JP2010231407A - Input/output device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an input/output device increasing speed and efficiency of data exchange in an overall control system with a reduced number of wiring in a system, while reducing the processing load of a control device. <P>SOLUTION: An IOU 5 for processing input/output among sensors 1, 1, ..., actuators 2, 2, ... and an ECU includes a memory 52, so as to store data including sensor information, control state information, etc. obtained from the sensors 1, 1, ... and the actuators 2, 2, ... as a database 56. Through the processing of an input/output processor 54, the IOU 5 extracts from the database 56 data required by the ECU and other IOUs 5, 5, ..., and outputs the data at a required timing. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an input / output device that processes input / output with respect to a control device of a plurality of devices between a plurality of devices and a control device that controls the devices using information from the plurality of devices. In particular, the data input from each device is stored as a database and stored, making it possible to adjust the data output timing, etc. as appropriate, making data transfer faster and more efficient, and controlling the device. The present invention relates to an input / output device capable of reducing a processing load in a control device.

  In recent years, control systems that control a large number of devices and realize various functions as a whole have become widespread. A control device is connected to each device, and each control device is provided with a communication means to exchange data with each other, and each control device does not perform independent control, but can be obtained via other control devices. Control systems that execute control in cooperation, such as controlling a device to be controlled corresponding to itself based on data obtained, are used in various fields.

  In such a control system, as the functions increase, the number of devices to be controlled increases, and the number of devices such as sensors that acquire or measure data used for control also increases.

  Particularly in the field of vehicles, a large number of devices such as actuators or sensors corresponding to various functions are arranged in the vehicle, and ECUs (Electronic Control Units) are arranged and operated as control devices for controlling each device. Yes. Vehicle control is shifting from mechanical control to electrical control, and further, specialization of functions realized by the control system, increase in functions that can be realized, and diversification are progressing. As a result, devices such as actuators and sensors mounted on the vehicle are increasing.

  Thus, the number of devices such as devices to be controlled or sensors that acquire data used for control increases. When the number of devices increases, in the configuration in which the control devices correspond to the respective devices, the number of control devices also increases and the communication load in mutual communication may increase. In this case, there arises a problem such as a delay in data transmission / reception or a time difference in data reception timing expected to be received almost simultaneously.

  FIG. 11 is an explanatory diagram schematically showing a typical configuration of the control system, the contents of data transmitted from each ECU, and the timing at which the data is required. The control system shown in FIG. 11 includes ECUs 91, 92, 93, and 94. The ECUs 91, 92, 93, and 94 are all connected to the communication line 95 in a bus shape, and can communicate with each other.

  One or more sensors (not shown) are connected to the ECU 91, and the ECU 91 transmits data obtained from the sensors at a constant period. The ECU 92 is connected to an actuator (not shown) so that the ECU 92 controls the operation of the actuator. The ECU 93 is configured to perform determination processing and the like. One or more sensors (not shown) are also connected to the ECU 94, and the ECU 94 is configured to transmit data obtained from the sensors at a constant period.

  For example, the ECU 91 is configured to transmit data required by the ECUs 92, 93, and 94 to the communication line 95 as a frame A based on data obtained by the sensors. At this time, the ECU 92 needs the data from the ECU 91 in a cycle of 50 msec (milliseconds), the ECU 93 needs the data from the ECU 91 in a cycle of 20 msec, and the ECU 94 needs the data from the ECU 91 in a cycle of 60 msec. To do. In this case, the ECU 91 transmits the frame A in the shortest cycle of 20 msec. The ECU 94 is also configured to transmit data required by the ECUs 91 and 92 to the communication line 95 as a frame B based on data obtained by the sensor. The ECU 94 is configured to transmit the frame B in the shortest 20 msec out of the periods 20 msec and 50 msec in which any of the ECUs 91 and 92 requires the frame B.

  The ECU 92 controls the operation of the actuator based on the result of arithmetic processing using the data included in the frames A and B and the data held by itself. When the data of the frame A and the data of the frame B are data obtained almost at the same time, it is desirable that the data is obtained at the same time because the accuracy of the calculation result is improved. For example, when the data included in the frame A and the data included in the frame B are data obtained based on inputs from the sensors at different timings by about 50 msec, the accuracy of the calculation result may be low depending on the contents of the data. There is a problem that makes it unsuitable for control.

  Furthermore, in this case, the ECU 94 receives the frame A every 20 msec, which is a period required by the ECU 93, although it is sufficient that the frame A can be received at a period of 60 msec. That is, there is a problem that the ECU 94 receives an unnecessarily large amount of data having the same contents.

  As another example, when the ECU 91 transmits data obtained by the sensor, the ECU 92 requires the data as high-precision data, and the ECUs 93 and 94 are sufficient as low-precision data. Consider the case where the period 94 requires the data is different as shown in FIG. Specifically, the ECU 92 requires data obtained from the sensor by the ECU 91 with 16-bit accuracy for controlling the actuator, but the ECUs 93 and 94 require the same data with 8-bit accuracy. In this case, ECU 91 transmits the data as 8-bit data together with 16-bit accuracy data as frame C, or transmits only 16-bit accuracy data as frame C, and ECUs 93 and 94 respectively. Both configurations are conceivable for calculation and use. Which configuration is preferable depends on which one of the reduction of the communication amount on the communication line 95 and the calculation load on each of the ECUs 91, 92, 93, 94 is a priority in the system.

  In order to optimize the data transmission / reception timing, communication volume, etc. required by each ECU in the entire control system for such various problems, the frame includes which data is transmitted with a certain degree of accuracy. It is important to design whether the frame is transmitted from each ECU. However, due to the large number of sensors, actuators, and ECUs corresponding to them included in the control system, the types of data become enormous, the design is very complicated, and a great deal of effort is required in the design process.

  On the other hand, in a control system using an ECU in a vehicle, a configuration that aggregates input / output with devices such as sensors and actuators has been proposed due to problems such as the enlargement of wire harnesses and the increase in the number of system components. (Patent Documents 1, 2, etc.). Further, the number of ECUs increases as described above, and the number of ECUs connected to one communication line is limited due to problems such as ringing prevention, so the number of communication lines increases. Particularly in the field of vehicles, the weight reduction of the entire vehicle is an important issue in consideration of the improvement of fuel consumption and the influence on the environment. Since weight reduction of the wire harness including various electric wires such as communication lines, signal lines, and power lines greatly affects the weight reduction, it is desired to reduce the weight and reduce the wires of the various electric wires themselves.

