JP2004232498A - Creation method for time series freeze frame data and vehicle controlling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve precision of time series freeze frame data while preventing increase of a processing load on an ECU. <P>SOLUTION: Plural kinds of data including sensor detection data, which require storing, are grouped based on magnitude of their time variations, and periods of backup to a backup RAM 12 are set for every group. Before occurrence of abnormal diagramming, the grouped data requiring storing are stored for updating in a first memory unit of the backup RAM 13 with the periods set for the respective groups. When abnormal diagramming occurs, the data requiring storing are similarly stored in a second memory unit. The data requiring storing are then similarly stored in a third memory unit with storing periods set for every group. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method for generating time-series freeze frame data applied to a vehicle control device having a diagnosis function, and a vehicle control device to which the method is applied. The time-series freeze frame data is obtained by storing sensor detection data sampled from a vehicle-mounted sensor and control data calculated for engine control in a backup RAM at several points along a time axis. It is data.
[0002]
[Prior art]
Generally, the ECU of an automobile has a function of performing a self-diagnosis based on data sent from sensors (hereinafter, also simply referred to as sensor detection data) to determine whether or not an abnormality has occurred in the vehicle, that is, a diagnosis function. It has been incorporated.
[0003]
A large number of sensor detection data temporarily stored in a work memory of the ECU and calculation data calculated for engine control or the like are usually overwritten on a backup memory at regular intervals (for example, 500 msec). It is to be saved. On the other hand, when the ECU determines that a diagnosis abnormality has occurred, the sensor detection data at the time of occurrence of the abnormality and after the occurrence of the abnormality are further stored in a backup memory. Once a diagnostic error has occurred, switch the memory area so that overwriting is not performed. Even after the ignition is turned off, the backup memory stores at least the freeze frame data at the time of the error and before and after the error. (See FIG. 8). By reading out the freeze frame data stored in time series at a maintenance shop or the like, the behavior of the data to be stored such as sensor detection data at the time of an abnormality (a change in the value indicated by the data) can be known. It is useful for investigating the cause of abnormalities.
[0004]
[Patent Document 1]
JP-A-2002-106412
[0005]
[Problems to be solved by the invention]
However, even if the data is deeply related to the occurrence of a diagnostic error, it can be obtained by taking a backup before the diagnostic error, at the diagnostic error occurrence, and after the diagnostic error occurrence at the timing illustrated in FIG. In some cases, the behavior at the time of occurrence of a diagnosis abnormality cannot be accurately known from the sequence freeze frame data. In such a case, it is difficult to determine the cause of the abnormality that has occurred in the vehicle from the time-series freeze frame data. On the other hand, shortening the backup cycle unnecessarily increases the load on the CPU and may adversely affect vehicle control during normal times. High-performance CPUs are unavoidable in terms of cost, and may be forced to undergo major design changes in parts unrelated to the creation of time-series freeze frame data. .
[0006]
In addition, the storage required data such as sensor detection data and the like are usually different from each other in a cycle (update cycle) in which the data is updated and stored in the work memory. For example, data from a certain analog sensor is sampled every 4 msec and updated and stored in the work memory, but the update cycle of another storage-necessary data (not limited to sensor detection data) is much longer than 4 msec. (For example, several tens of msec). However, in the past, the backup cycle to the backup memory was constant for any data to be stored, so that it could not be said that the CPU resources were used efficiently.
[0007]
An object of the present invention is to improve the accuracy of time-series freeze frame data while suppressing an increase in processing load on an ECU.
[0008]
[Means for Solving the Problems and Functions / Effects]
In order to solve the above-described problems, the present invention provides a control apparatus for a vehicle having a diagnosis function, in which a backup of a plurality of types of storage-necessary data stored in a main storage unit is performed before and after a diagnosis abnormality occurs, A method for creating time-series freeze frame data by storing in a data storage storage unit having a first storage unit, a second storage unit, and a third storage unit, wherein a magnitude of a time change of a value indicated in a main storage unit is changed. A backup cycle is set for each of the data to be saved according to the above, and the data to be saved before the occurrence of the diagnostic error is stored in the first storage unit at the backup cycle set for each. While the measurement is continued, the data to be stored, which is stored in the main storage unit at that time, is stored in the second storage unit. According Each backup cycle, and storing the main data stored respectively in the third storage unit.
