JP2000056987A - Control unit and decentralized control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve software productivity by allowing a module actuation control means to refer to an application program(AP) constitution information storage means and execute an AP module or a communication process in accordance with the execution order of the AP module or communication process stored in the AP constitution information storage means. SOLUTION: Module actuation control tasks 22a to 22k serve principally for operation. The module actuation control tasks are actuated by RTOS 13. After module execution, a next execution module is determined by referring to AP constitution information 23. When the next execution module is an AP module, the AP module is executed and after the execution ends, the process is repeated from the reference to the AP constitution information 23. When the next execution module is a message object, it is confirmed whether the object is a transmitting or receiving process. In case of the receiving process, real-time(RT) communication control is called and the receiving process is carried out. In case of the transmitting process, RT communication control is called and the transmitting process is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an embedded system, and more particularly, to a case where a plurality of embedded systems are connected to CAN (Control
The present invention relates to a distributed control system interconnected by a field network such as ller area network (Nerwork) and Foundation Fieldbus, for example, a power train control system in an automobile, a field device control system for factory automation and process automation, a medical device and a robot control system.

[0002]

2. Description of the Related Art As prior art 1, LON (Local Operating Network) which is one of field networks
And OSEK, a standard communication protocol for vehicle control
For communication processing such as COM, a library method called by an application program (AP) can be cited.

This method is described in the document "OSEK / VDX Comm
unication Version2.0a (ftp: //www-iit.etec.uni-ka
rlsruhe.de/pub/osek/).

[0004] As prior art 2, a memory transfer method (= Reflective M) used in many industrial systems.
emory method). This is the document "REFLECTIVE ME
MORYNETWORK WHITE PAPER (available from http://www.vmic.com/) ".

[0005]

In the prior art 1, in order to use the communication process, the AP developer needs to describe the communication process and the activation timing of the AP in the AP.

However, in the future, as the units shift to a distributed control system configuration in which the units are interconnected by a field network, in particular, the worst execution time of the processing for performing sensor input to actuator output including communication processing across the network is guaranteed. That is, inconvenience arises when guaranteeing the end-to-end real-time (RT) property.

The reason is that, basically, when this RT property guarantee is realized independently for each AP in consideration of communication processing and AP activation timing, at least the RT property guarantee is
This is because the AP has no versatility, so every time the system configuration is changed, the AP must be completely rewritten. In addition, as the standardization of the field network protocol progresses in the future, there is a strong demand from customers for connecting different vendor units to each other.
Is not rewritten, it is very difficult to guarantee the RT performance for the above reason.

On the other hand, in the prior art 2, the AP and the communication process are separated via the shared memory and operate asynchronously with each other. Generally, the communication process performs a process of periodically transferring and updating the value of the shared memory in the system on each unit. Therefore, the worst execution time of each AP alone and the worst execution time of communication processing can be easily guaranteed.

However, since the AP and the communication process are asynchronous, a data propagation delay occurs. Therefore, the worst execution time of the process of performing the sensor input to the actuator output including the communication process across the network is long. For this reason, it is difficult to apply the related art 2 to a process whose worst execution time is strict. Further, in the prior art 2, even if the data is not updated, the value on the shared memory is periodically transferred,
Because it is updated, it wastes network traffic.

According to the present invention, it is possible to easily guarantee the RT performance, and to shorten the worst execution time of a process for performing sensor input to actuator output including communication processing over a network, and The purpose is to improve software productivity by keeping the amount of software change small even when the system configuration changes.

[0011]

The above object is achieved by providing the following means in a software platform for controlling and managing the execution of an AP, which includes middleware, an OS, interrupt processing, driver software, and the like. (1) AP module or AP configuration information storage means in which the execution order of communication processes or RT communication service information of each communication process is stored.

(2) Referring to the AP configuration information storage means,
Module activation control means for executing an AP module in accordance with the execution order stored in the AP configuration information storage means and executing communication processing.

The module activation control means refers to the AP configuration information storage means and executes the AP modules in accordance with the AP modules stored in the AP configuration information storage means or the execution order of the communication processing, or executes the communication processing. I do.

When the module activation control means executes the AP module or executes communication processing, the AP and communication processing are completely separated.

Further, the change of the execution order of the AP modules, the execution order of the communication processing, and the contents of the RT communication service of the communication processing can be realized by changing the AP configuration information storage means.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, description will be given with reference to the drawings.

FIG. 1 shows a distributed control system according to the present invention.

The distributed control system includes a plurality of units 1
, 1n are connected to the network 2. Each unit includes an application program (AP) 11, distributed control middleware 12, a real-time operating system (RTOS) 13, and a network communication processing driver 14. AP11
Are a plurality of AP modules 21a, 21b,.
Consists of The distributed control middleware 12 includes a plurality of module start control tasks 22a,.
3 and a plurality of message objects 24a,.
m and RT communication processing control 25. Further, the AP configuration information 23 includes an AP module configuration information 23a, a message
Consists of object configuration information 23b. Arrows 31a to 31n, 32a to 32k, 33a to 33k, 3
4a to 34m, 35a to 35k, 36, 25a, 25b
Are the control flows.

FIG. 2 shows the AP module configuration information 23a.

The left column of the table shown in the figure is an AP module executed in the system, and the right column is a module activation control task (AP module or AP module) indicating the module to be executed next after the execution of the AP module in the left column. message·
Object transmission / reception processing) is registered.