  In Patent Document 1, the input / output device multiplexes data obtained from each device and transmits the multiplexed data to an in-vehicle ECU that is a control device, thereby reducing the line. Patent Document 2 proposes an input / output device that can be reduced in size by reducing the number of parts of the ECU by using a shift register to output the data multiplexed by communication.

JP-A-7-95659 JP 2008-296871 A

  As disclosed in Patent Documents 1 and 2, the operation for data output from a plurality of devices is performed by a common operation means, and further information is multiplexed and transmitted to the ECU via communication, or via a shift register. With this configuration, communication lines and signal lines can be reduced.

  In the configurations disclosed in Patent Documents 1 and 2, data obtained from sensors and the like can be output together, but it is possible to appropriately adjust the timing of outputting those data according to a request from the ECU. Not considered. Therefore, for example, it is estimated that the timing at which each data is output from the input / output device to the ECU is the timing output from the sensor or the like. There is no suggestion that data multiplexing also considers combining data required by the ECU. Thus, in order to optimize the data exchange required by the ECU and the data exchange according to the required timing, it is still necessary to design the input / output timing and the frame with great effort.

  The present invention has been made in view of such circumstances, and an input / output device that processes input / output of data between a plurality of devices constituting a control system and a control device of each device is temporarily provided from each device. By storing data and appropriately transferring data from the control device as needed, the system can be reduced in line and the processing load on the control device can be reduced. An object of the present invention is to provide an input / output device capable of increasing the speed and efficiency of data exchange.

  The input / output device according to the first aspect of the present invention is a plurality of devices that input or output data, and one or a plurality of controls that use the data from any device or control the device by giving data to the device. A storage unit for storing input / output data in an input / output device connected to the device and configured to process input / output of the plurality of devices to the one or more control devices; Required by the control unit based on one or more data stored in the database and means for storing data input / output from any of the plurality of devices in the storage unit in a database format Output means for outputting data at a required timing.

  An input / output device according to a second aspect of the present invention comprises a correspondence table indicating correspondence between identification information of data required from the control device and output timing at which the data is required from the control device, and the output means Is characterized in that data is read out from the database and output based on identification information and output timing of the correspondence table.

  In the input / output device according to a third aspect of the present invention, the output means includes means for determining whether or not there is a change in data required from the control apparatus, and outputs the changed data when the means determines that it is present. It is made to do so.

  The input / output device according to a fourth aspect of the invention is characterized in that the output means outputs the data based on a comparison between data required from the control device and a predetermined value.

  The input / output device according to a fifth aspect of the invention is characterized in that the output means outputs a combination of a plurality of data required from the control device.

  The input / output device according to a sixth aspect of the present invention is a means for receiving a data output request from the control device, a means for extracting and outputting data from the database in response to the data output request, and the data output request based on the data output request And a means for updating the correspondence table.

  An input / output device according to a seventh aspect of the present invention comprises calculation means for obtaining data required from the control device by calculation using one or a plurality of data recorded in the database, and the output means includes calculation The data obtained by the above is output.

  An input / output device according to an eighth invention is characterized in that the data obtained by the computing means is stored in the database.

  An input / output device according to a ninth aspect comprises means for outputting the data stored in the database to any one of the plurality of devices so as to control the operation of the specific device. Features.

  An input / output device according to a tenth aspect of the present invention includes a plurality of processing circuits configured to perform specific processing corresponding to each of a plurality of connected devices, and each of the plurality of processing circuits stores data in the database. Is stored, or means for extracting data from the database is provided.

  In the input / output device according to an eleventh aspect, a part or all of the plurality of processing circuits perform arithmetic processing for obtaining other data based on data output from the corresponding device, and control data based on the arithmetic result Is provided to a processing circuit corresponding to another device.

  An input / output device according to a twelfth aspect of the present invention includes a part or all of the plurality of processing circuits including means for controlling stop or activation of operation of a corresponding device based on data stored in the database. It is characterized by that.

  The input / output device according to a thirteenth aspect of the present invention is characterized by comprising means for detecting an abnormality based on data input or output by each of the plurality of devices.

  In the first invention, in the input / output device that processes input / output between the plurality of devices and the control device that controls the devices, the data from each device or the control device is once stored in the form of a database. Keep it. By being stored in a database, the input / output device only relays input / output between each device and the control device, such as sequentially outputting data to the control device at the timing output from the device. Instead, it is possible to output the data by adjusting the timing so that the data required by the control device is necessary. Thereby, since only necessary data is exchanged, it is possible to achieve efficiency and optimization such as exchange of useless data and reduction of the amount of data exchanged. In addition, the control device can devote only to the control processing without performing the adjustment processing of the input / output timing of data output from a plurality of devices or other devices at arbitrary timing and the determination processing of the time accuracy of data.

  In the second invention, based on the correspondence table, data stored in the database in an aggregated manner is appropriately output. Since it is output based on a clear correspondence between the data required by the control device and the required timing, it is possible to realize efficient data exchange.

  In the third aspect of the invention, when the data required by the control device is data in which the content of the data has changed, the data is output when the input / output device has changed as necessary. The control device does not need to keep receiving the same data unnecessarily. Thereby, the exchange of data is made efficient, and the processing load of the control device is reduced.

  In the fourth invention, when the data required by the control device is data satisfying a predetermined condition such as whether it is larger or smaller than a predetermined threshold value, the input / output device receives a predetermined condition according to the necessity. This is output only when The control device need not receive data unnecessarily. Thereby, the exchange of data is made efficient, and the processing load of the control device is reduced.

  In the fifth invention, when the control device requires a plurality of data output from the device for arithmetic processing, determination processing, etc., the plurality of data are respectively input to the input / output device at arbitrary timing and with arbitrary accuracy. Are combined after being adjusted to output to the control device. The control device may perform processing using the data output from the input / output device. In this case, the control device can simultaneously acquire a plurality of necessary data.

