JP6533489B2 - Vehicle controller - Google Patents

Description

  The present invention relates to an on-vehicle control device.

  ISO26262 etc. are established as an international standard on functional safety, and the need for safety performance of cars is increasing. In order to meet needs for safety performance, a microcomputer (hereinafter referred to as a microcomputer) in the ECU has a function to diagnose peripheral functions with respect to a plurality of in-vehicle ECUs (Electronic Control Units) mounted on the vehicle. There is a case.

  The microcomputer is provided with a configuration register (hereinafter referred to as a Config register) for setting an operation mode or the like of a peripheral function (for example, an AD converter or a CAN controller). However, the setting of the Config register may cause an abnormality due to various factors such as external noise. In this case, the peripheral functions operating due to the setting of the Config register do not operate properly.

  Patent Document 1 discloses a technique of determining whether or not the Config register is correctly set, and resetting the Config register in the case of no.

JP, 2009-205528, A

  In Patent Document 1, the setting value is reset in the Config register when the setting value differs depending on the comparison processing between the stored value of the Config register and the setting value set at the start of the operation of the peripheral function. Resetting processing (hereinafter, register diagnosis) to be performed is repeatedly executed at predetermined time intervals.

  However, there are hundreds to thousands of Config registers installed in the vehicle, and if all registers are repeatedly diagnosed every predetermined time, the calculation load may increase, which may affect vehicle control. there were.

  Therefore, the present invention has been made in view of the above problems, and provides a technology for reducing the calculation load of diagnosis of several hundreds to several thousands of Config registers and reducing the influence on vehicle control compared to the prior art. .

  For example, in order to solve the above-mentioned subject, composition indicated in a claim is adopted. The present application includes a plurality of means for solving the above problems, and an example thereof is an on-vehicle control device, and a configuration register for storing setting values related to the operation of peripheral functions, and the on-vehicle control device An initialization processing unit that sets an initial setting value of the setting value in the configuration register when starting up; a peripheral function diagnosis processing unit that diagnoses whether or not the peripheral function is operating normally; When the abnormality is detected by the processing unit, the present value of the configuration register is compared with the initial set value, and a register diagnostic processing unit is used to determine whether the current value is normal or not. A controller is provided.

  According to the present invention, it is possible to reduce the calculation load of diagnosis of several hundreds to several thousands of Config registers, and to reduce the influence on vehicle control as compared with the prior art. Further features related to the present invention will become apparent from the description of the present specification and the accompanying drawings. The problems, configurations and effects other than those described above will be clarified by the description of the following embodiments.

It is a block diagram which shows the structure of a vehicle-mounted control apparatus. It is a block diagram which shows the part which implements AD conversion of the control unit which is an Example of this invention. It is a flowchart which shows the procedure of AD diagnosis which is an Example of this invention. It is a flow chart which shows a procedure of Config register diagnosis which is an example of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The drawings illustrate specific embodiments consistent with the principles of the invention, but are for the purpose of understanding the invention and are by no means intended to be construed as limiting the invention. .

  The following embodiment relates to a technique for setting a Config register for setting an operation mode or the like of a peripheral function of a microcomputer in an ECU, which is used when controlling the operation of a vehicle.

  The following embodiment uses the result of the diagnostic processing to determine whether there is an abnormality in the operating peripheral function by setting the Config register as a trigger, and performs register diagnosis limited to the Config register related to the peripheral function that detected the abnormality. There is a feature in the point. According to this configuration, it is possible to perform register diagnosis limited to only the Config register relating to the peripheral function in which the abnormality occurs without performing the register diagnosis on the peripheral function in which the abnormality does not occur.

  FIG. 1 is a block diagram showing the configuration of the in-vehicle control device. The on-vehicle control device 100 is a device that controls the control target device 130, and includes a microcomputer 110. The microcomputer 110 includes a central processing unit (CPU) 111 and a memory 112. The CPU 111 and the memory 112 are connected by a bus 113. The memory 112 includes a read only memory (ROM) 121 and a random access memory (RAM) 122.

  The CPU 111 is an arithmetic device that executes control calculation on the control target device 130 in accordance with an instruction of a control program stored in the ROM 121. The ROM 121 is a storage device that stores a control program that the CPU 111 executes. The RAM 122 is, for example, a storage device that stores data such as variables used while the CPU 111 is executing the control program.

  The control target device 130 may be any device. Although the control device for a vehicle transmission is described below, it is not limited thereto. The control target device 130 may be an actuator, a sensor, a switch, another control unit, or the like.