[0009]
In the method of the present invention, the backup cycle is not uniform for any kind of data to be stored. First, a cycle corresponding to the magnitude of the time change in the main storage means for each piece of data to be stored. Set. More specifically, it is possible to back up data with a large time change in a sufficiently short cycle, while backing up data with a small time change in a longer cycle than before. The first storage unit, the second storage unit, and the third storage unit are set so as to correspond one-to-one with each time before, at the time of, and after the occurrence of the abnormality. By using the storage unit while switching, time-series freeze frame data is obtained. As a result, the freeze frame data stored in each storage unit accurately reproduces the behavior of the data requiring storage along the time axis. Further, since the backup cycle is shortened and the backup cycle is extended, the task amount can be expected to be offset, and the CPU load may hardly increase.
[0010]
More specifically, it is preferable to adopt a method in which a plurality of types of data to be stored are grouped based on the magnitude of the time change of the value indicated in the main storage means, and a backup cycle is set for each group. This method is a compromise between a method of setting a backup cycle for each piece of data to be stored and a conventional method of setting a backup cycle uniformly for all data to be stored, which makes the program complicated. Can prevent that.
[0011]
In a preferred embodiment, before the occurrence of the diagnosis abnormality, the overwriting in the first storage unit is allowed to continue taking a backup for a plurality of cycles for each of the data to be stored. It is assumed that the backup for the cycle is taken. In this manner, as freeze frame data, at least a plurality of cycles (a plurality of frames) before the diagnosis abnormality detection, one frame when the abnormality occurs, and one frame after the abnormality occurrence are obtained. Further improvement in serviceability for the investigation of the cause can be expected.
[0012]
In another aspect, in order to solve the problem, a second aspect of the present invention provides a control apparatus for a vehicle having a diagnosis function, wherein a backup of a plurality of types of storage-necessary data stored in a main storage unit is performed based on a diagnosis abnormality. A method of creating time-series freeze frame data by storing the data in a data storage storage unit having a first storage unit, a second storage unit, and a third storage unit before and after the occurrence of the freeze frame data. A backup cycle is set for each of the data to be saved according to the length of the update cycle, and the data to be saved before the occurrence of the diagnostic error is stored in the first storage unit at the set backup cycle. While continuing the measurement of the backup cycle, the data to be stored, which is stored in the main storage unit at that time, is stored in the second storage unit. According Each backup cycle of measuring ongoing, characterized by storing the principal data stored respectively in the third storage unit.
[0013]
In the method of the present invention, the backup cycle is not uniform for any kind of data requiring storage, but the backup cycle is set for each data requiring storage according to the length of the update cycle in the main storage means. I do. More specifically, it is possible to back up data with a short update cycle in a short cycle while backing up data with a long update cycle in a long cycle. The first storage unit, the second storage unit, and the third storage unit are set so as to correspond one-to-one with each time before, at the time of, and after the occurrence of the abnormality. By using the storage unit while switching, time-series freeze frame data is obtained. In this way, by distinguishing between data for which the backup cycle should be shortened and data for which the backup cycle should not be shortened and allocating the task amount necessary for creating the time-series freeze frame data, it is possible to effectively use CPU resources. In addition, it is possible to improve the accuracy of time-series freeze frame data.
[0014]
Further, when the backup cycle is set according to the length of the update cycle in the main storage unit, the following effects can be expected. For example, as shown in FIG. 7, the backup cycle of the data to be stored (sensor signal), which belongs to the fastest update cycle (acquisition cycle) in the main storage unit but does not increase the amount of change per unit time, is as follows. At first glance, taking a short cycle seems like it doesn't make much sense. However, if the backup cycle of all data to be stored is set to a moderate and uniform interval, if an intermittent failure occurs such that the sensor itself repeats short-circuiting and conduction, the intermittent failure will be detected in the time-series freeze frame data. May not be recorded as Therefore, if a backup cycle is set in anticipation of a possible failure at the design stage as in the present invention, the occurrence of an intermittent failure can be reliably recorded as time-series freeze frame data.
[0015]
According to another aspect of the present invention, there is provided a vehicle control apparatus having a diagnosis function, which temporarily stores storage-necessary data including sensor detection data obtained from sensors provided in the vehicle. Storage means, a diagnosis abnormality diagnosis section for diagnosing the presence / absence of a diagnosis abnormality based on abnormality diagnosis data including the storage required data, and a data storage storage means for backing up the storage required data stored in the main storage means And backup cycle measuring means for measuring a backup cycle set for each of the data to be stored, wherein the storage means for data storage stores the data to be stored at the backup cycle set for each of them. A second storage unit for storing data to be stored when an abnormality is determined to have occurred in the diagnosis abnormality diagnosis unit; After storage of the main data stored in the storage unit, characterized in that it comprises a third storage unit for storing main storage data backup period synchronized with the backup period of the first storage unit.