  In the sixth aspect of the invention, when a data output request is explicitly issued from the control device, the input / output device outputs data in response to the output request, and the requested data and requested data in the stored table. The correspondence table is updated according to the timing. Therefore, even when there is a newly added control device, it is possible to more efficiently exchange data.

  In the seventh invention, when the data required by the control device is data obtained by computation processing based on a plurality of data obtained from each device, the computation is performed by the input / output device and output. As a result, only the data required by the control device can be exchanged without sending or receiving all the data, and the data exchange can be made efficient and optimized, and the calculation processing is omitted in the control device. It is possible to reduce the processing load of the control device.

  In the eighth invention, in the seventh invention, when the data required by the control device is data obtained by arithmetic processing, the input / output device not only takes over the calculation, but also stores the result in the database. Thereby, the calculation result can be used as needed.

  In the ninth invention, the input / output device outputs data to the device to control the operation of the device based on the data in the database. Even if the control data output from the control device is output at an arbitrary timing, it is temporarily stored in the database. Therefore, the control device can appropriately control the control target by adjusting the output timing without adjusting the output timing. It is possible to output and control the control data to the device at an appropriate timing.

  In the ninth aspect of the invention, data input / output between each device and the control device is aggregated in the database. Therefore, based on the data from one device and the data stored in the database, other data When the device is controlled, it is not necessary to output the data from the one device to the control device, and control data based on the data from the one device and the data stored in the database in the input / output device. Can also be generated. As a result, it is possible to improve the efficiency of data transfer without unnecessary output to the control device, and to reduce the processing load on the control device.

  In the tenth invention, a processing circuit corresponding to each device connected to the input / output device is provided, and each processing circuit performs extraction of data from a database, storage processing of data, and the like. In this manner, the processing circuit can be configured in parallel to increase the speed.

  In the eleventh invention, part or all of the processing circuit corresponding to each device in the tenth invention is configured to be able to perform arithmetic processing for obtaining control data used for controlling any of the devices, Control data is output to the processing circuit corresponding to the device. Control data obtained by the calculation is stored in a database, and may be output when the control device requires it. By creating control data in the input / output device and controlling each device, the amount of data input / output can be reduced without unnecessary output of data to the control device, and the results of computations in the control device can be reduced. It is also possible to perform control at high speed without waiting.

  In the twelfth invention, each processing circuit in the tenth or eleventh invention is stopped or started in accordance with the contents of predetermined data stored in the database. As a result, when the state of the control system is a predetermined state as a whole, it is possible to execute more complicated calculation and operation control depending on the state, such as even stopping processing for each connected device. In addition, power consumption can be reduced.

  In the thirteenth invention, since the input / output device aggregates and stores the data input / output by each device and control device in the database, the contents of the data in the entire database, for example, numerical information or authenticity information are comprehensively stored. It is possible to detect an abnormality in consideration of the above. Compared to a configuration in which the input / output device sequentially outputs each piece of data from each device to the control device and the abnormality is detected by the control device, the amount of data input / output is reduced, which is more efficient. In addition, since a plurality of devices are centrally managed by the input / output device, the abnormal state can be identified in more detail from the data of each device.

  In the case of the present invention, a control system including each device such as an actuator and a sensor and a control device that provides control data to the actuator based on data output from the sensor. By consolidating input / output into the input / output device, communication lines, signal lines, and the like can be reduced, so that the number of lines in the system can be reduced.

  In addition, since necessary data is appropriately output at the timing required by the control device in the input / output device, the control device can acquire and process the data at a preferred timing, and the control device estimates the timing. Thus, there is no need to perform processing such as transmission to another control device. Data transmission / reception in the entire control system is made more efficient and optimized, and the amount of data can be reduced, so that data transmission / reception can be speeded up.

  Since the input / output device can recognize changes in the status of each device and changes in requests from the control device using the database, the operation can be changed according to the situation, the control method of each device can be changed, The timing when data is required can be changed.

  In addition, processing that is performed efficiently by an input / output device that collects and stores data from each device or control device is performed by the input / output device. Thereby, the processing load in the control device can be reduced.

1 is a configuration diagram illustrating a configuration of an in-vehicle control system in Embodiment 1. FIG. 3 is a block diagram showing an internal configuration of an IOU in the first embodiment. FIG. It is explanatory drawing which shows the example of the content of a correspondence table. 3 is a flowchart illustrating an example of a processing procedure performed by an input / output processing unit according to Embodiment 1. 4 is a flowchart illustrating an example of a processing procedure in which an input / output processing unit according to Embodiment 1 updates a correspondence table. FIG. 11 is a block diagram showing an internal configuration of an IOU in the second embodiment. FIG. 10 is a configuration diagram showing a configuration of an in-vehicle control system in a third embodiment. FIG. 10 is a block diagram showing an internal configuration of an IOU in the third embodiment. 15 is a flowchart illustrating an example of an abnormality detection processing procedure by an IOU in the third embodiment. FIG. 10 is a block diagram showing an internal configuration of an IOU in the fourth embodiment. It is explanatory drawing which shows typically the typical structure of a control system, the content of the data transmitted from each ECU, and the timing which requires data.

  Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof. In the embodiment described below, an example in which the input / output device according to the present invention is used in an in-vehicle control system including a large number of actuators, sensors, and ECUs mounted on a vehicle will be described.

(Embodiment 1)
FIG. 1 is a configuration diagram showing the configuration of the in-vehicle control system in the first embodiment. The in-vehicle control system includes a temperature sensor or camera mounted on the front of the vehicle, a wheel speed sensor attached to a tire shaft, or various sensors 1, 1,... Such as a yaw rate sensor, a headlight, a small lamp, a rear lamp, The body-type actuators 2, 2,... Such as door locks, the ECUs 3, 3 that control the operations of the actuators 2, 2,... Based on the data obtained from the various sensors 1, 1,. , And an input / output device (shown and in the following description) between the various sensors 1, 1,... And the actuators 2, 2,. , IOU (In-Out Unit: input / output unit)) 5, 5,.