In the example shown in the figure, after the module activation control task executes the AP module: M1, the next execution is the transmission of the message object: MsgObj1.
After the execution of the module M2, the next execution is performed by the AP module M3. AP module:
After the execution of M3, the module to be executed next is NULL, but this NULL indicates that there is no module to be executed next, that is, indicates that the module activation control task has ended. After executing the AP module: M4, the next execution is transmission of the message object: MsgObj3.

FIG. 3 shows the message object configuration information 23b.

The first column (leftmost column) of the table shown in the figure is the message object name in the system, the second column is the communication processing priority, and the third column is whether the communication processing is intra-unit communication or inter-unit communication. The fourth column is the communication service type, the fifth column is the module to be executed next after execution of the message object transmission process, and the sixth column (rightmost column) is the message object After the execution of the receiving process, the module to be executed next is registered. The communication processing priority is set only for communication between units.
It is not set (NULL) in intra-unit communication.

There are two types of communication services, synchronous communication and asynchronous communication.

(1) In the synchronous communication, in the case of a message transmission process, a process of immediately transmitting a message to a receiving side is executed after the process, and in the case of a message reception process, immediately after a message reception event occurs, This is a communication service in which the process is executed.

(2) In the asynchronous communication, in the case of the message transmission processing, there is no guarantee that the processing of transmitting the message to the receiving side is immediately executed after the transmission processing. Basically, a process of transmitting a message to the receiving side is executed by another execution control task B different from the module activation control task A that executes the transmission process, independently of the module activation control task A. In the case of the message reception process, the communication service is a communication service in which the message reception process is executed by another event (period timer, sensor input, etc.) unrelated to the message reception event.

In the example shown in the figure, MsgObj1 has a communication priority of NULL, unit internal communication, and synchronous communication service. After the MsgObj1 transmission process is executed by the module activation control task, the next execution is the MsgObj1 reception process. After the module activation control task executes the MsgObj1 reception process, the AP module: M2 is executed next. It is shown that.

MsgObj 2 has a medium priority, a unit external communication, and a synchronous communication service. After the module activation control task executes the MsgObj2 transmission process, what is executed next is NULL, that is, the end of the module activation control task.
After the execution of the bj2 reception process, the next execution is the AP module: M4.

On the other hand, MsgObj3 has a low communication priority,
Unit external communication and asynchronous communication service. After the MsgObj3 transmission process is executed by the module activation control task, the AP module: M5 is executed next. After the MsgObj3 reception process is executed by the module activation control task, the next execution is NULL. This indicates the end of the activation control task.

The AP module configuration information 23a and the message object configuration information 23b in the AP configuration information 23
Are stored on the memory in the unit 1a as shared data that can be referred to by each of the module activation control tasks 22a,..., 22k.

In this embodiment, the AP configuration information 23 is composed of two tables of the AP module configuration information 23a and the message / object configuration information 23b shown in FIGS. It may be integrated into. It is also possible to divide the table in which the next execution module of each module is registered together with the AP module and the message object, and the table in which information excluding the next execution module of the message object in FIG. 3 is put together. Also, this information need not be in the form of a table,
For example, a structure of a configuration information unit of each module may be defined and managed by a pointer.

Next, a basic operation example of the present invention will be described below. In FIG. 1, the main components of the operation are the module activation control tasks 22a to 22k. Here, the operation example of FIG. 1 will be described with reference to a flowchart 26 showing the operation of the module activation control task. .

At 501, the module activation control task is activated by the RTOS 13. The started task executes the module to be executed first at 502 (note: 501 and 5).
02 will be described later with reference to FIG. 4).

After executing the module, the next execution module is obtained by referring to the AP configuration information 23 in 503.

It is confirmed at 504 whether or not the next execution module is a message object. If it is not a message, it is confirmed at 505 whether it is an AP module.
If it is not a P module, the task has ended all modules to be executed, and the processing of the task ends.

If the next execution module is an AP module at 505, the AP module is executed at 507,
When the execution is completed, the process returns to 503, and the process is repeated by referring to the AP configuration information 23.

At 504, if the next execution module is a message object, it is confirmed at 508 whether the process is a transmission process or a reception process. In the case of the reception process, the RT communication control is called at 509 to execute the reception process. If it is a transmission process, the RT communication control is called at 510 to execute the transmission process.

When the communication process 508 or 510 is completed, the process returns to 503, and the process is repeated by referring to the AP configuration information 23.

The communication service of the message object registered in the AP configuration information 23 is described in the RT communication processing control 25, and the module activation control task calls 25 and, according to the processing described in 25,
The communication between the units is executed via the RTOS (13) to the network communication driver 14.

The RT communication processing control 25 determines the communication processing priority of the message object to be communicated, whether the communication is intra-unit or inter-unit, and the communication service by using the AP configuration information 23 (more precisely, the message / object configuration). The communication process is executed by referring to the information 23b). The RT communication processing control 25 is described in, for example, the document “OSEK
/ VDX Communication Version 2.0a ", and can be realized by the OSEK-COM communication library.

The module activation control task is activated by the RTOS 13 as shown in FIG.

FIG. 4 is a diagram showing an operation flow of the interrupt processing.

In the figure, reference numerals 101a to 101m denote interrupt processing. The interrupt processing 101m is composed of processing of 111 to 115. The same applies to other interrupt processing.
102 is an interrupt vector table. 103a to 103n
Is a task control block (TCB) in the RTOS. T
The CB stores task execution priority, module information to be executed first after activation, task status, and the like. 10
4 is an interrupt cause-startup task correspondence table.