[0016]
The control device of the present invention does not make the backup cycle uniform for any kind of data to be stored, but sets a backup cycle individually for a large number of data to be stored, and backs up to each storage unit. It is configured to take. The backup cycle can be set for each of the data to be stored, for example, according to the magnitude of the time change of the value indicated in the main storage means. That is, a sufficiently short backup cycle is set for data having a large time change, and the time series freeze frame data stored in the data storage means is improved in accuracy. Can be set to suppress an increase in CPU load. Therefore, there is no fear that a high-performance CPU is required.
[0017]
The backup cycle can be set for each of the data to be stored, for example, according to the length of the update cycle in the main storage unit. That is, a sufficiently short backup cycle is set for data having a short update cycle, while a long backup cycle is set for data having a long update cycle. In this way, by distinguishing between data for which the backup cycle should be shortened and data for which the backup cycle should not be shortened and allocating the task amount necessary for creating the time-series freeze frame data, it is possible to effectively use CPU resources. In addition, it is possible to improve the accuracy of time-series freeze frame data.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a block diagram schematically showing an automobile control device 1 and peripheral devices according to the present invention. The control device 1 of the vehicle includes a multiplexer 15, an A / D converter 17, a CPU 5, a ROM 7, a counter timer circuit 9, a RAM 11, a backup RAM 13, an I / O 19, a buffer circuit unit (not shown), a waveform shaping circuit unit, and the like. Is done.
[0019]
The RAM 11 is a work memory that temporarily stores sensor detection data obtained by the CPU 5 from various sensors and calculation data calculated for engine control and the like, and is used for executing programs. On the other hand, the backup RAM 13 is a storage unit that stores a diagnostic code and freeze frame data. Even after the ignition is turned off, the backup RAM 13 is supplied with power from a power supply circuit unit (not shown), and can store and hold stored data. The backup RAM 13 may be constituted by an EEPROM. In this case, even if the power supply to the ECU 1 is cut off by removing the battery or the like, the data is preferably stored and held.
[0020]
The multiplexer 15 selectively takes in analog signals from a plurality of types of analog sensors such as an air flow sensor 21, a cooling water temperature sensor 23, an intake air temperature sensor, and an oxygen sensor, and outputs the taken analog signals to the A / D converter 17. Output. An analog signal from the sensor is converted into a digital signal by an A / D converter and input to the CPU 5 via the I / O 19. Similarly, digital signals from the vehicle speed sensor 29, the rotation angle sensor 31, the switches 33, and the like are input to the CPU 5 via the I / O 19. Data sampled by the CPU 5 from various sensors is temporarily stored in the RAM 11 as sensor detection data. Then, an operation for controlling the injection 35, the igniter 37 and the like is executed while referring to the sensor detection data, and the engine is controlled based on the operation result.
[0021]
In addition, the CPU 5 executes a process related to engine control, a process of sampling data from various sensors, and a process of self-diagnosing whether an abnormality has occurred in the vehicle (diagnosing process). That is, the CPU 5 has a function as an abnormality diagnosis unit that determines whether there is an abnormality based on abnormality diagnosis data such as sensor detection data. Further, depending on the type of abnormality that has occurred, the fail-safe is activated or the warning light is turned on. The type of abnormality that has occurred is temporarily stored in the RAM 11 as a diagnostic code, and is stored in the backup RAM 13 as described below.
[0022]
The storage areas of the sensor detection data, the control data calculated for controlling the vehicle, and the above-described diagnostic code obtained by the CPU 5 are allocated to the RAM 11. The data such as the sensor detection data, the control data, and the diagnostic code once stored in the RAM 11 are treated as data requiring storage, and stored in the backup RAM 13 at a predetermined backup cycle. Here, in the present invention, a backup cycle is set for each of the above-mentioned data to be stored according to the magnitude of the time change of the value shown in the RAM 11. Then, the storage required data is stored in the backup RAM 13 in accordance with the backup cycle. The backup RAM 13 includes a first storage unit, a second storage unit, and a third storage unit as shown in FIGS. In particular, the first storage unit is a storage unit that stores the required storage data for a plurality of frames (a plurality of cycles) before the occurrence of the abnormality.