  Each of the sensors 1, 1,... And the actuators 2, 2,. The sensors 1, 1, ... and the actuators 2, 2, ... may be configured to communicate via a LIN (Local Interconnect Network).

  The ECUs 3, 3,..., The GW 4 and the IOUs 5, 5,... Are connected to a CAN (Controller Area Network) bus 7 and transmit / receive control data to / from each other. In the first embodiment, the communication protocol between the ECUs 3, 3,..., The GW 4 and the IOU 5 is CAN, but is not limited to this, and FlexRay (registered trademark) may be used. Some IOUs 5 are connected to different IOUs 5 by signal lines 6.

  Are connected to the IOUs 5, 5,..., And the actuators 2, 1,. In the example shown in FIG. 1, one sensor 1 and three actuators 2, 2, and 2 are arranged close to the left part of the front portion of the vehicle, and these are connected to one IOU 5. In addition, the sensors 1 and 1 arranged in the center of the front portion of the vehicle are also connected to the same IOU 5. Are not connected to the ECUs 3 and 3, respectively, but are connected to the IOUs 5, 5,. By integrating the input / output between the signal lines 6, the length of the signal lines 6, 6,.

  In the first embodiment, as shown in FIG. 1, the sensors 1, 1,... And the actuators 2, 2,. Are connected to the ECUs 3 and 3. As a result, the ECUs 3 and 3 can be easily integrated, the number of ECUs can be reduced by the integration, and the number of CAN buses 7 can be reduced accordingly. This is also effective for wire saving.

  The control data obtained by each sensor 1, 1,... Is not necessarily used for controlling the operation of the actuator 2 that is arranged nearby and connected to the same IOU 5. This is because in the in-vehicle control system, the distance in the physical arrangement is different from the distance in the functional arrangement. For example, data such as measured values obtained by the sensor 1 mounted on the rear part of the vehicle may be necessary for controlling an actuator that operates in the front part. In addition, the timing at which the measurement value data is required varies depending on how the measurement value data is used. For example, in order to determine the number of rotations of the actuator 2 and obtain control data, the measured value data is required by the ECU 3 every 30 msec, but in order to determine on / off switching of other actuators 2 The case where every 100 msec is sufficient is considered.

  Therefore, the IOUs 5, 5,... In the first embodiment not only physically aggregate inputs and outputs between the sensors 1, 1,. In the stage where the data is output, the content of the data to be output, the accuracy of the data, and the like are appropriately adjusted and output as necessary from the ECU 3 using the data.

  A configuration for realizing such functions in the IOUs 5, 5,... Will be described. FIG. 2 is a block diagram showing an internal configuration of IOU 5 in the first embodiment. The IOU 5 is configured by an ASIC (Application Specific Integrated Circuit) and corresponds to the communication unit 51 connected to the CAN bus 7, the storage unit 52, the sensors 1, 1, 1 and the actuators 2, 2. Processing circuits 53a, 53b, 53c, 53d configured to perform specific processing, an input / output processing unit 54, and a correspondence table 55 are provided.

  The communication unit 51 has functions of a CAN transceiver for realizing communication via the CAN bus 7 and a CAN controller, and controls communication on the CAN bus 7. As will be described later, when data is given from the input / output processing unit 54, the communication unit 51 places the data on a CAN protocol signal (CAN frame), and realizes signal transmission in the physical layer by the CAN transceiver. When the communication unit 51 receives a CAN frame such as data transmitted from another ECU 3, 3, IOU 5, and GW 4 via the CAN bus 7, a data transmission request, etc., the communication unit 51 extracts the data and inputs / outputs the processing unit. 54 is notified.

  The storage unit 52 uses a random access memory such as an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). In the storage unit 52, data output from the sensors 1, 1,... Connected to the IOU 5, data indicating operation states of the actuators 2, 2,..., Processing circuits 53a, 53b, 53c, and 53d to be described later are stored. A database (DB: Data Base) 56 including data of calculation results by either of them is stored. In the database 56, control data transmitted from the ECUs 3, 3,..., The GW 4 or the IOUs 5, 5,.

  The processing circuits 53a, 53b, 53c, and 53d are connected to the sensor 1 or the actuator 2, respectively. The processing circuits 53a, 53b, 53c, and 53d can all access the database 56, and can write data into the database 56 or extract data from the database 56.

  In the example shown in FIG. 2, the sensor 1 and the actuator 2 are connected to the processing circuit 53a. The processing circuit 53a calculates the operation amount of the actuator 2 based on the sensor information obtained by the connected sensor 1, and directly controls the operation of the actuator 2. Then, the processing circuit 53 a writes sensor information data obtained by the sensor 1 and data indicating the operation state of the actuator 2 in the database 56. At this time, since the sensor 1 and the actuator 2 are each processed in hardware by the processing circuit 53a of the IOU 5, there is no need to control by the ECU, and the processing load on the ECU is reduced. Data indicating the operating state of the actuator 2 is stored in the database 56. Therefore, when the data indicating the operation state is required from the ECUs 3 and 3 for controlling the other actuators 2, the IOU 5 outputs the ECU 3, 3, the GW 4, and the other IOUs 5, 5,. The situation can be grasped and used for control as appropriate.

  The sensor 1 is connected to the processing circuit 53b. The processing circuit 53 b abstracts sensor information such as measurement values obtained by the connected sensor 1 and writes it in the database 56. For example, when the sensor 1 is a wheel speed sensor, specifically, the rotational speed per time is obtained as a physical quantity, whereas the processing circuit 53b sets the rotational speed value in three stages, that is, low speed, medium speed, and high speed. It distinguishes and writes in the database 56 as the data which shows the state corresponding to each. Therefore, the wheel speed is stored in the database 56 as abstracted information such as low speed, medium speed, or high speed instead of a specific rotational speed.

  Another sensor 1 is connected to the processing circuit 53c. The processing circuit 53c is transmitted from the other IOU 5 via the CAN bus 7 and stored in the database 56, such as sensor information such as measured values obtained by the connected sensor 1 and sensor information from the other sensors 1, for example. A predetermined calculation process is performed on the sensor information, and the calculation result is notified to the processing circuit 54d.