The operation of the interrupt processing is as follows. In response to the input of the interrupt signal, the microprocessor interrupts the processing executed so far, saves the intermediate result, and activates the interrupt processing corresponding to the interrupt factor (= vector number) with reference to the interrupt vector table 102.
As an example, in the case where the interrupt processing activated by the vector number M is 101 m, the first step 111 is to identify the cause of the interrupt. Specifically, in the case of an interrupt from the communication LSI, by referring to the control register of the communication LSI, it is possible to determine whether the cause of the interrupt is transmission completion, whether a message has been received from the outside, or whether an error has occurred. Identify. If it is assumed that the cause of the interruption is cause 2, 104
The activation task is found by referring to the interruption cause-activation task correspondence table. In 104, the activation task of cause 2 is the module activation control task 2, and in 113, the TCB2 (103b) of the module activation control task 2 is referred to.
Make the task state executable. RTOS at 114
13 to end the interrupt processing (11
5). On the other hand, RTOS13 is a task in the executable state,
Launch the highest priority task and execute the first module to run. Means for activating a task with the highest priority from among a plurality of tasks in the executable state is realized by a task scheduler, which is a standard in an RTOS and includes a plurality of scheduling queues provided for each priority. You.

As an example, in FIG. 4, when the module activation control task 2 is activated, the first module to be executed is "MsgObj2 reception" by referring to the TCB2 (103b). The subsequent operation of the task will be described below with reference to FIGS. 2 and 3. (1) Referring to FIG. 3, the message object name: MsgObj2, after execution of the reception processing, execution of the next execution Is an AP module: M4.

(2) Referring to FIG. 2, after executing the AP module: M4, the next execution is a message
Object: MsgObj3 transmission.

(3) Referring to FIG. 3, after executing the message / object name: MsgObj3 transmission processing, the AP module: M5 is executed next.

(4) Referring to FIG. 2, after executing the AP module: M5, what is executed next is NULL, that is, the end of the operation of the task.

From the above, the operation of the task can be summarized as follows:
MsgObj2 reception → M4 → MsgObj3 transmission → M5 → end An operation example of the module activation control task by referring to the AP configuration information is described below. First, the module activation control task A in a unit first starts the AP module:
Assuming that M1 is executed, by following the next execution module in FIGS. 2 and 3, the execution order of the modules is as follows: M1 → MsgObj1 reception → MsgObj1 transmission → M2 → M3 → end. Assuming that the module activation control task B in the unit executes MsgObj2 reception first, by following the next execution module in FIGS. 2 and 3, the execution order of the modules is as follows: MsgObj2 reception → M4 → MsgObj3 transmission → M5 → end As described above, the operation of the module activation control task is such that only the function (= module) activation, such as the main function of the c language consisting of only function calls, is performed, and the module execution order is controlled. It becomes a framework of AP execution.

The module start control task calls and executes the AP module. On the other hand, the AP module does not call and execute the module start control task and the OS service (system call).
The API between P and the module activation control task is an AP module. This is the exact opposite of the prior art API being an OS service or library.

In this embodiment, the AP in each unit shown in FIG.
The configuration information 23 holds all the information in the tables shown in FIGS. 2 and 3, that is, the information shares the same information between units. Alternatively, for each unit, information used by the unit, that is, a module (AP
Holding only information on modules or message objects) can be easily realized.

In this embodiment, the message object is handled as a module other than the module AP executed by the module activation control tasks 22a to 22k. However, for other input / output objects other than messages, for example, specific sensor objects and actuator objects, the message object 34a
By storing input / output object configuration information in the AP configuration information 23, an input / output object corresponding to .about.34m, an input / output object control module corresponding to the RT communication processing control 25, The same execution control as the object can be performed.

In this embodiment, the module activation control tasks 22a to 22k are tasks, but may be functions inside the RTOS 13. In this case, the task switching overhead is reduced, but the size of the RTOS is increased and portability is deteriorated.

In the present embodiment, the RT communication processing control 25 is a software module called from the message objects 24a to 24m, and is executed by the module activation control tasks 22a to 22k. The task may be an independent task different from 22k, or 25 may be an internal function of the RTOS 13. When 25 is a task, parallel processing with 22a to 22k can be performed more flexibly, but task switching overhead increases. If 25 is a function inside the RTOS,
Task switching overhead is reduced, but RTOS
Becomes large, and portability deteriorates.

In the present embodiment, the RT communication processing control 25 does not directly control the network communication processing driver 14, but a configuration in which the RT 25 directly controls the network communication driver 14 may be used. In this case, while the overhead is reduced by the amount not passing through the RTOS, the exclusive control process of the shared resource needs to be performed when the step 14 executes 14, and the description of the program in the step 25 becomes complicated.

Here, a specific example of a system change by changing the AP configuration information will be described. (1) Basic Configuration FIG. 5 shows an operation of a module activation control task in a throttle control unit used for realizing auto cruise control of an automobile.

In FIG. 5, the unit 1 is connected to the network 2. Unit 1 is an AP module which is a target driving force calculation 21y and a throttle opening calculation 21z.
And a message object, a target vehicle speed 24y and a target driving force 24z. The unit 1 receives the target vehicle speed information 43 via the network 2. The unit 1 outputs the throttle opening from the unit output 42.
Reference numeral 22 denotes a module activation control task A.

The module activation control task A (2) shown in FIG.
The operation 2) is set by the parameters shown in FIGS.

FIG. 6 shows a correspondence table between the cause of interruption in the throttle control unit 1 and the activated task. This correspondence table indicates that the module activation control task A (22) is periodically activated by a 30 ms timer.