[0023]
Speaking of a large number of data to be stored, for example, as illustrated in FIG. 2A, a backup cycle can be set for each group by grouping according to the magnitude of a time change that can be predicted. Needless to say, the number of groups can be appropriately increased or decreased, and the backup cycle can be appropriately adjusted. However, if the number of groups is increased unnecessarily, the processing amount will increase, and the memory capacity must be increased to increase the difference in backup cycle. Therefore, set the number of groups and the backup cycle according to the system and requirements. There is a need to.
[0024]
On the other hand, if it is determined in the diagnosis process that an abnormality has occurred, an interrupt process is generated, the data backup area is switched from the first storage unit to the second storage unit, and an emergency backup is performed. . At this time, all the data to be stored is copied from the RAM 11 to the second storage unit of the backup RAM 13 regardless of the backup cycle, but the measurement of the backup cycle set for each group is continued. Specifically, the measurement of the backup cycle is performed by the counter timer circuit 9 and a counter set in a predetermined area of the RAM 11. In short, since the counter timer circuit 9 operates irrespective of the diagnosis, the measurement of the backup cycle does not stop even when a diagnosis abnormality occurs.
[0025]
After storing the required storage data at the time of diagnosis abnormality occurrence in the second storage unit, the data backup area is switched to the third storage unit, and the required storage data is stored according to each backup cycle during the measurement. As shown in FIG. 3, if the backup cycle is set sufficiently short for the data to be stored that has a large time change, it is possible to obtain time-series freeze frame data with extremely high reproducibility. On the other hand, since the backup cycle is set long for the data that needs to be saved that has a small time change, an increase in the load on the CPU 5 is also suppressed.
[0026]
As described above, the first storage unit stores data of a plurality of frames for each group (group 2 in the example of FIG. 2). Therefore, a larger memory space is allocated to the first storage unit than to the second storage unit and the third storage unit. The first storage unit, the second storage unit, and the third storage unit may be physically allocated to an integrated memory space, or may be physically separate memory chips (packages). It may be prepared.
[0027]
A specific procedure for storing data to be stored for a plurality of frames in the backup RAM 13 before an abnormality occurs will be described. As shown in FIGS. 4 (a) and 4 (b), at the timings (1), (2) and (3), the data to be stored is stored in areas A, B and C, respectively. Next, in (4) and (5), the data in the C area is shifted to B and the data in the B area is shifted to A, and the freeze frame data at the timing of (4) and (5) is stored in the C area. Next, assuming that a diagnostic error occurs at the timing of (6), freeze frame data is stored in the D area (second storage unit) by interrupt processing at the time of error occurrence. After that, the freeze frame data is stored in the E area (third storage unit) at the timing of (7). That is, the freeze frame data before the occurrence of the diagnosis abnormality is constantly updated in the first storage unit.
[0028]
Further, a method of setting the backup cycle according to the length of the update cycle of the data to be stored in the RAM 11 is also suitable. Specifically, as shown in FIG. 2B, the backup cycle can be set for each group by dividing the RAM 11 into groups according to the length of the update cycle. Here, the group No. shown in FIG. Attention is paid to the engine cooling water temperature assigned to zero. As shown in FIG. 7, the engine coolant temperature is sampled from the coolant temperature sensor every 4 msec, for example, and is updated and stored in a predetermined area of the RAM 11. Of course, its behavior is very slow. Nevertheless, the group No. with the shortest backup cycle. The reason for distributing to 0 is that the occurrence of an intermittent failure of the sensor itself (a failure that repeats short circuit and conduction) as well as an abnormality such as extremely high cooling water temperature is reliably reflected in the time-series freeze frame data. This is to achieve the purpose.
[0029]
Next, the specific logic is shown in the flowchart of FIG. The time-series freeze processing (time-series freeze frame data creation processing) of the present invention shown in the flowchart of FIG. 6 is mainly configured to include the following steps (1) to (3), and the storage set for each group is stored. It is executed in a cycle shorter than the shortest storage cycle among the cycles.
(1) A step of incrementing (+1) counters which are set one-to-one for each group in order to measure the backup cycle and which retain their values even after the time-series freeze processing ends.
(2) A step of determining whether or not the storage time of each group has come by referring to the value of each counter.