  The actuator 2 is connected to the processing circuit 53d. The processing circuit 53d controls the operation by determining the operation amount of the actuator 2 based on the calculation result from the processing circuit 53c and the predetermined data extracted from the database 56. Further, the processing circuit 53 d writes data indicating the operation state of the actuator 2 in the database 56.

  The processing circuits 53a, 53b, 53c, and 53d are configured to control their own stop or start in accordance with the contents of predetermined data in the database 56. For example, when data indicating the state of the ignition switch is transmitted from the outside, the input / output processing unit 54 receives this by the communication unit 51 and writes it in the database 56 as described later. For example, the processing circuit 53a is configured to be activated when the state of the ignition switch is accessory on, ignition on, or start, and the processing circuit 53b is configured to be activated only when the ignition is on.

  The input / output processing unit 54 is also realized by a circuit configured to perform specific processing, and can access the correspondence table 55 and the database 56. The input / output processing unit 54 extracts data from the database 56 based on the correspondence between the identification information of the data stored in the correspondence table 55 and the output timing of the data, and transmits the ECUs 3 and 3 via the communication unit 51. And data is transmitted to GW4.

  As described above, the data stored in the database 56 is directly obtained from the sensors 1, 1,... And the actuators 2, 2,. Time difference can be reduced. Therefore, when the input / output processing unit 54 extracts and transmits a plurality of data from the database 56, data simultaneity is also improved.

  The correspondence table 55 uses a non-volatile memory such as a flash memory. In the correspondence table 55, correspondence between the data identification information and the output timing of each data is stored in advance so that the input / output processing unit 54 can refer to it. The content of the correspondence table 55 includes data required for processing in the ECU 3, 3, GW 4, or other IOUs 5, 5,... And timing required in the ECU 3, 3, GW 4, or other IOUs 5, 5,. And is stored in advance according to the design of the in-vehicle control system.

  FIG. 3 is an explanatory diagram showing an example of the contents of the correspondence table 55. As shown in FIG. 3, the correspondence table 55 includes a correspondence between a data ID for identifying data and a data output timing.

  For example, it is indicated that the data with the data ID “1” should be extracted from the database 56 and output from the IOU 5 at regular intervals every 50 msec.

  Data with data ID “2” is true / false information from TRUE (1) to FALSE (0), but has changed from FALSE (0) to TRUE (1) and from TRUE (1) to FALSE (0). It is indicated that the data should be output from the IOU 5 in combination with the data of the data ID “5” at the time point or at a constant cycle every 100 msec.

The data with the data ID “3” is numerical information of 8 bits, for example, but it is indicated that it should be output only once at the time when the numerical value changes to a predetermined threshold value P ₁ or more. Yes. Thereafter, the period during which the numerical value is equal to or greater than the threshold value P ₁ may not be output. If it changed to less than the threshold P ₁ again, not output until the change to the threshold value P ₁ or more and is again output only the first time when the change again.

The data with the data ID “4” includes the time when the value of the data with the data ID “10”, which is numerical information, changes to less than the predetermined threshold P _2, and the value of the data with the data ID “10” has the predetermined threshold P _2. It is shown that the IOU 5 should be output at a constant cycle of every 100 msec only during a period that is less than.

  A processing procedure of the input / output processing unit 54 will be described with reference to a flowchart. FIG. 4 is a flowchart illustrating an example of a processing procedure performed by the input / output processing unit 54 according to the first embodiment.

  The input / output processing unit 54 measures the time with a built-in timer because there are output timings that should be output at regular intervals (step S11). The input / output processing unit 54 refers to the correspondence table 55 (step S12), and also refers to the database 56 (step S13), and outputs the correspondence table 55 such as the passage of time during measurement or the presence or absence of data change in the database 56. It is determined whether or not the data suitable for the timing condition exists in the database 56 (step S14).

  If the input / output processing unit 54 determines that there is no data in the database 56 that conforms to the conditions of the output timing (S14: NO), the process returns to step S11 to continue the time measurement, and the processing of steps S11 to S13. Execute. If the input / output processing unit 54 determines that there is data in the database 56 that conforms to the output timing condition (S14: YES), the input / output processing unit 54 extracts the corresponding data from the database 56 (step S15), and a plurality of data is required. If it is, the data is appropriately combined and output (step S16), and the process is terminated.

As described above, since the IOUs 5, 5,... Output the data in the database 56 in accordance with the output timing stored in the correspondence table 55, unnecessary data is not transmitted to the ECUs 3, 3 at unnecessary timing. . For example, the data with the data ID “3” shown in FIG. 3 is not required to be output every time. In ECU3,3 using this, although the value is not needed only for the first time became the threshold P ₁ or more, in the configuration of such a value is the threshold value P ₁ or period is always transmitted, it does not require data The data is transmitted to the CAN bus 7 and data exchange is inefficient. At this time, the CAN bus 7 is used for transmission / reception of unnecessary data, which may contribute to a delay in data transmission / reception. However, since the IOUs 5, 5,... Output only the data required by the ECUs 3, 3, the data transfer is made efficient.

  The IOUs 5, 5,... May update the contents of the correspondence table 55 in response to data transmission requests from the ECUs 3, 3. FIG. 5 is a flowchart illustrating an example of a processing procedure in which the input / output processing unit 54 in the first embodiment updates the correspondence table 55. The ECUs 3, 3,... Can request transmission of necessary data to other CAN communication nodes that can output the data, for example, by transmitting a CAN remote frame. The following processing is executed when the remote frame is received by the communication unit 51 of the IOU 5.

  The input / output processing unit 54 accepts a transmission request for data transmitted by the communication unit 51 via the CAN bus 7 (step S21). The input / output processing unit 54 refers to the correspondence table 55 and determines whether or not there is a correspondence corresponding to the data transmission request received in step S21 (step S22).

  If the input / output processing unit 54 determines that there is no data in step S22 (S22: NO), the correspondence table 55 shows the correspondence between the data identification information (data ID) related to the data transmission request and the output timing of the data. (Step S23). Thereby, the correspondence table 55 is updated in response to the latest request from the ECUs 3 and 3.

  The input / output processing unit 54 extracts necessary data from the database 56 in response to the data transmission request (step S24), and when a plurality of data is required, outputs the data by appropriately combining them (step S24). S25), the process ends.