  FIG. 2 is a block diagram of a portion for performing AD conversion of the control device for a vehicle transmission. An automatic transmission control unit (ATCU) 200, which is a control device for a vehicle transmission, includes an AD converter (ANALOG to DIGITAL converter) 210 and an AD diagnosis unit 220 that diagnoses whether the AD converter 210 is operating normally. And an initialization processing unit 250 that executes initialization processing when the ATCU 200 starts up. The AD diagnosis unit 220 is realized in the form of software (a form of a program executed by the CPU 111).

  The AD converter 210 includes a Config register 211, an AD conversion control circuit 212, and a Data register 213. The Config register 211 stores setting data relating to the operation mode of the AD converter 210, and data set when the operation or the operation is stopped. The AD conversion control circuit 212 converts the external analog input 230 into a digital value according to the setting of the Config register 211. The Data register 213 stores the digital value converted by the AD conversion control circuit 212.

  The initialization processing unit 250 executes initialization processing only once when the ATCU 200 is started, and sets setting data regarding the AD converter 210 in the Config register 211. The setting values set by the initialization processing unit 250 are stored in advance in the ROM 121. Also, the digital value stored in the Data register 213 is stored in the RAM 122 as an output (AD conversion value) 240 by an instruction of software.

  The AD diagnosis unit 220 includes an AD diagnosis processing unit 221 and a Config register diagnosis processing unit 222. The AD diagnosis processing unit 221 diagnoses whether the AD converter 210 has an abnormality. When diagnosing that there is an abnormality, the AD diagnosis processing unit 221 outputs, as a trigger, a notification that the abnormality has been detected to the Config register diagnosis processing unit 222. The Config register diagnosis processing unit 222 operates with the notification of abnormality detection from the AD diagnosis processing unit 221 as a trigger, and diagnoses whether or not there is an abnormality in the Config register 211.

  If the setting value (setting relating to the operation of the AD conversion control circuit 212) set in the Config register 211 does not match the setting value set by the initialization processing unit 250 (hereinafter referred to as initial setting value), foreign noise It is possible that the Config register 211 has been rewritten due to various factors such as. Therefore, the Config register diagnostic processing unit 222 compares the setting value set in the Config register 211 with the initial setting value, and when the values do not match, resets the initial setting value in the Config register 211. Run repeatedly.

  If the number of repeated executions of the above resetting becomes equal to or more than the specified number “N” (N is an arbitrary value), the Config register diagnosis processing unit 222 determines that the Config register 211 has an abnormality, Transition. The failure mode 260 is, for example, a mode in which the vehicle operates with only the minimum function maintained.

  If the result of reading the Config register 211 matches the initial set value before the specified number of times “N” is exceeded during the above resetting, the Config register diagnosis processing unit 222 determines that the AD diagnosis processing unit 221 Send a rediagnostic instruction to The AD diagnosis processing unit 221 again diagnoses whether or not there is an abnormality in the AD converter 210. Thereafter, when the AD diagnosis processing unit 221 determines that there is no abnormality in the AD converter 210, normal vehicle control processing can be continued.

  On the other hand, when the set value set in the Config register 211 matches the initial set value, the Config register diagnostic processing unit 222 determines that the value of the Config register 211 is normal (correctly set). . At this time, since the Config register 211 is correctly set, the Config register diagnostic processing unit 222 determines that the AD converter 210 is abnormal, not the Config register 211. In this case, transition to a failure mode 260 triggered by an abnormality in the AD converter 210 is made.

  FIG. 3 is a flowchart showing a procedure of AD diagnosis. The following description is given with each functional block of the AD diagnosis unit 220 of FIG. 2 as a subject, but as described above, since the CPU 111 reads and executes the control program of the AD diagnosis unit 220, the description with the CPU 111 as the subject It may be

(S301)
The AD diagnosis processing unit 221 executes a process of diagnosing whether the AD converter 210 is operating normally. Here, an example of AD diagnosis is shown. The AD diagnosis processing unit 221 inputs, as the analog input 230, a reference voltage whose voltage value is determined in advance to the AD conversion control circuit 212 that operates in accordance with the Config register 211 set by the initialization processing unit 250 in FIG. Do. The AD conversion control circuit 212 AD converts the input reference voltage and stores the AD converted value in the Data register 213. Thereafter, the AD conversion value is stored in the RAM 122 as an output (AD conversion value) 240 by software.

(S302)
The AD diagnosis processing unit 221 compares the reference voltage with the AD converted value 240 stored in the RAM 122, and the AD converted value 240 is effective with respect to the reference voltage (for example, reference voltage ± xx [mV] etc., etc. xx Is determined to be within an arbitrary value) to diagnose whether the AD converter 210 is operating normally. If the AD converter 210 is operating normally (YES), the AD diagnosis processing is ended. On the other hand, when the AD converter 210 does not operate normally (that is, when an abnormality of the AD converter 210 is detected) (NO), the AD diagnosis processing unit 221 notifies that an abnormality is detected as a trigger. Output to the Config register diagnostic processing unit 222, and proceed to S303.

