, or a combination thereof.

The storage MCU25controls writing of information to the non-volatile storage means17and reading of information from the non-volatile storage means17.

The data server43functions in a similar manner to the data server41. In addition, the non-volatile storage means32also functions in a similar manner to the non-volatile storage means30. In other words, the data server43includes the non-volatile storage means32. In this case, the data server43differs from the data server41in that the data server43manages action characteristic information with respect to each driver. In other words, while the non-volatile storage means30stores a plurality of pieces of action characteristic information with respect to a vehicle, the non-volatile storage means32stores a plurality of pieces of action characteristic information with respect to a plurality of drivers. Therefore, as will be described later, the data server43provides the vehicle-mounted control system1with action characteristic information corresponding to an authenticated driver among the action characteristic information stored in the non-volatile storage means32.

Compared to the non-volatile storage means30and the non-volatile storage means32, the volatile storage means13and the non-volatile storage means17enable data to be accessed from the ECU10at a higher speed but the number of pieces of data that can be retained is smaller. On the other hand, compared to the volatile storage means13and the non-volatile storage means17, data in the non-volatile storage means30and the non-volatile storage means32can only be accessed by the ECU10at a lower speed but the non-volatile storage means30and the non-volatile storage means32are capable of retaining a greater number of pieces of data. In other words, capacities of the volatile storage means13and the non-volatile storage means17are too small to store all of the data that is stored in the non-volatile storage means30and the non-volatile storage means32.

As shown inFIG. 15, generally, several pieces of data among the plurality of pieces of data stored in the non-volatile storage means32are stored in the volatile storage means13. Moreover, data in the non-volatile storage means30may sometimes be stored in the volatile storage means13. In addition, as shown inFIG. 15, several pieces of data among the plurality of pieces of data stored in the non-volatile storage means32are selectively stored in the non-volatile storage means17. In other words, data stored in the non-volatile storage means32is not stored in the non-volatile storage means17. A reason therefor will be described later.

Next, functional blocks of the vehicle control system2according to the fifth embodiment will be described with reference toFIG. 16. As shown inFIG. 16, the vehicle control system2according to the fifth embodiment includes a state recognizing unit50, a situation estimating unit51, an action acquiring unit52, an output control unit53, a time measuring unit54, an action comparing unit56, an action learning unit57, and a driver authenticating unit58.

While the state recognizing unit50, the situation estimating unit51, the action acquiring unit52, the output control unit53, the time measuring unit54, the action comparing unit56, and the action learning unit57operate in a similar manner to the units according to the fourth embodiment but differ in the following points.

While the action acquiring unit52acquires action characteristic information in a similar manner to the action acquiring unit52according to the fourth embodiment, the action acquiring unit52changes an acquisition source depending on an authentication status of a driver by the driver authenticating unit58. When a driver is authenticated by the driver authenticating unit58, the action acquiring unit52sets all of the volatile storage means13and the non-volatile storage means17,30, and32as objects of retrieval of action characteristic information. On the other hand, when a driver is not authenticated by the driver authenticating unit58, while the volatile storage means13and the non-volatile storage means30which store action characteristic information of the driver are not considered objects of retrieval of action characteristic information, the non-volatile storage means17and32which store action characteristic information of a vehicle are set as objects of retrieval of action characteristic information.

Furthermore, when an estimated time calculated by the situation estimating unit51is equal to or shorter than a threshold t1, the action acquiring unit52sets the volatile storage means13and the non-volatile storage means17which are located inside a vehicle as objects of retrieval of action characteristic information. On the other hand, when an estimated time calculated by the situation estimating unit51longer than the threshold t1, the action acquiring unit52sets the non-volatile storage means30and32which are located outside of a vehicle as objects of retrieval of action characteristic information. For example, the determination MCU21, the control MCUs22and23, the action information management server40, and the data servers41and43function as the action acquiring unit52.

Therefore, objects of retrieval corresponding to an authentication status and a time until facing a situation may summarized as follows.