  If it is determined in step S22 (S22: YES), the input / output processing unit 54 extracts necessary data from the database 56 without changing the correspondence table 55 (S24). Are combined, data is output (S25), and the process is terminated.

  It should be noted that not only the correspondence table 55 is added and updated in response to a data transmission request from the ECUs 3 and 3, but also a part of the correspondence table 55 is deleted and updated when the output timing should be different. You may perform processing, such as doing.

  Thus, not only correspondence between the identification information of the data stored in the correspondence table 55 in advance and the output timing, but also correspondence to a new request from the ECUs 3 and 3 is added to the correspondence table 55. Thereafter, the output to the ECUs 3 and 3 is made efficient. For example, when the ECU 3 is newly plugged in after the in-vehicle control system is installed, the correspondence table 55 can be rewritten by the IOU 5 itself, and it is possible to flexibly cope with changes in the system.

  In the first embodiment, the vehicle-mounted control system is configured to include four IOUs 5, 5,..., And each IOU 5, 5,. You may perform the process which synchronizes the content of the database 56 of the memory | storage part 52 mutually regularly. In this case, the CAN bus 7 is regularly occupied by the process of synchronizing the contents of the database 56, and each IOU 5, 5,... Transmits the data stored in the database 56 to the other IOUs 5, 5,. The contents of the database 56 are shared. As a result, when data is given to the actuators 2, 2,... From the IOUs 5, 5,..., The contents of the data output from the different IOUs 5, 5,. In this case, since data is not output until synchronization is completed, the immediacy of data is improved although the immediacy is inferior.

  In the first embodiment, the IOU 5 is composed of an ASIC. However, the IOU 5 may be configured by an FPGA (Field Programmable Gate Array).

(Embodiment 2)
In the second embodiment, IOUs 5, 5,... Are data obtained by calculation from data stored in the database 56, which is necessary for the ECUs 3, 3, GW4, or other IOUs 5, 5,. In this case, the calculation is performed at IOUs 5, 5,.

  FIG. 6 is a block diagram showing an internal configuration of the IOU 5 in the second embodiment. As shown in the second embodiment, the configuration of the IOU 5 is the same as the configuration in the first embodiment except that a calculation unit 57 is added. Since the overall configuration of the in-vehicle control system is also the same as that of the first embodiment, the same reference numerals as those of the first embodiment are given to the common configurations, and detailed description thereof is omitted.

  The calculation unit 57 is capable of accessing the database 56 of the storage unit 52 and is configured to perform specific calculation processing on specific data stored in the database 56. Data such as numerical information or authenticity information obtained as a result of the arithmetic processing is directly sent from the communication unit 51 by the input / output processing unit 54 to the ECU 3, 3, GW 4, or IOU 5, 5, Send to… Thereby, since it is not necessary to calculate in ECU3,3, GW4 or IOU5,5 ... which require data, processing load can be reduced.

  The calculation unit 57 may store data obtained as a result of the calculation process in the database 56. Thereby, the input / output processing unit 54 can transmit the calculation result data to the ECUs 3, 3, GW 4, or other IOUs 5, 5,. By storing the calculation result data in the database 56, the processing circuits 53a, 53b, 53c, and 53d in the IOU 5 can also control the operations of the actuators 2 and 2 using the calculation result. .

Note that the calculation contents by the calculation unit 57 may be included in the correspondence table 55. For example, the data of the data ID “4” is not only output depending on whether or not the data value of the data ID “10” is less than P _2, but the data value of the data ID “10” is changed to the data ID “4”. The result obtained by multiplying the data value may be output (see FIG. 3). Each may include an arithmetic expression. In this case, the processing content by the calculation unit 57 can be changed by updating the correspondence table 55.

(Embodiment 3)
In the first and second embodiments, the IOUs 5, 5,... Are configured to include the communication unit 51 capable of CAN communication and to be directly connected to the CAN bus 7. However, the IOU 5 may not include the communication unit 51, and may be connected to the ECUs 3 and 3 by the signal line 6 so that communication on the CAN bus 7 is realized by the ECUs 3 and 3.

  FIG. 7 is a configuration diagram showing the configuration of the in-vehicle control system in the third embodiment. In the third embodiment, the arrangement of the sensors 1, 1,... And the actuators 2, 2,. Further, the ECUs 3, 3,... And the GW 4 are connected to the CAN bus 7 as in the first embodiment. The functions of the ECUs 3, 3,... And the GW 4 are the same as those in the first embodiment. The common components are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted.

  As shown in FIG. 7, in the third embodiment, the sensors 1, 1,... And the actuators 2, 2,. The arrangement of the IOUs 8, 8,... Is the same as that of the IOU 5, 5,... In the first embodiment, but the IOUs 8, 8,. The difference is that it is connected to the CAN bus 7. The IOUs 8, 8,... Are connected to the ECUs 3, 3,. One IOU 8 is connected to another IOU 8 through a signal line 6.

  In response to this, when the ECU 3 is configured using a microcomputer (hereinafter referred to as a microcomputer), the ECU 3 inputs and outputs signals to and from the IOU 8 through an input / output unit such as a microcomputer I / O or a serial communication unit. It is made to be able to. When the ECU 3 receives the data signal output from the IOU 8, the ECU 3 puts the data on the CAN frame and transmits it to the CAN bus 7 by the functions of the CAN controller and the transceiver included in the ECU 3.

  Hereinafter, the internal configuration and processing of the IOUs 8, 8,... In Embodiment 3 will be described. FIG. 8 is a block diagram showing an internal configuration of the IOU 8 in the third embodiment. Like the IOU 5 in the first embodiment, the IOU 8 is configured by an ASIC, an I / O 81 for inputting / outputting signals to / from the ECU 3, a storage unit 82, processing circuits 83a, 83b, 83c, 83d, and an input / output A processing unit 84 and a correspondence table 85 are provided. A database 86 is stored in the storage unit 82. Further, the IOU 8 according to the third embodiment includes an abnormality detection unit 88 that detects an abnormality based on the contents of the data group of the database 86 in addition to the above-described components.