(S303)
The Config register diagnostic processing unit 222 executes a diagnostic process of the Config register 211. Details of this process will be described later. In this process, the Config register failure flag and the Config register reset flag are set. The Config register failure flag is a flag indicating that “Config register 211 itself is abnormal”. The Config register reset flag is a flag indicating that “processing for resetting an initial setting value (setting value set by the initialization processing unit 250) to the Config register 211 has been performed”. Note that global variables are used for the Config register failure flag and the Config register reset flag, and the AD diagnosis processing unit 221 can refer to each flag.

(S304)
The AD diagnosis processing unit 221 determines whether the Config register reset flag is set. If the Config register reset flag is set (YES), the process returns to step S301. On the other hand, if the Config register reset flag is not set (NO), the process proceeds to step S305.

(S305)
The AD diagnosis processing unit 221 determines whether the Config register failure flag is set. If the Config register failure flag is set (YES), the process proceeds to step S306. On the other hand, if the Config register failure flag is not set (NO), the process proceeds to step S307.

(S306)
When the Config register failure flag is set, the AD diagnosis processing unit 221 determines that the Config register 211 is abnormal, not the failure of the AD converter 210, stores the register abnormality in the RAM 122, and End the diagnostic process. Thereafter, in the vehicle control processing that follows, transition to the failure mode 260 triggered by the register abnormality is made.

(S307)
If the Config register failure flag is not set, the AD diagnosis processing unit 221 stores that the AD converter is abnormal in the RAM 122, and ends the AD diagnosis process. Thereafter, in the vehicle control processing that follows, transition to a failure mode 260 triggered by an AD converter abnormality is made.

  FIG. 4 is a flowchart showing the procedure of the Config register diagnosis (S303 in FIG. 3). The Config register diagnostic processing unit 222 determines whether or not there is an abnormality in the AD converter 210 itself, and whether or not there is an abnormality in the Config register 211 itself. Set

(S401)
The Config register diagnostic processing unit 222 sets the register comparison counter to “0”, and clears the Config register failure flag and the Config register reset flag.

(S402)
Subsequently, the Config register diagnostic processing unit 222 reads the value (value at the present time) of the Config register 211 related to the AD converter 210 set by the initialization processing unit 250.

(S403)
The Config register diagnostic processing unit 222 compares the value at the current time read out in step S402 with the initial setting value (value stored in advance in the ROM 121) set by the initialization processing unit 250. If these values do not match, the process proceeds to S404. On the other hand, if these values match, the process proceeds to S408.

(S404)
If the value at the current time read out in step S402 does not match the initial setting value, the Config register diagnostic processing unit 222 resets the initial setting value in the Config register 211.

(S405)
Next, the Config register diagnostic processing unit 222 increments the register comparison counter.

(S406)
Next, the Config register diagnostic processing unit 222 determines whether the register comparison counter is smaller than the specified number “N”. If the register comparison counter is smaller than N (YES), the process returns to step S402. If the register comparison counter is N or more (NO), the process proceeds to S407.

(S407)
The Config register diagnostic processing unit 222 determines that there is an abnormality in the Config register 211 instead of the failure of the AD converter 210, and sets a Config register failure flag. Thereafter, the Config register diagnostic process ends.

(S408)
If the value at the current time read out in step S402 matches the initial set value, the Config register diagnosis processing unit 222 determines whether the register comparison counter is "0". If the register comparison counter is “0” (YES), the Config register diagnostic processing unit 222 determines that the Config register 211 is operating normally without being reset, and ends the Config register diagnostic process. On the other hand, if the register comparison counter is not "0" (that is, the register comparison counter is not less than 1 and less than N) (NO), it indicates that the reconfiguration process (S404) of the Config register 211 has been performed normally. . In this case, the process proceeds to S409.

(S409)
The Config register diagnostic processing unit 222 determines that the reconfiguration of the Config register 211 has been normally performed, and sets a Config register reconfiguration flag. Thereafter, the Config register diagnostic process ends.

  The features of the above processing are summarized below. The Config register diagnostic processing unit 222 reads the current value of the Config register 211, compares the read value with the initial setting value (the value set by the initialization processing unit 250), and the read value is Determine whether it is normal. If the read value is not normal, the Config register diagnostic processing unit 222 repeatedly executes resetting of the Config register 211. The Config register diagnostic processing unit 222 determines that the Config register 211 has a failure when the number of times of repetitive execution of the resetting is equal to or more than the specified number “N” (N is an arbitrary number). At this time, the Config register diagnostic processing unit 222 sets a Config register failure flag.