FIG. 7 shows the TC of the module activation control task A.
B (task control block). The task execution priority is high, and the first module to be executed after startup is the target vehicle speed of 24.
y is received.

FIG. 8 shows AP module configuration information. A
P module: After executing target driving force calculation 21y, then execute transmission processing of message object: target driving force 24z. AP module: throttle opening calculation 21z
This indicates that the task has been completed after execution.

FIG. 9 shows message object configuration information. Message object: The communication of the target vehicle speed 24y has medium priority, communication between units, and asynchronous communication service. After the module activation control task executes the transmission processing of the target vehicle speed 24y, the task ends. After the module activation control task executes the reception processing of the target vehicle speed 24y, the AP module: target driving force calculation 21y is executed next. It is shown that. On the other hand, the message
Object: The communication of the target driving force 24z has a communication priority of NULL, intra-unit communication, and synchronous communication service. After the module activation control task executes the transmission processing of the target driving force 24z, receives the target driving force 24z, and the module activation control task executes the reception processing of the target driving force 24z, and then executes the AP module: throttle This shows that the opening degree calculation is 21z.

According to the parameter values shown in FIGS.
The operation of the module activation control task A (22) is periodically activated by a 30 ms timer, and the module execution order is as follows: target vehicle speed 24y reception → target driving force calculation 21y → target driving force 24z transmission → target driving force 24z Reception → Throttle opening calculation 21z execution → Task end (2) Function distribution FIG. 10 shows the operation of the module activation control task when the function of the throttle control unit of FIG. 5 is distributed to two units.

In FIG. 10, units 1y and 1z are
Connected to network 2. The unit 1y has a target driving force calculation 21y as an AP module and a target vehicle speed 24y and a target driving force 24z as message objects.
Consists of one. The unit 1y receives the target vehicle speed information 43 via the network 2. The unit 1y transmits the target driving force information 44 to the network 2. 22y is a module activation control task A in the unit 1y. Unit 1z is a throttle opening calculation 21z which is an AP module and a target driving force 2 which is a message object.
4z2. The unit 1z receives the target driving force information 44 via the network 2. The unit 1z outputs the throttle opening from the unit output 42. 22z
Is a module activation control task B in the unit 1z.

The module activation control task A (2
2y), the operation of task B (22z) is shown in FIGS.
It is set by the parameters shown in.

FIG. 11 shows the driving force management unit 1.
The table showing the correspondence between the cause of the interruption of each of y and 1z in the throttle control unit-startup task is shown. As shown in the figure, the module activation control task A (22y) and the task B (22z) are each periodically activated by a 30 ms timer, and the target driving force 24z
2 is started.

FIG. 12 shows the TCB (task control block) of the module activation control tasks A and B. The task execution priority is high for both the task A and the task B, and the first module to be executed after the activation is the task A whose target vehicle speed is 24y.
And the task B is the reception of the target driving force 24z2.

FIG. 13 shows AP module configuration information.
After executing the AP module: target driving force calculation 21y, the message object: executing the transmission processing of the target driving force 24z1, and the AP module: executing the throttle opening calculation 21z indicates that the task is completed.

FIG. 14 shows message object configuration information. Message object: target vehicle speed 24y
The communication priority is medium, communication between units, and asynchronous communication service. After the module activation control task executes the transmission processing of the target vehicle speed 24y, the task ends. After the module activation control task executes the reception processing of the target vehicle speed 24y, the AP module: target driving force calculation 21y is executed next. It is shown that. On the other hand, the communication of the message objects: the target driving forces 24z1 and 24z2 (both are the same object and the configuration information is shared between the units) has a high communication priority, communication between units, and synchronous communication service. . After the module activation control task executes the transmission processing of the target driving force, the task ends, and after the module activation control task executes the reception processing of the target driving force, the AP module: throttle opening calculation 21z is executed next. It is shown that.

Based on the parameter values shown in FIGS. 11 to 14, the operation of the module activation control task A (22y) is
It is started periodically by the 30 ms timer, and the module execution sequence is as follows: target vehicle speed 24y reception → target driving force calculation 21y → target driving force transmission → task end The operation of the module start control task B (22z) It is started by the driving force reception event, and the module execution order is as follows: target driving force reception → throttle opening degree calculation 21z execution → task end Therefore, when there is a system configuration change from (1) to (2) , Can be handled only by changing the following parameters.

A new registration of the module activation control task B (22z) in the activation task correspondence table of the interrupt cause of 1z in the throttle control unit.

Module activation control task B (22z)
New registration of TCB (task control block).

The AP configuration information can be changed by three message objects: message processing priority of target driving force, internal / external communication, and next execution module at the time of transmission.

(3) New Function FIG. 15 shows the operation of the module activation control task when a new radar unit is added to the system configuration of FIG.

In FIG. 15, the units 1x, 1y, 1
z is connected to the network 2. Unit 1x is A
It comprises an inter-vehicle distance calculation 21w and a target vehicle speed calculation 21x, which are P modules, and an inter-vehicle distance 24x and a target vehicle speed 24y1, which are message objects. Unit 1x
Inputs the operator information from the unit input 41. The unit 1x transmits the target vehicle speed information 45 to the network 2. 22x is a module activation control task C in the unit 1x. The unit 1y1 includes a target driving force calculation 21y, which is an AP module, and a target vehicle speed 24y2 and a target driving force 24z1, which are message objects.
The unit 1y1 receives the target vehicle speed information 43 via the network 2. The unit 1y1 transmits the target driving force information 44 to the network 2. 22y is unit 1
This is the module activation control task A in y1. Unit 1z is AP module, throttle opening calculator 21z
And the target driving force 24z2 which is a message object
Consists of The unit 1z receives the target driving force information 44 via the network 2. The unit 1z outputs the throttle opening from the unit output 42. 22z is a module activation control task B in the unit 1z.