(1) Driver is authenticated and estimated time is longer than the threshold t1

(2) Driver is authenticated and estimated time is equal to or shorter than the threshold t1

(3) Driver is not authenticated and estimated time is longer than the threshold t1

(4) Driver is not authenticated and estimated time is equal to or shorter than the threshold t1

Although the action learning unit57performs learning in a similar manner to the action learning unit57according to the fourth embodiment, the action learning unit57changes a reflection destination of learned action characteristic information depending on whether action characteristic information is to be added or corrected. When action characteristic information is to be added, the action learning unit57reflects learned action characteristic information in both the non-volatile storage means30and the non-volatile storage means32. On the other hand, when the action characteristic information is to be corrected, the action learning unit57reflects learned action characteristic information only on the non-volatile storage means32storing action characteristic information of a driver and does not reflect learned action characteristic information on the non-volatile storage means32storing action characteristic information of a vehicle.

When correcting action characteristic information, as described with reference toFIG. 9, a reaction time in an action indicated by the action characteristic information is corrected according to an actual operation by the driver. In other words, since habits of the driver are reflected, it is not favorable to have learning results reflected on action characteristic information of a vehicle that is shared with other drivers. Therefore, when correcting action characteristic information, a reflection destination of learning is limited to the non-volatile storage means32storing action characteristic information of drivers. On the other hand, addition of action characteristic information does not affect existing action characteristic information. Therefore, in this case, action characteristic information is reflected on both the non-volatile storage means30and the non-volatile storage means32.

The driver authenticating unit58authenticates a driver in response to input of authentication information by the driver via an input device (not shown). For example, the authentication information includes a driver ID and a password. When authentication information input by a driver matches an expected value, the driver authenticating unit58assumes the driver to be authenticated. On the other hand, when authentication information input by a driver does not match an expected value, the driver authenticating unit58leaves the driver unauthenticated. Moreover, an arbitrary device may be used as the input device. For example, a touch panel or operation buttons may be used as the input device. For example, the determination MCU21functions as the driver authenticating unit58.

Next, an operation of the vehicle control system2according to the present fifth embodiment will be described with reference toFIGS. 17A, 17B and 18. Moreover, inFIGS. 17A, 17B and 18, an operation block that performs a similar operation to an operation block in an operation of the vehicle control system2according to the fourth embodiment shown inFIG. 12will be denoted using the same reference character and a description thereof will be omitted.

The operation shown inFIGS. 17A, 17B and 18differs from the operation shown inFIG. 12in that the operation shown inFIGS. 17A, 17B and 18further includes step S19. In addition, the operation shown inFIGS. 17A, 17B and 18also differs from the operation shown inFIG. 12in that the operation shown inFIGS. 17A, 17B and 18includes steps S20to S22in place of step S3following step S12. Furthermore, the operation shown inFIGS. 17A, 17B and 18differs from the operation shown inFIG. 12in that the operation shown inFIGS. 17A, 17B and 18includes steps S23to S27in place of respective steps S5, S6, S11, S16, and S18.

In a similar manner to the description with reference to the first embodiment, the vehicle-mounted control system1according to the present fifth embodiment also selectively acquires several pieces of data among pluralities of pieces of data respectively stored in the non-volatile storage means30and the non-volatile storage means32from the data management system3and stores the acquired data in the volatile storage means13and the non-volatile storage means17in advance.

The action acquiring unit52acquires data to be stored in the non-volatile storage means17in an initial state from the non-volatile storage means30when ignition power supply of the host vehicle is switched on and power is supplied to the ECU10to make the ECU10operable. The action acquiring unit52stores the acquired data in the non-volatile storage means17.

More specifically, when ignition power supply of the host vehicle is switched on and power is supplied to the ECU10to make the ECU10operable, the determination MCU21transmits request information for requesting transmission of data to be stored in the non-volatile storage means17in an initial state to the action information management server40. In response to the request information from the determination MCU21, the action information management server40transmits instruction information for instructing acquisition of data to be stored in the non-volatile storage means17in an initial state to the data server41.

In accordance with the instruction information from the action information management server40, the data server41acquires data to be stored in the non-volatile storage means17in an initial state from the non-volatile storage means30and transmits the acquired data to the action information management server40. At this point, the data server41acquires at least one piece of data for each “factor”. In addition, the data server41acquires as many pieces of data as can be stored in the non-volatile storage means17in an ascending order of a “time until facing situation” that is included in the data. The action information management server40transmits the data received from the data server41to the determination MCU21. The determination MCU21stores the data received from the action information management server40in the non-volatile storage means17.