  In addition, after resetting can be performed before the specified number of times “N” is exceeded, the Config register diagnostic processing unit 222 compares the value read from the Config register 211 with the initial setting value, and when these values match Set the Config register reset flag.

  Conventionally, the register diagnosis process has been repeatedly executed at predetermined time intervals. However, according to the above embodiment, the register diagnosis can be performed with limitation to the Config register relating to the peripheral function having an abnormality. As a result, even if the register diagnosis is not operated every predetermined time, the register diagnosis of only the Config register related to the peripheral function in which the abnormality occurs can be performed, and the calculation time of the register diagnosis can be reduced. Become. As a result, it is possible to reduce the calculation load of register diagnosis and to eliminate the influence on vehicle control.

  Also, according to the above embodiment, in the case of an abnormality in the Config register 211, processing for resetting the Config register 211 is executed. If resetting is normally performed, vehicle control can be continuously performed without shifting to the failure mode 260.

  Further, according to the above embodiment, it is possible to distinguish and determine the abnormality of the Config register 211 and the abnormality of the peripheral function (AD converter 210). In particular, when the process of resetting the Config register 211 repeatedly fails, it is determined that the Config register 211 is abnormal. If the peripheral function (AD converter 210) is abnormal although the Config register 211 is normally set, it is determined that the peripheral function (AD converter 210) is abnormal.

  In the above embodiment, although the AD converter 210 is taken as an example, the present invention is not limited to this. The present invention is applicable to an on-vehicle control device that has a peripheral function that operates according to the setting of the Config register and that has a diagnostic process of the peripheral function. For example, the present invention can also be applied to a Config register that sets the operation of a CAN controller for controlling real-time communication with a plurality of in-vehicle ECUs that control an engine and steering in a vehicle. By applying the present invention to the occurrence of abnormality of the Config register, it becomes possible to perform communication control as usual without becoming abnormal. The present invention can be applied even when reconfiguration of the Config register is not possible. In this case, for example, it is possible to determine whether there is an abnormality in the Config register instead of the abnormality in the CAN controller.

  The present invention is not limited to the embodiments described above, but includes various modifications. The above embodiments are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment. Also, the configuration of another embodiment can be added to the configuration of one embodiment. In addition, with respect to a part of the configuration of each embodiment, another configuration can be added, deleted, or replaced.

  The above functions are realized by software by the CPU (processor) interpreting and executing the programs that realize the respective functions, but some or all of them are designed by, for example, integrated circuits. It may be realized by hardware.

  In the above-described embodiment, the control lines and the information lines indicate what is considered necessary for the description, and not all the control lines and the information lines in the product are necessarily shown. All configurations may be connected to each other.

100 ... vehicle control unit 110 ... microcomputer 111 ... CPU
112 ... memory 113 ... bus 121 ... ROM
122 ... RAM
130 ... Control target device 200 ... ATCU
210 ... AD converter 211 ... Config register 212 ... AD conversion control circuit 213 ... Data register 220 ... AD diagnostic unit 221 ... AD diagnostic processing unit 222 ... register diagnostic processing unit 230 ... analog input 240 ... AD conversion value 250 ... initialization processing Unit 260 ... Failure mode

Claims (1)

An in-vehicle control device,
A configuration register that stores setting values related to the operation of peripheral functions;
An initialization processing unit that sets an initial setting value of the setting value in the configuration register when the in-vehicle control device is activated;
A peripheral function diagnosis processing unit that diagnoses whether or not the peripheral function is operating normally;
And a register diagnosis processing unit that determines whether the current value is normal by comparing the current value of the configuration register with the initial set value when an abnormality is detected by the peripheral function diagnosis processing unit. ,
Equipped with
When the current value is not normal, the register diagnosis processing unit repeatedly executes resetting of the initial setting value in the configuration register, and the number of repetitions exceeds a predetermined number. , Determining that the configuration register is abnormal,
When the value at the current point becomes normal from a value that is not normal by the register diagnosis processing unit repeatedly executing resetting of the initial setting value less than the predetermined number of times, the peripheral function diagnosis processing unit is configured to Re-diagnose whether the function is working properly,
After the peripheral function diagnostic processing unit once detects an abnormality in the peripheral function, the current value is normal without the register diagnostic processing unit resetting the initial setting value, and the configuration register If the register diagnosis processing unit determines that the state is normal, the peripheral function diagnosis processing unit determines that the peripheral function is abnormal.
In-vehicle control device.

Images