The module activation control task A (2
2y), the operation of task B (22z), and the operation of task C (22x) are set by the parameters shown in FIGS.

FIG. 16 shows the driving force management unit 1.
y, 1z in throttle control unit, radar unit 1
A table showing the cause of each interrupt and the task to be activated is shown below.
As shown in the figure, the module activation control task A (22y), task B (22z), and task C (22x) each have a target vehicle speed of 2
This shows that a 4y2 reception event is started, a target driving force 24z2 reception event is started, and a 30 ms timer is started periodically.

FIG. 17 shows a TCB (task control block) of the module activation control tasks A, B, and C. The task execution priority of each of the tasks A, B, and C is high, and the first module to be executed after the start-up is that the task A receives the target vehicle speed 24y2, the task B receives the target driving force 24z2, and the task C calculates the inter-vehicle distance. 21w.

FIG. 18 shows AP module configuration information.
AP module: After executing the target driving force calculation 21y, then execute transmission processing of the message object: the target driving force 24z1, and the AP module: after executing the throttle opening calculation 21z, the task ends, and the following distance calculation 21w
After execution, next message object: 24x distance
After executing the transmission processing of the target vehicle speed 21x, the transmission processing of the message object: the target vehicle speed 24y1 is executed next.

FIG. 19 shows message object configuration information. Message object: target vehicle speed 24y
The communication of 1,24y2 (both are the same object and the configuration information is shared between the units) has medium communication priority, inter-unit communication, and synchronous communication service. After the module start control task executes the target vehicle speed transmission process,
This indicates that the AP module: target driving force calculation 21y is to be executed next after the task termination and the module activation control task execute the target vehicle speed reception processing. On the other hand, the message object: target driving force 24z1,
The communication of 24z2 (both are the same object and the configuration information is shared between units) has a high communication priority, communication between units, and synchronous communication service. After the module activation control task executes the transmission processing of the target driving force, the task ends, and after the module activation control task executes the reception processing of the target driving force, the AP module: throttle opening calculation 21z is executed next. It is shown that. Further, a message object: distance between vehicles 24
The communication priority of the communication x is NULL, intra-unit communication, and synchronous communication service. After the module activation control task executes the inter-vehicle distance transmission processing, the message object: executes the inter-vehicle distance reception processing, and the module activation control task executes the inter-vehicle distance reception processing, and then executes the AP module: target This indicates that the vehicle speed calculation is 21x.

Based on the parameter values shown in FIGS. 16 to 19, the operation of the module activation control task A (22y) is as follows.
It is started by the reception event of the target vehicle speed, and the module execution order is as follows: target vehicle speed reception → target driving force calculation 21y → target driving force transmission → task end The operation of the module activation control task B (22z) is as follows. The module is activated by a target driving force reception event, and the module execution order is as follows: target driving force reception → throttle opening calculation 21z execution → task end Further, the operation of the module activation control task C (22x) is performed by a 30 ms timer. And the module execution order is as follows: inter-vehicle distance calculation 21w → inter-vehicle distance transmission → inter-vehicle distance reception → target vehicle speed calculation 21x → target vehicle speed transmission → task end Thus, the system is changed from (2) to (3). If there is a configuration change, it can be handled only by changing the following parameters.

Change of the cause of interruption of 1y1 in the driving force management unit—the cause of interruption in the activation task correspondence table.

The cause of interruption of 1x in the radar unit—the module activation control task C (22) in the activation task correspondence table
x) New registration.

Module activation control task C (22x)
New registration of TCB (task control block).

The AP configuration information can be changed by AP module: Inter-vehicle distance calculation 21w, new registration of target vehicle speed calculation 21x, message object: communication service type of target vehicle speed, message object: new registration of inter-vehicle distance.

(4) Function Movement FIG. 20 shows the operation of the module activation control task when a module is moved from one unit to another unit in the system configuration of FIG. In FIG. 20, units 1v, 1w, and 1z are network 2
Connected to. The unit 1v includes an inter-vehicle distance calculation 21w as an AP module and an inter-vehicle distance 24x1 as a message object. The unit 1v inputs the operator information from the unit input 41. The unit 1v transmits the inter-vehicle distance information 45 to the network 2. 22v is a module activation control task C in the unit 1v. The unit 1w is an AP module which is a target vehicle speed calculator 21x.
And the target driving force calculation 21y, the inter-vehicle distance 24x2, the target vehicle speed 24y, and the target driving force 24z1 which are message objects. The unit 1w receives the inter-vehicle distance information 45 via the network 2. The unit 1 w transmits the target driving force information 44 to the network 2. 22w is a module activation control task A in the unit 1w. The unit 1z includes a throttle opening calculation 21z as an AP module and a target driving force 24z2 as a message object. The unit 1z receives the target driving force information 44 via the network 2. The unit 1z outputs the throttle opening from the unit output 42. 22z is a module activation control task B in the unit 1z.

The module activation control task A (2
2w), the operation of the task B (22z), and the operation of the task C (22v) are set by the parameters shown in FIGS.