(3) For the group for which it is determined that the storage time has come, the corresponding counter is cleared to zero, and before the occurrence of the abnormality, the first storage unit, and after the occurrence of the abnormality, the third storage unit. Storing the data to be saved belonging to the group;
[0030]
That is, a subroutine for storing freeze frame data in the backup RAM 13 is not prepared for each group, but one subroutine monitors the arrival of the backup cycle of each group. As a result, the task amount of the CPU 5 is kept to a minimum. Hereinafter, each step will be specifically described with reference to a flowchart.
[0031]
First, the RAM used for the time-series freeze process in FIG. 6 will be described. The value of the counter (C) is the group No. Is equivalent to The predetermined value (M) is a threshold value indicating the number of groups used in the counter (C). For example, if grouping is performed into group 0, group 1, and group 2 as shown in FIG. 2, M = 3 is set. T [C] [j] is a two-dimensional data array, and C is the same as the value of the counter (C). j takes the values of parameters 0, 1, and 2. The data contents are as follows. T [C] [0] is a counter that determines whether or not it is the processing cycle of the target group. In T [C] [1], a constant indicating the cycle of the target group is stored. For example, in the case of the group 0 in FIG. 2, the backup cycle is 100 msec. Therefore, if the cycle for calling the time-series freeze processing in FIG. 6 is set to 4 msec, T [C] [1] = 25. T [C] [2] is a flag indicating whether the data after the occurrence of the abnormality has been stored in the third storage unit for the target group.
[0032]
As described above, the time-series freeze process in FIG. 6 is called every predetermined time of, for example, 4 msec. First, in ST1, the processing target group No. Is set to zero (initial value). The counter (C) is for sequentially performing cycle measurement and backup operation for each group shown in FIG.
[0033]
Next, in ST2, it is determined whether the value of the counter (C) is equal to or more than a predetermined value (M). Group No. When the value of the counter (C) indicating the value becomes equal to or more than (M), the time-series freeze processing of FIG. 6 ends. If the time-series freeze process is initially executed, C = 0 is set, and the process proceeds to ST3. In ST3, the counter (T [C] [0]) is incremented. That is, step (1) described above corresponds to step ST3.
[0034]
Next, in ST4, it is determined whether or not the counter (T [C] [0]) has reached the cycle (T [C] [1]) of the target group. That is, ST4 corresponds to the above-described step (2). In the case of YES in ST4, the counter (T [C] [0]) is cleared, and the data after the occurrence of the abnormality in the target group is referred to by referring to the state of the flag (T [C] [2]). It is determined whether the data is stored in the third storage unit (ST5, ST6). In other words, data writing to the third storage unit is performed only once for each group, so that meaningless overwriting is not performed. This also contributes to suppressing an increase in the overall processing amount.
[0035]
If it is determined in ST6 that the flag (T [C] [2]) is ON, the process jumps to ST11, where the counter (C) indicating the group is incremented (+1). On the other hand, if the flag (T [C] [2]) is not turned on, it is determined in ST7 whether an abnormality has been detected. If the abnormality has not been detected, the data before abnormality detection of the target group is stored in the first storage unit (ST8). Then, the counter (C) indicating the group is incremented (+1).
[0036]
If the abnormality has been detected, the data after the abnormality detection of the target group is stored in the third storage unit (ST9), and the flag (T [C] [2]) is set to ON, thereby setting the target group. It is recorded that the backup of the data after the occurrence of the abnormality in the third storage unit is completed (ST10). As can be understood from these descriptions, STs 7, 8, and 9 correspond to the above-described step (3). Then, in ST11, the counter (C) indicating the group is incremented, so that the processing of ST2 to ST11 is sequentially performed for all groups of group 0, group 1, and group 2.
[0037]
In ST8, as described with reference to FIG. 4, the first storage section is divided into a plurality of areas, and the frozen frame data before the occurrence of the abnormality is stored and updated in time series in each of the sections. The indicated process is called. First, the abbreviations shown in the flowchart of FIG. 5 will be described. “P” is a pointer stored in the first storage unit of the backup RAM 13 and is set to “0” when the CPU 5 is started. “Y” is the number of cycles stored in the first storage unit. As illustrated in FIG. 4, in the present embodiment, before the occurrence of an abnormality, three frames of freeze frame data for each group are stored, so that Y = 3. “I” is a counter for searching the RAM. RAM1 [M] [Y] is a RAM corresponding to the first storage unit.
