Moving body control device, moving body control method, and recording medium for handling software abnormality

A moving body control method to be performed by a moving body control device including:

• a first processor;
• a first memory in which first software to be used by the first processor is stored;
• a second processor;
• and
• a second memory in which second software to be used by the second processor is stored,
• the moving body control method comprising:
• a software update step of performing update processing of the first software and the second software;
• a software abnormality recognition step of recognizing presence or absence of an abnormality in the first software stored in the first memory and the second software stored in the second memory, after the update processing is performed;
• and
• a software abnormality handling step of causing either the first processor or the second processor to perform abnormality handling processing of operating a target moving body to be controlled by the moving body control device in a predetermined abnormality handling mode, in a case where the software abnormality recognition step recognizes the abnormality of either the first software stored in the first memory or the second software stored in the second memory,
• wherein in a case where a version of the first software that is valid and stored in the first memory is different from a version of the second software that is valid and stored in the second memory, or in a case where secure boot of either the first software that is valid and stored in the first memory or the second software that is valid and stored in the second memory results in a failure, the software abnormality recognition step recognizes that either the first software stored in the first memory or the second software stored in the second memory is abnormal.

A non-transitory recording medium storing a program that causes a moving body control device including:

• a first processor;
• a first memory in which first software to be used by the first processor is stored;
• a second processor;
• and
• a second memory in which second software to be used by the second processor is stored,
• to function as:
• a software update unit configured to perform update processing of the first software and the second software;
• a software abnormality recognition unit configured to recognize presence or absence of an abnormality in the first software stored in the first memory and the second software stored in the second memory, after the update processing is performed;
• and
• a software abnormality handling unit configured to cause either the first processor or the second processor to perform abnormality handling processing of operating a target moving body to be controlled by the moving body control device in a predetermined abnormality handling mode, in a case where the software abnormality recognition unit recognizes the abnormality of either the first software stored in the first memory or the second software stored in the second memory,
• wherein in a case where a version of the first software that is valid and stored in the first memory is different from a version of the second software that is valid and stored in the second memory, or in a case where secure boot of either the first software that is valid and stored in the first memory or the second software that is valid and stored in the second memory results in a failure, the software abnormality recognition unit recognizes that either the first software stored in the first memory or the second software stored in the second memory is abnormal.