FIG. 21 shows the driving force management unit 1
w, 1z in throttle control unit, radar unit 1
v The respective interruption cause-startup task correspondence table is shown.
As shown in the figure, the module activation control task A (22w), task B (22z), and task C (22v) each have a headway distance of 2
4x2 reception event activation, target driving force 24z2 reception event activation, and 30 ms timer periodic activation.

FIG. 22 shows a TCB (task control block) of the module activation control tasks A, B and C. Task A, task B, and task C have a high task execution priority. The first module to be executed after startup is task A receiving the inter-vehicle distance 24x2, task B receiving the target driving force 24z2, and task C calculating the inter-vehicle distance. 21w.

FIG. 23 shows AP module configuration information.
AP module: After executing the target driving force calculation 21y, then execute transmission processing of the message object: the target driving force 24z1, and the AP module: after executing the throttle opening calculation 21z, the task ends, and the following distance calculation 21w
After execution, next message object: distance between vehicles 24
After executing the transmission processing of x and executing the target vehicle speed calculation 21x, the transmission processing of the message object: the target vehicle speed 24y1 is executed next. FIG. 23 is the same as FIG.

FIG. 24 shows message object configuration information. Message object: target vehicle speed 24y
The communication priority is NULL, intra-unit communication, and synchronous communication service. After the module activation control task executes the transmission processing of the target vehicle speed, the message object: executes the reception processing of the target vehicle speed, and the module activation control task executes the reception processing of the target vehicle speed, and then executes the AP module: target This shows that the driving force calculation is 21y. On the other hand, the communication of the message objects: the target driving forces 24z1 and 24z2 (both are the same object and the configuration information is shared between the units) has a high communication priority, communication between units, and synchronous communication service. . After the module activation control task executes the transmission processing of the target driving force, the task ends, and after the module activation control task executes the reception processing of the target driving force, the AP module: throttle opening calculation 21z is executed next. It is shown that. Further, the communication of the message object: the inter-vehicle distances 24x1 and 24x2 (both are the same object and the configuration information is shared between the units) has a low communication priority, communication between units, and synchronous communication service. After the module activation control task executes the inter-vehicle distance transmission processing, the message object: executes the inter-vehicle distance reception processing, and the module activation control task executes the inter-vehicle distance reception processing, and then executes the AP module: target This indicates that the vehicle speed calculation is 21x.

According to the parameter values shown in FIGS. 21 to 24, the operation of the module activation control task A (22w) is as follows.
It is activated by the inter-vehicle distance reception event, and the module execution order is as follows: inter-vehicle distance reception → target vehicle speed calculation 21x → target vehicle speed transmission → target vehicle speed reception → target driving force calculation 21y → target driving force transmission →
Task Termination The operation of the module activation control task B (22z) is activated by a target driving force reception event, and the module execution order is as follows: target driving force reception → throttle opening calculation 21z execution → task termination Further, the operation of the module activation control task C (22v) is periodically activated by a 30 ms timer, and the module execution order is as follows: inter-vehicle distance calculation 21w → inter-vehicle distance transmission → task end Thus, (3) to (4) If there is a change in the system configuration in ()), it can be handled only by changing the following parameters.

Change of the cause of the interruption of 1y1 in the driving force management unit—the cause of the interruption in the activated task correspondence table.

Module activation control task A (22w)
Module change to be executed first after TCB (task control block) startup.

The change of the AP configuration information includes no AP module configuration information, and message objects: target vehicle speed, communication processing priority of inter-vehicle distance, internal / external communication, change of next execution module at the time of transmission.

As described above, the module activation control task includes the AP configuration information (AP module configuration information, message object configuration information), the activation task information in the interrupt cause-activation task correspondence table, and the task control block. By changing the task execution priority information and the module information to be executed first after startup, any system configuration can be handled. As described above, even if the system configuration is changed, the amount of software change can be kept small, so that it is possible to improve software productivity.

Further, by changing these information,
The execution order of the AP modules, the execution order of the communication processing, and the communication processing priority of the message object can be changed.
Since the communication processing with P can be operated asynchronously or synchronously, it is possible to shorten the worst execution time of the processing from the sensor input to the actuator output including the communication processing across the network.

FIG. 25 shows a configuration diagram of the AP configuration information setting system.

In the figure, a plurality of units 1a1,.
1n1 and the personal computer 51 are connected to the network 2.
Inside each unit is an application program (AP)
11, a distributed control middleware 12, a real-time operating system (RTOS) 13, a network communication processing driver 14, and an initialization processing 15. AP11
Are a plurality of AP modules 21a, 21b,.
Consists of The distributed control processing middleware includes a plurality of module activation control tasks 22a,.
3 and a plurality of message objects 24a,.
m and real-time communication processing control 25. 2 more
Reference numeral 3 includes AP module configuration information 23a and message object configuration information 23b. Arrow 31 in the figure
a to 31n, 32a to 32k, 33a to 33k, 34a
~ 34m, 35a ~ 35k, 36,25a, 25b, 3
7, 37a are control flows. Reference numeral 51 denotes a general-purpose computer such as a center control unit or a personal computer, which is connected to an AP configuration information storage disk 52.

The operation of the AP configuration information setting system is as follows. The AP configuration information storage disk 52 stores the AP configuration information of all the healing units.
The AP configuration information of the unit (the interrupt cause-startup task correspondence table 104 shown in FIG. 4, the task control blocks 103a to 103b)
103n) is divided into a plurality of packets via the network and transmitted. In the unit on the receiving side, initialization processing 1
5 receives the transmitted packet via the network communication driver 14 and stores it in the AP configuration information 23.