In addition, when authentication of a driver is performed by the driver authenticating unit58and the driver becomes authenticated, the action acquiring unit52acquires data to be stored in the volatile storage means13in an initial state from the non-volatile storage means32. The action acquiring unit52stores the acquired data in the volatile storage means13. Moreover, driver authentication will be described later as step S19.

More specifically, when authentication of a driver is performed and the driver becomes authenticated, the determination MCU21transmits request information for requesting transmission of data to be stored in the volatile storage means13in an initial state to the action information management server40. In response to the request information from the determination MCU21, the action information management server40transmits instruction information for instructing acquisition of data to be stored in the volatile storage means13in an initial state to the data server43.

In accordance with the instruction information from the action information management server40, the data server43acquires data to be stored in the volatile storage means13in an initial state among data corresponding to the authenticated driver from the non-volatile storage means32and transmits the acquired data to the action information management server40. At this point, the data server43acquires at least one piece of data for each “factor”. In addition, the data server43acquires as many pieces of data as can be stored in the volatile storage means13in an ascending order of a “time until facing situation” that is included in the data. The action information management server40transmits the data received from the data server43to the determination MCU21. The determination MCU21stores the data received from the action information management server40in the volatile storage means13.

When authentication information is input by the driver via an input device, the driver authenticating unit58authenticates the driver based on the input authentication information (S19). More specifically, an input MCU (not shown) included in the vehicle-mounted control system1transmits the authentication information input to the input device to the determination MCU21. The determination MCU21authenticates the driver based on authentication information input from the input MCU. When the authentication information matches the expected value, the determination MCU21sets a status that is recognized with respect to the driver to “authenticated”. On the other hand, when the authentication information does not match the expected value, the determination MCU21maintains “unauthenticated” as the status that is recognized with respect to the driver. Moreover, the authentication of the driver may be performed by the action information management server40or the data server43by having the determination MCU21transmit authentication information to the action information management server40or the data server43. In addition, an authentication result may be made recognizable by the determination MCU21by having the action information management server40or the data server43transmit notification information for notifying the authentication result to the determination MCU21.

After estimation (S12) by the situation estimating unit51, when the driver is authenticated (yes in S20), the action acquiring unit52starts retrieval of an action from all of the non-volatile storage means17,30, and32and the volatile storage means13(S21). On the other hand, when the driver is unauthenticated (no in S20), the action acquiring unit52starts retrieval of an action from the non-volatile storage means17and30which store action characteristic information of a vehicle (S22).

More specifically, when performing retrieval of action characteristic information from the volatile storage means13and the non-volatile storage means17inside the vehicle, the determination MCU21retrieves data with a “factor” matching the estimated factor from the volatile storage means13only when the driver is authenticated. Subsequently, the determination MCU21transmits the data acquired by the retrieval to the control MCUs22and23. In addition, regardless of whether or not the driver is authenticated, the determination MCU21transmits request information for requesting data with a “factor” matching the estimated factor to be retrieved to the storage MCU25. In response to the request information from the determination MCU21, the storage MCU25retrieves data instructed by the request information from the non-volatile storage means17. The storage MCU25transmits the data acquired by the retrieval to the control MCUs22and23.

On the other hand, when performing retrieval of action characteristic information from the non-volatile storage means30and32outside of the vehicle, request information is transmitted to the action information management server40. At this point, when the driver is authenticated, the request information that is transmitted to the action information management server40includes information indicating that both the non-volatile storage means30and the non-volatile storage means32are objects of retrieval. On the other hand, when the driver is unauthenticated, the request information that is transmitted to the action information management server40includes information indicating that only the non-volatile storage means30is an object of retrieval.

In response to request information from the determination MCU21, instruction information for instructing the retrieval requested by the request information is transmitted to a data server corresponding to the non-volatile storage means specified in the request information among the data server41and the data server43. Since subsequent operations are similar to the operations described in the first embodiment, a description thereof will be omitted. Accordingly, when the driver is authenticated, data retrieved from the non-volatile storage means30and32by the data server41and the data server43is transmitted to the control MCUs22and23. On the other hand, when the driver is unauthenticated, only data retrieved from the non-volatile storage means30by the data server41is transmitted to the control MCUs22and23.