  The storage unit 82, the processing circuits 83a, 83b, 83c, and 83d, the input / output processing unit 84, the correspondence table 85, and the database 86 are the storage unit 52, processing circuits 53a, 53b, 53c, and 85d of the IOU 5 according to the first embodiment. Since the configurations and functions of the input / output processing unit 54, the correspondence table 55, and the database 56 are the same, detailed description thereof is omitted.

  The I / O 81 is an interface with the ECU 3. The I / O 81 realizes transmission of a signal indicating data or a request to the ECU 3. The input / output processing unit 84 extracts data from the database 86 based on the correspondence table 85 and transmits the data to the ECU 3 through the I / O 81. When the ECU 3 outputs data extracted from a CAN frame received from another ECU 3 or a data transmission request to the IOU 8, the IOU 8 inputs this via the I / O 81, and if it is data, stores it in the database 86. If it is a transmission request, data transmission processing is performed according to the transmission request.

  Thus, the IOU 8 does not necessarily have a communication unit. The ECU 3 adds the corresponding CAN ID to the data output from the IOU 8, puts it on the CAN frame, and transmits it to the CAN bus 7. As a result, the processing load is reduced in that the ECU 3 does not have to adjust the output timing of the frame. At this time, since processing is performed by the ASIC in the IOU 8, the processing in the IOU 8 is fast.

  The abnormality detection unit 88 is a circuit configured to perform abnormality detection processing. The abnormality detection unit 88 can access the database 86 and is also connected to the input / output processing unit 84. The abnormality detection unit 88 comprehensively determines the contents of the database 86, detects abnormality in the situation inside and outside the vehicle, abnormality of each device arranged in the vehicle, and sensors 1, 1,. Detects abnormalities in the operating states 2. For example, when any of the data stored in the database 86 is numerical information indicating the outside air temperature, when the numerical information corresponds to 80 ° C., the abnormality detection unit 88 of the IOU 8 detects the abnormality. In this case, there is a possibility that the temperature sensor mounted in the vehicle is abnormal. In this case, it is not necessary to output the outside air temperature data to the ECU 3 and make the ECU 3 determine it.

  The abnormality detection unit 88 stores an abnormality detection condition, for example, a threshold value, for specific data to be detected in the built-in memory. The anomaly detection unit 88 refers to the contents of the database 86 every time a predetermined time elapses, and detects an anomaly based on the comparison between the numerical information of specific data and the threshold value. Further, the abnormal state may be set more finely based on the contents of a plurality of specific data. For example, the anomaly detection unit 88, when one of a plurality of specially acquired data is true / false information and the other data is numerical information, the one data is FALSE, and the numerical information is An abnormality may be detected when an abnormality is predicted when the value is equal to or greater than a predetermined threshold. By such a determination, an abnormality in the operating state of any one of the actuators 2, 2,. Furthermore, it is also possible to detect an abnormality depending on whether or not the rate of change over time of the numerical information indicating the outside air temperature in the above example is equal to or greater than a predetermined threshold value.

  The abnormality detection unit 88 notifies the input / output processing unit 84 when an abnormality is detected by various methods as described above or when an abnormality is predicted. When receiving the notification from the abnormality detection unit 88, the input / output processing unit 84 outputs an error notification indicating the occurrence of an error to the ECU 3 via the I / O 81. Thereby, the error notification is transmitted from the ECU 3 to the other ECUs 3, 3,..., And the abnormality can be detected by the entire vehicle-mounted control system. Note that the abnormality detection unit 88 may store diagnostic data indicating an abnormality and an abnormality code in the database 86 and allow the input / output processing unit 84 to output the diagnosis data to the ECU 3.

  FIG. 9 is a flowchart illustrating an example of an abnormality detection processing procedure performed by the IOU 8 according to the third embodiment. The abnormality detection unit 88 performs the following processing every time a certain time elapses.

  The anomaly detection unit 88 extracts data for anomaly detection from the database 86 (step S31), and whether the numerical information or authenticity information of the extracted data satisfies the anomaly detection condition stored in the built-in memory. Is determined (step S32). If the abnormality detection unit 88 determines that the abnormality detection condition is not satisfied (S32: NO), the process ends. If the abnormality detection unit 88 determines that the abnormality detection condition is satisfied (S32: YES), the abnormality detection unit 88 notifies the input / output processing unit 84 of the abnormality (step S33) and ends the process.

  As described above, the sensor information obtained from each device and the control state are shown in the database 86 in the IOU 8 in which devices such as the sensors 1, 1,... And the actuators 2, 2,. Since data such as information is stored, abnormality can be detected by comprehensively monitoring each data. The ECUs 3, 3,... Can detect an abnormality based on data output from the IOUs 8, 8,. In particular, since the GW 4 is connected to a plurality of CAN buses 7 and can acquire data from all the ECUs 3, 3,... Connected to the plurality of CAN buses 7, 7, the data is collected and stored. Therefore, it can be judged more comprehensively. However, regarding abnormality detection for the sensors 1, 1,... And actuators 2, 2,... Connected to the same IOU 8, whether or not the ECU 3, 3,. , The immediacy is improved when the IOU 8 detects an abnormality, and the processing load on the ECU 3, 3,.

  The abnormality detection unit 88 of the IOU 8 according to the second embodiment stores abnormality detection conditions in a built-in memory, and compares specific data that is monitored for abnormality detection with the abnormality detection conditions to determine whether or not there is an abnormality. It was set as the structure which judges whether. However, the abnormality detection in the present invention is not limited to this. For example, an abnormality detection condition may be added to the correspondence table 85 and stored. In this case, since the correspondence table 85 can be rewritten, the abnormality detection condition can be flexibly changed. At this time, the abnormality detection unit 88 is configured to be able to refer to the correspondence table 85, and detects an abnormality by comparing the database 86 with the abnormality detection conditions of the correspondence table 85.