In the above description, the disk 52 stores the AP configuration information, and the computer 51 transmits the information to the AP in the unit.
Although only the case of storing in the configuration information 23 is described, in addition to the AP configuration information, the interrupt cause-startup task correspondence table 10 in FIG.
4 and the information of the task control blocks 103a to 103n are also stored in the AP configuration information storage disk 52, and the information may be transmitted to the unit by the computer 51 and stored.

With this system, the operation of the module activation control task in the unit can be changed even after the unit has already been mounted on the system. Need not be removed from the system.

Although the embodiment in which the AP configuration information is set via a network has been described here, it is also possible to set the AP configuration information of the unit via a serial cable such as RS232 in addition to the network. . In this case, serial cable driver software is required in the unit 1a1, and the initialization processing 38 uses serial cable driver software instead of the network communication processing driver 14.

Further, the setting of the AP configuration information can be directly written in the memory area of the AP configuration information 23 using a ROM writer.

FIG. 27 shows a configuration diagram of the AP configuration information generation tool.

In the figure, system configuration information 601 is input information of the tool, AP configuration information generation tool is 602,
The AP configuration information 23 is output information. The tool 602 is a syntax analysis tool 6021 and a data generation tool 6022
It consists of two tools. System configuration information 601
Means task information, AP information, message
Consists of object information.

(1) System information: Task execution order of distributed control processing (execution of multiple tasks from input to output), task name to be executed, and data flow.

The worst execution time of the distributed control process.

Time during which processing is delayed due to contention for shared resource access with other tasks.

The execution delay time inherited from the previous task.

End-to-End deadline until distribution control processing is completed.

(2) Task information Module execution order, module name to be executed and data flow Task execution priority Task activation type (periodic timer activation or event activation).

Task activation cycle time-cycle time (distributed control processing of cycle activation type).

-Minimum event occurrence time (event-driven type distributed control processing).

The worst response line time of the invoking task.

(3) AP information Pointer to all included AP modules.

The number and data type of input information of each AP module.

The number and data type of output information of each AP module.

(4) Message object information Pointers to all contained message objects.

Data type of each message object.

Message type (synchronous communication or asynchronous communication).

A timeout period until transmission processing and reception processing are completed.

Transmission processing retry upper limit number.

Communication error processing to be adopted.

The syntax analysis tool 6021 is a tool for extracting AP configuration information from the system configuration information 601.
It can be realized with a general syntax analysis tool. The data generation tool 6022 converts the output from the tool 6021 into A
It is converted into the format of the P configuration information 23.

With this tool, the AP configuration information 2
3 does not need to be created, and software productivity is improved.

FIG. 28 is a block diagram of the distributed control processing middleware code generation tool.

In the figure, the system configuration information 601 is the input information of the tool, the distributed control processing middleware code generation tool is 605, and the distributed control processing middleware code is 604. The tool 605 includes an AP configuration information generation tool 602, AP configuration information 23 as intermediate data, and a code generation tool 603.

The code generation tool 603 executes the module activation control task (22 in FIG. 1) whose operation is described in FIG.
a to 22k) and the code of the module activation control task are generated from the AP configuration information 23 which is the reference data of the task. The generated code may be a high-level language source file, assembler code, or an object file.

Since the code generated by this tool can be smaller in size than the code of the process in which the module activation control task refers to the AP configuration information described above, the memory can be saved and the execution time overhead can be reduced. Is peeled off.

[0131]

According to the present invention, by changing the AP configuration information storage means, the execution order of the AP modules, the execution order of communication processing, and the communication processing priority of message objects can be changed. And the communication process can be operated asynchronously or synchronously,
This makes it easy to shorten the worst execution time of the processing from sensor input to actuator output including communication processing over a network, and it is possible to easily guarantee the RT performance.

Communication processing is not mixed in the AP.
Since both are completely separated and the AP module and the execution order of the communication processing and the RT communication service information of each communication processing can be changed, the software production is suppressed by reducing the amount of software change even if the system configuration is changed. It is possible to improve the performance.

[Brief description of the drawings]

FIG. 1 is a diagram showing a unit configuration representing one embodiment of the present invention.

FIG. 2 is a diagram showing an example of AP module configuration information 23a.

FIG. 3 is a diagram showing an example of message object configuration information 23b.

FIG. 4 is a diagram showing an operation flow of interrupt processing.

FIG. 5 is a diagram showing an operation of a module activation control task in the throttle control unit.

FIG. 6 is a diagram showing an interrupt cause-startup task correspondence table in the throttle control unit 1;

FIG. 7 is a diagram showing a TCB (task control block) of a module activation control task A.

FIG. 8 is a diagram showing AP module configuration information.

FIG. 9 is a diagram showing message object configuration information.

FIG. 10 is a diagram showing an operation of a module activation control task when functions are distributed.

FIG. 11 is a diagram showing an interrupt cause-startup task correspondence table in the throttle control unit 1;

FIG. 12 is a diagram showing a TCB (task control block) of a module activation control task A.

FIG. 13 is a diagram showing AP module configuration information.

FIG. 14 is a diagram showing message object configuration information.

FIG. 15 is a diagram illustrating an operation of a module activation control task when a unit is added.

FIG. 16 is a diagram showing an interrupt cause-startup task correspondence table in the throttle control unit 1;

FIG. 17 is a diagram showing a TCB (task control block) of the module activation control task A.

FIG. 18 is a diagram showing AP module configuration information.