When the estimated time calculated by the situation estimating unit51is equal to or shorter than the threshold t1(yes in S4), the action acquiring unit52acquires action characteristic information corresponding to the estimated factor calculated by the situation estimating unit51from storage means inside the vehicle. The output control unit53selects an action which can be executed within a time until facing a situation as estimated by the situation estimating unit51and which has a highest priority e1among actions indicated by the action characteristic information acquired from the storage means inside the vehicle by the action acquiring unit52(S23).

On the other hand, when the estimated time calculated by the situation estimating unit51is longer than the threshold t1(no in S4), the action acquiring unit52acquires action characteristic information corresponding to the estimated factor calculated by the situation estimating unit51from storage means outside of the vehicle. The output control unit53selects an action which can be executed within a time until facing a situation as estimated by the situation estimating unit51and which has a highest priority e1among actions indicated by the action characteristic information acquired from the storage means outside of the vehicle by the action acquiring unit52(S24).

More specifically, an operation is performed as follows when adopting a method equivalent to the first method described in the first embodiment. When the estimated time is equal to or shorter than the threshold t1, the determination MCU21performs the retrieval from the volatile storage means13and the transmission of request information to the storage MCU25described above and does not perform the transmission of request information to the action information management server40described above. On the other hand, when the estimated time is longer than the prescribed threshold t1, the determination MCU21does not perform the retrieval from the volatile storage means13and the transmission of request information to the storage MCU25described above but performs the transmission of request information to the action information management server40described above.

In addition, an operation is performed as follows when adopting a method equivalent to the second method described in the first embodiment. The determination MCU21performs the retrieval from the volatile storage means13, the transmission of request information to the storage MCU25, and the transmission of request information to the action information management server40as described above regardless of whether or not the estimated time is equal to or shorter than the threshold t1. Subsequently, when the estimated time is equal to or shorter than the threshold t1, the control MCUs22and23do not acquire action characteristic information included in the data received from the action information management server40as a candidate for action characteristic information to be selected and utilized to control the host vehicle but acquire action characteristic information included in the data received from the determination MCU21and the storage MCU25as a candidate for action characteristic information to be selected and utilized to control the host vehicle. On the other hand, when the estimated time is longer than the threshold t1, the control MCUs22and23do not acquire action characteristic information included in the data received from the determination MCU21and the storage MCU25as a candidate for action characteristic information to be selected and utilized to control the host vehicle but acquire action characteristic information included in the data received from the action information management server40as a candidate for action characteristic information to be selected and utilized to control the host vehicle.

An action is selected from the non-volatile storage means30and32outside of the vehicle (S24), and when a “time until facing situation” indicated by data including action characteristic information indicating the selected action is equal to or shorter than the threshold t1(yes in S7), the action acquiring unit52replaces data with a lowest frequency among the pluralities of pieces of data stored in the volatile storage means13and the non-volatile storage means17inside the vehicle with data including the action characteristic information selected by the output control unit53(S25). At this point, when the data including the selected action characteristic information is data acquired from the non-volatile storage means30which stores action characteristic information of the vehicle, the action acquiring unit52retrieves data with a lowest frequency from both the volatile storage means13and the non-volatile storage means17. On the other hand, when the data including the selected action characteristic information is data acquired from the non-volatile storage means32which stores action characteristic information of the driver, the action acquiring unit52retrieves data with a lowest frequency from only the volatile storage means13. As briefly mentioned earlier, a reason therefor will be described later.

The operation in step S25differs from step S8according to the fourth embodiment in that not only data stored in the volatile storage means13but data stored in the non-volatile storage means17are also considered candidates for replacement. More specifically, as described earlier, the determination MCU21replaces data corresponding to frequency information indicating a lowest frequency among data stored in the volatile storage means13and the non-volatile storage means17with data transmitted from the control MCUs22and23. Moreover, the determination MCU21may acquire frequency information stored in the non-volatile storage means17via the storage MCU25. In a similar manner to the description given earlier, favorably, the determination MCU21decides data to be a replacement target so that at least data with a shortest “time until facing situation” is retained for each “factor”.

When the action comparing unit56determines that the control contents are inconsistent (no in S15), the action learning unit57performs learning based on the action performed based on the operation by the driver and the priority and the time until facing the situation as estimated based on the recognized state (S26).

The operation of step S26differs from step S16according to the fourth embodiment in that, as described earlier, new data is to be added to both non-volatile storage means30and32. More specifically, the action information management server40transmits instruction information for instructing addition of data to the data server41and the data server43in accordance with the request information from the determination MCU21. Since other operations are similar to step S16, a description thereof will be omitted.