  In the second embodiment, not only the signal line 6 but also the LIN between the IOU 8, 8,... And the sensors 1, 1,. A network such as

(Embodiment 4)
In the first to third embodiments, the IOU 5 or the IOU 8 is configured by an ASIC and performs each process in hardware. Due to the hardware configuration, input / output from a plurality of devices, that is, the sensors 1, 1,... And the actuators 2, 2, ... to the respective processing circuits 53a, 53b, 53c, 53d (83a, 83b, 83c, 83d). The processing in the IOU 5 (IOU 8) can be accelerated. However, the present invention is not limited to this, and the IOU may be configured to operate based on a control program using a microcomputer.

  In the fourth embodiment, the IOU is realized using a microcomputer. Since the configuration of the in-vehicle control system other than the internal configuration of the IOU is the same as the configuration in the first embodiment, the description thereof is omitted. Hereinafter, an example in which an IOU is realized by a microcomputer will be described.

  FIG. 10 is a block diagram showing an internal configuration of the IOU 50 according to the fourth embodiment. The IOU 50 includes a microcomputer 500 including a CPU 501, a RAM 502, a memory 503, an I / O 504, and a network controller 505, and a communication transceiver 506.

  The RAM 502 uses SRAM, DRAM or the like, and stores a database 506. As the memory 503, a nonvolatile memory such as a flash memory or an EEPROM (Electronically Erasable and Programmable Read Only Memory) is used. The memory 503 stores a control program 50P for operating the computer as an IOU and a correspondence table 507.

  The CPU 501 of the microcomputer 500 executes processing based on the control program 50P stored in the memory 503. Thereby, the CPU 501 realizes the function as the input / output processing circuit 54 (84) in the first to third embodiments. Further, the CPU 501 functions the processing circuits 53a, 53b, 53c, 53d (83a, 83b, 83c, 83d) in the first to third embodiments based on the control program 50P, respectively, in the first processing units 508a, 508b, 508c. , 508d.

  I / O 504 is a microcomputer interface, and each sensor 1, 1,... And actuator 2, 2,. .. And the actuators 2, 2,... Are distinguished by I / O addresses. The functions of the CPU 501 as the first processing units 508a, 508b, 508c, and 508d are stored in the database 506 with reference to registers in which values are input from the corresponding sensors 1, 1,. Remember.

  The network controller 505 realizes CAN communication of the microcomputer, creates a CAN frame from a given signal, applies the CAN frame to the transceiver 506, and realizes communication via the CAN bus 7. The network controller 505 and the transceiver 506 correspond to the communication unit 51 of the IOU 5 of the first embodiment. The CPU 501 transmits data extracted from the database 506 based on the output timing of the correspondence table 507 in the memory 503 to the ECUs 3, 3,..., GW4, or other IOUs 50, 50,. Moreover, CPU501 memorize | stores the data received from ECU3, 3, ..., GW4 or other IOU50, 50, ... by the network controller 505 and the transceiver 506 in the database 506.

  In addition, since the function of the CPU 501 as an input / output processing unit is the same as that of the first embodiment, detailed description thereof is omitted. Of course, the CPU 501 may exhibit the function as the abnormality detection unit 88 in the third embodiment. As described above, the IOU 50 can also be realized by a configuration using a microcomputer.

  In the fourth embodiment, the IOU 50 is configured to be controlled by a microcomputer as a whole. However, the functions of the input / output processing unit and the communication unit are controlled by a microcomputer as in the fourth embodiment, and the processing of the first to fourth processing units (508a to 508d) is performed by the processing circuit 53a as in the third embodiment. , 53b, 53c, and 53d.

  The disclosed embodiments should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 Sensor (equipment)
2 Actuator (equipment)
3 ECU (control device)
5 IOU (input / output device)
52 storage unit 53a, 53b, 53c, 53d processing circuit 54 input / output processing unit (output means)
55 Correspondence table 56 Database 50 IOU (input / output device)
501 CPU (output means)
502 RAM (storage unit)
506 Database 507 Correspondence table 8 IOU
82 storage unit 83a, 83b, 83c, 83d processing circuit 86 database 88 abnormality detection unit (abnormality detection means)

Claims (13)

Connected between a plurality of devices that input or output data and one or a plurality of control devices that control the devices by using data from any device or giving data to the devices, In an input / output device configured to process input / output to the one or more control devices of
A storage unit for storing input / output data is provided.
Means for storing data input / output from any of the plurality of devices in a database format in the storage unit;
An input / output device comprising: output means for outputting data required from the control device at a required timing based on one or a plurality of data stored in the database. A correspondence table indicating correspondence between identification information of data required from the control device and output timing of the data required from the control device;
The input / output apparatus according to claim 1, wherein the output unit reads and outputs data from the database based on identification information and output timing of the correspondence table. The output means includes means for judging whether or not there is a change in data required from the control device, and when the means judges that it is present, it outputs the changed data. The input / output device according to claim 1. The input / output device according to claim 1, wherein the output unit outputs the data based on a comparison between data required from the control device and a predetermined value. The input / output device according to any one of claims 1 to 4, wherein the output means outputs a combination of a plurality of data required from the control device. Means for receiving a data output request from the control device;
Means for extracting and outputting data from the database in response to the data output request;
The input / output device according to claim 2, further comprising a unit that updates the correspondence table based on the data output request. Computation means for obtaining data required from the control device by computation using one or a plurality of data recorded in the database;
The input / output apparatus according to claim 1, wherein the output unit outputs data obtained by calculation. 8. The input / output device according to claim 7, wherein the data obtained by the computing means is stored in the database. The data stored in the database includes means for outputting the data to any one of the plurality of devices so as to control the operation of the specific device. I / O device according to. A plurality of processing circuits configured to perform specific processing corresponding to each of a plurality of connected devices;
The input / output device according to any one of claims 1 to 9, wherein each of the plurality of processing circuits includes means for storing data in the database or extracting data from the database. Some or all of the plurality of processing circuits are
11. The apparatus according to claim 10, further comprising means for performing calculation processing for obtaining other data based on data output from a corresponding device and outputting control data to a processing circuit corresponding to the other device based on the calculation result. The input / output device described. Some or all of the plurality of processing circuits are
The input / output device according to claim 10 or 11, further comprising means for controlling stop or activation of operation of a corresponding device based on data stored in the database. The input / output device according to any one of claims 1 to 12, further comprising means for detecting an abnormality based on data input or output by each of the plurality of devices.

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