Method, system, and program for controlling moving body

A system for controlling a function of a moving body after examining whether there is any error thereof in a starting period, the moving body having a first function including a control function of a motion of the moving body accompanying with an operation of an actuator through conditioning of electric power supplied to the actuator via a drive system cable from a drive system power supply with a first sub-control unit out of a plurality of control units operating by being supplied with power via control system cables from a control system power supply and a second function including an alternate communications facility with the plurality of control units and a measuring function of a state quantity through a sensor of a second sub-control unit out of the plurality of control units, the system comprising:

• error detection means for detecting the presence or absence of a first error likely to disturb the first and second functions, a second error likely to disturb the first function while unlikely to disturb the second function, and a third error unlikely to disturb the first and second functions during a starting period from starting the power supply to the plurality of control units until starting the motion of the moving body accompanying with the operation of the actuator;
• mode setting means for:
• setting a first mode for halting the first and second functions at least after the end of the starting period if the first error is detected by the error detection means;
• setting a second mode for halting the first function at least after the end of the starting period and adjusting one or both of the control unit and the sensor using the second function during the starting period if the second error is detected by the error detection means;
• and
• setting a third mode for starting the motion of the moving body using the first and second functions after the end of the starting period if the third error is detected by the error detection means;
• and
• means for controlling functions of the moving body according to the mode set by the mode setting means.

A program giving functions to a system for controlling a function of a moving body after examining whether there is any error thereof in a starting period, the moving body having a first function including a control function of a motion of the moving body accompanying with an operation of an actuator through conditioning of electric power supplied to the actuator via a drive system cable from a drive system power supply with a first sub-control unit out of a plurality of control units operating by being supplied with power via control system cables from a control system power supply and a second function including an alternate communications facility with the plurality of control units and a measuring function of a state quantity through a sensor of a second sub-control unit out of the plurality of control units, the program giving the system:

• an error detecting function of detecting the presence or absence of a first error likely to disturb the first and second functions, a second error likely to disturb the first function while unlikely to disturb the second function, and a third error unlikely to disturb the first and second functions during a starting period from starting the power supply to the plurality of control units until starting the motion of the moving body accompanying with the operation of the actuator;
• a mode setting function of:
• setting a first mode for halting the first and second functions at least after the end of the starting period if the first error is detected by the error detecting function;
• setting a second mode for halting the first function at least after the end of the starting period and adjusting one or both of the control unit and the sensor using the second function during the starting period if the second error is detected by the error detecting function;
• and
• setting a third mode for starting the motion of the moving body using the first and second functions after the end of the starting period if the third error is detected by the error detecting function;
• and
• a function of controlling functions of the moving body according to the mode set by the mode setting function.