When the action comparing unit56determines that the control contents are consistent (yes in S15), the action learning unit57calculates a time difference t2between reaction times (S17) and subsequently reflects the calculated time t2onto data in the non-volatile storage means32(S26).

The operation of step S27differs from step S18according to the fourth embodiment in that, as described earlier, the calculated time t2is only reflected in the non-volatile storage means32that stores action characteristic information of the driver. More specifically, the action information management server40transmits instruction information for instructing correction of data only to the data server43in accordance with the request information from the determination MCU21.

As described above, in the present fifth embodiment, the non-volatile storage means30stores data of a vehicle that is shared by a plurality of drivers. The non-volatile storage means17can be accessed at a higher speed than the non-volatile storage means30and selectively stores data stored in the non-volatile storage means30. The non-volatile storage means32stores data for each of a plurality of drivers. The volatile storage means13selectively stores data of authenticated drivers among the data stored in the non-volatile storage means30.

In addition, when a required time until encountering an estimated factor is equal to or shorter than a threshold and when a driver is authenticated, the situation estimating unit51and the output control unit53decide control contents of a vehicle based on data stored in the non-volatile storage means17and data of the authenticated driver that is stored in the volatile storage means13. Furthermore, when the estimated required time is equal to or shorter than a threshold and when a driver is unauthenticated, the situation estimating unit51and the output control unit53decide control contents of the vehicle based on data stored in the non-volatile storage means17. In addition, when a required time until encountering an estimated factor is longer than a threshold and when a driver is authenticated, control contents of a vehicle are decided based on data stored in the non-volatile storage means30and data of the authenticated driver that is stored in the non-volatile storage means32. Furthermore, when the estimated required time is longer than a threshold and when a driver is unauthenticated, control contents of a vehicle are decided based on data stored in the non-volatile storage means30.

Accordingly, when the driver is not authenticated, control contents of the vehicle can be decided using only data of the vehicle. In addition, when the driver is authenticated, control contents of the vehicle can be decided using both data of the vehicle and data of the driver. In other words, optimal control of a vehicle in accordance with a combination of the vehicle and a driver can be performed. For example, optimal control of a vehicle can be performed even when the vehicle is driven by frequently changing drivers such as a bus, a delivery track, and a rental car.

Moreover, the data server41and the data server43can also be managed independently. For example, the data server43that manages action characteristic information of a driver can be managed by a delivery service operator, a bus operating company, or a rental car operating company, and the data server41that manages action characteristic information of a vehicle can be managed by a vehicle manufacturer.

In addition, in the present fifth embodiment, among the storage means13and17located inside a vehicle, volatile storage means is used as the storage means13that stores action characteristic information of a driver and non-volatile storage means is used as the storage means17that stores action characteristic information of a vehicle. Accordingly, even in a situation where the vehicle is unable to connect to a network, an action of the vehicle can be decided based on action characteristic information stored in the non-volatile storage means17. In other words, when communication cannot be established with the data management system3, the action acquiring unit52(the determination MCU21) may acquire action characteristic information from the non-volatile storage means17regardless of whether or not a driver is authenticated and regardless of whether or not an estimated time is equal to or shorter than the threshold t1. In addition, as described above, action characteristic information stored in the non-volatile storage means17is solely acquired from the non-volatile storage means30that stores action characteristic information of a vehicle. Therefore, since action characteristic information of a vehicle does not change according to drivers as is the case of action characteristic information of a driver, problems do not arise even if a driver is replaced in a situation where the vehicle is unable to connect to a network.

Sixth Embodiment

One embodiment extracted from the first to fifth embodiments described above will now be described as a sixth embodiment with reference toFIG. 20. As shown inFIG. 20, a control system100according to the sixth embodiment includes a first storage unit101, a second storage unit102, an estimating unit103, and a deciding unit104.

The first storage unit101stores a plurality of pieces of data which indicate, in association with each other, a factor that occurs with respect to a vehicle and control contents of the vehicle to be performed with respect to the factor. The second storage unit102enables access at a higher speed than the first storage unit101but stores a smaller number of pieces of data than the pieces of data stored in the first storage unit101.