FIG. 19 is a diagram showing message object configuration information.

FIG. 20 is a diagram illustrating an operation of a module activation control task when a module is moved from one unit to another unit.

FIG. 21 is a diagram showing an interrupt cause-startup task correspondence table in the throttle control unit 1;

FIG. 22 is a diagram showing a TCB (task control block) of the module activation control task A.

FIG. 23 is a diagram showing AP module configuration information.

FIG. 24 is a diagram showing message object configuration information.

FIG. 25 is a diagram showing a configuration of an AP configuration information setting system.

FIG. 26 is a diagram illustrating a flowchart illustrating an operation of a module activation control task.

FIG. 27 is a diagram showing a configuration of an AP configuration information generation tool.

FIG. 28 is a diagram showing a configuration of a distributed control processing middleware code generation tool.

[Explanation of symbols]

1 ... unit, 11 ... application program,
12 distributed control middleware, 13 real-time operating system, 14 network communication processing driver, 20 network, 21 application program module, 22 module activation task, 23 application program configuration information, 2
4 Message object, 25 Real-time communication processing control, 31 to 38 Control flow, 41 Input to unit, 42 Output from unit, 43 to 45 Information transmitted via network, 51 Computer, 52 AP
Configuration information storage disk, 101 ... interrupt processing, 102
... Interrupt vector table, 103 ... Task control block in real-time operating system, 104 ... Interrupt cause-startup task correspondence table, 111-115 ... Interrupt processing

Continued on the front page (72) Inventor Wataru Nagaura 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture Within Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Takaaki Imai 5-2-1, Josuihoncho, Kodaira-shi, Tokyo No. F-term in the Semiconductor Division of Hitachi, Ltd. (Reference) 5B098 AA10 GA02 GA04 GA08 GC01 GC03 GC14 GC16 GD02 GD14 5H215 AA01 AA06 AA10 AA20 BB10 CC07 CX01 GG11 HH03

Claims (22)

[Claims] 1. A module configuration information storage unit for storing a start procedure of one or more software modules constituting an application program, and a module for executing the application program module by referring to the module configuration information storage unit A control unit having an activation control unit. 2. The control unit according to claim 1, wherein the module configuration information storage unit stores an application program module being executed and an application program module to be executed next in association with each other. 3. A control system in which a plurality of control units are connected to a network, the control unit storing module configuration information storing startup procedures of one or more software modules constituting an application program. A control system comprising: a module and a module activation control unit that executes the application program module by referring to the module configuration information storage unit. 4. The control system according to claim 3, wherein the module configuration information storage unit stores the application program module being executed and the application program module to be executed next in association with each other. 5. A distributed control system comprising a network and at least one control unit having communication means for connecting to said network, said control unit comprising one or more network communication functions. The message object configuration information storage means for storing the activation procedure of the message object and the message object configuration information storage means are referred to.
A distributed control system, comprising: real-time communication processing control means for executing an object. 6. The distributed control system according to claim 5, wherein said real-time communication processing control means is a software module executed by a task. 7. The communication system according to claim 5, wherein the message / object configuration information storage means has a communication processing priority indicating a priority of executing the communication processing.
A distributed control system that performs communication processing based on this priority. 8. The message / object configuration information storage means according to claim 7, wherein said message / object configuration information storage means has information indicating intra-unit communication or inter-unit communication.
A distributed control system having the communication processing priority for inter-unit communication. 9. The distributed control system according to claim 5, wherein said message / object configuration information storage means has a type of communication service. 10. At least one connected to a network
In a distributed control system having two control units,
The control unit includes a module configuration information storage unit that stores a startup procedure of one or more software modules constituting the application program, and a startup procedure of one or more message objects having a network communication function. Referring to the object configuration information storage means to be stored, the application program module configuration information storage means, a module activation control means for executing the application program module, and referring to the message object configuration information storage means, A distributed control system having real-time communication processing control means for executing an object; 11. The distributed control system according to claim 10, wherein said module activation control means is a task. 12. The distributed control system according to claim 10, wherein said module activation control means is one function in an OS. 13. The distributed control system according to claim 10, wherein said application program module configuration information storage means includes information on a software module to be executed next. 14. The real-time communication processing control means,
The distributed control system according to claim 10, wherein the distributed control system is a software module executed for a task. 15. The real-time communication processing control means,
The distributed control system according to claim 10, wherein the distributed control system is a task. 16. The real-time communication processing control means,
The distributed control system according to claim 10, wherein the function is one function in the OS. 17. The distributed control system according to claim 10, wherein said message / object configuration information storage means includes a communication processing priority. 18. The distributed control system according to claim 10, wherein said message / object configuration information storage means includes information indicating whether the communication is intra-unit communication or inter-unit communication. 19. The distributed control system according to claim 10, wherein said message / object configuration information storage means includes a type of communication service. 20. The distributed control system according to claim 10, wherein said message object configuration information storage means includes information on a software module to be executed next. 21. Module configuration information storage means for storing one or more software module activation means constituting an application program, and one or more message object activation procedures having a network communication function. Module activation control means for executing the application program module by referring to the object configuration information storage means for storing the message configuration object, and the real-time execution of the message object by referring to the object configuration information storage means. At least one control unit having communication processing means, a computer having information to be stored in the module configuration information storage means, and initialization means existing in the control unit and stored in the information module configuration information storage means. Net Control system connected to the work. 22. A distributed control middleware code generation tool which receives system configuration information as input and outputs information to be stored in said application program module configuration information storage means and a program code comprising said module activation control means.