The estimating unit103estimates a factor and a required time until encountering the factor based on observation results of a periphery of the vehicle. The deciding unit104decides control contents of the vehicle based on the estimated factor and the data.

At this point, when the estimated required time is longer than a threshold, the deciding unit104decides control contents of the vehicle based on data stored in the first storage unit101. On the other hand, when the estimated required time is equal to or shorter than a threshold, the deciding unit104decides control contents of the vehicle based on data stored in the second storage unit102.

Accordingly, when the required time until encountering the factor is long, the action is selected based on data stored in the first storage unit101. On the other hand, when the required time until encountering the factor is short and there is not sufficient time, the action is selected from the second storage unit102that enables access at a higher speed than the first storage unit101. Therefore, the vehicle can be controlled with less delay in accordance with a factor that has occurred with respect to the vehicle.

While preferred embodiments of the present invention have been described using specific terms, it will be obvious to those skilled in the art that the invention is not limited to the described embodiments and that various changes and modifications may be made without departing from the spirit and the scope of the invention.

While examples in which the vehicle-mounted control system1includes only one camera11are described in the first to fifth embodiments presented above, the present invention is not limited thereto. A configuration may be adopted in which the vehicle-mounted control system1includes a plurality of cameras11and the recognition MCU20recognizes a state in which a host vehicle is in based on image information from the plurality of cameras11. Accordingly, a recognition range may be expanded to a wider range instead of being limited to the front of the host vehicle. The same description applies to the sensor12.

In addition, while examples in which the vehicle-mounted control system1includes control MCUs that respectively control each unit (a steering system, a brake, and the like) of an automobile so as to correspond to each unit of the automobile are described in the first to fifth embodiments presented above, the present invention is not limited thereto. In other words, one control MCU may be configured to control a plurality of control objects. For example, one control MCU, the steering system, and the brake may be connected to one another via a bus to have the control MCU control both the steering system and the brake.

Furthermore, in the third to fifth embodiments described above, a driver may be notified of a comparison result of control contents of a vehicle. For example, in accordance with notification information notifying a comparison result from the control MCUs22and23, the determination MCU21may display an image representing the result on a display device (not shown) included in the vehicle-mounted control system1. For example, the display device is a display panel such as a liquid crystal panel or an organic EL panel.

In addition, in the first to fifth embodiments presented above, when an estimated priority calculated based on a recognized state is low enough that data corresponding to the estimated priority does not exist, the determination MCU21may not perform retrieval of data. This is because a low estimated priority means that a degree to which an origin of a factor must be evaded is also low. For example, the determination MCU21may not perform retrieval of data when the estimated priority is equal to or lower than a prescribed threshold.

Furthermore, while an example in which the volatile storage means13and the non-volatile storage means17are included as storage means inside a vehicle is described in the fourth embodiment presented above, the present invention is not limited thereto. For example, the vehicle-mounted control system1may only include the volatile storage means13. In this case, when a driver is unauthenticated, the determination MCU21may acquire data in an initial state from the non-volatile storage means30that stores action characteristic information of a vehicle and store the data in the volatile storage means13. Therefore, when an estimated time is equal to or shorter than the threshold t1, the determination MCU21is to always perform retrieval of action characteristic information from the volatile storage means13.

In addition, while examples in which the non-volatile storage means30that only allows access at a low speed by the ECU10is located outside of a vehicle (outside of the vehicle-mounted control system1) are described in the first to fifth embodiments presented above, the present invention is not limited thereto. For example, if there is a difference in data access speeds between the volatile storage means13and the non-volatile storage means30, both storage means may be located inside a vehicle.

For example, the vehicle-mounted control system1may be configured as shown inFIG. 20. The vehicle-mounted control system1shown inFIG. 20differs from the vehicle-mounted control system1shown inFIG. 2in that the vehicle-mounted control system1shown inFIG. 20does not include the communication module14and the communication MCU24but further includes the storage MCU25and the non-volatile storage means30.

In this case, when an estimated time is longer than the threshold t1, the determination MCU21transmits, to the storage MCU25, request information for requesting data with a “factor” that is consistent with the estimated factor to be retrieved. In response to the request information, the storage MCU25retrieves data from the non-volatile storage means30and transmits the data to the control MCUs22and23.

The first to sixth embodiments can be combined as desirable by one of ordinary skill in the art.