[0038]
First, by executing the processing of S1, S2, and S3 at the timings of (1), (2), and (3) in FIG. 4, the data to be stored is sequentially stored in the areas A, B, and C, respectively. If the pointer P has become equal to or greater than the number of cycles Y, the process proceeds to S4, and the counter i for searching the RAM is set to "1". After S5, the data stored in RAM1 [C] [i] is shifted to RAM1 [C] [i-1], and the counter i is incremented (S6, S7). That is, S5 to S7 are steps of shifting the freeze frame data to the head side of the first storage unit and erasing the oldest freeze frame data from the freeze frame data stored in the first storage unit. When such shift processing is completed, the data to be saved at that time is stored in the last area (the area C in the example of FIG. 4) of the first storage unit.
[Brief description of the drawings]
FIG. 1 is a block diagram of an ECU of an automobile (vehicle).
FIG. 2 shows an example of grouping of data to be stored and a backup cycle set for each group.
FIG. 3 is a view for explaining effects obtained by the time-series freeze frame data creating method according to the present invention;
FIG. 4 is an explanatory diagram showing a procedure for storing required storage data in a backup RAM.
FIG. 5 is a flowchart of a process of storing storage required data for a plurality of cycles in a first storage unit of a backup RAM.
FIG. 6 is a flowchart showing a main part of a method for generating time-series freeze frame data of the present invention.
FIG. 7 is an explanatory diagram showing a sampling cycle and a backup cycle of sensor detection data.
FIG. 8 is a view for explaining a problem of a conventional method for generating time-series freeze frame data.
[Explanation of symbols]
1 control unit (engine ECU)
5 CPU (abnormality diagnosis unit)
7 ROM
9 Counter timer circuit (backup cycle measuring means)
11 RAM (main storage means, backup cycle measurement means)
13 Backup RAM (data storage storage means)

Claims (7)

In a vehicle control device having a diagnosis function, a backup of a plurality of types of storage-necessary data stored in a main storage unit is performed at a first storage unit, a second storage unit, and a second storage unit before and after a diagnosis abnormality occurs. A method for creating time-series freeze frame data by storing the data in a data storage storage unit having three storage units, wherein each of the storage-necessary data is stored in accordance with a magnitude of a time change of a value indicated in the main storage unit. A backup cycle is set, and the data to be stored before the occurrence of the diagnostic error is stored in the first storage unit at the set backup cycle, and when a diagnostic error occurs, the measurement of each backup cycle is continued while At this time, the storage-necessary data stored in the main storage unit is stored in the second storage unit. Accordance up period, sequential freeze frame data creation method when characterized by storing the main store data respectively to said third storage unit. 2. The time-series freeze frame data generation according to claim 1, wherein a plurality of types of the storage-necessary data are grouped based on a magnitude of a time change of a value indicated in the main storage unit, and the backup cycle is set for each group. Method. In a vehicle control device having a diagnosis function, a backup of a plurality of types of storage-necessary data stored in a main storage unit is performed at a first storage unit, a second storage unit, and a second storage unit before and after a diagnosis abnormality occurs. A method for creating time-series freeze frame data by storing data in a data storage storage unit having three storage units, wherein a backup cycle is set for each of the storage-necessary data according to the length of an update cycle in the main storage unit. The data to be saved before the occurrence of the diagnostic error is stored in the first storage unit at the backup cycle set for each, and when the diagnostic error occurs, the measurement of each backup cycle is continued while the main storage is being executed. Storing the required storage data stored in the storage unit in the second storage unit; Period accordingly sequential freeze frame data creation method when characterized by storing the main store data respectively to said third storage unit. 4. The time-series freeze frame data creating method according to claim 3, wherein a plurality of types of the storage-necessary data are grouped according to a length of an update cycle in the main storage unit, and the backup cycle is set for each group. Before the occurrence of the diagnosis abnormality, the overwriting in the first storage unit is allowed to continue taking backups for a plurality of cycles of each of the data to be stored. 5. The time-series freeze frame data creation method according to claim 1, wherein a backup of the time-series freeze frame data is taken. The said storage required data contains the sensor detection data acquired from the sensors provided in the vehicle, the control data for controlling the power source of a vehicle, and the diagnostic code. Time-series freeze frame data creation method described in. In a control device for a vehicle having a diagnosis function, a main storage means for temporarily storing required storage data including sensor detection data obtained from sensors provided in the vehicle, and an abnormality diagnosis including the required storage data Diagnostic diagnosis unit for diagnosing the presence / absence of a diagnostic abnormality based on the data for use, data storage means for backing up the required data stored in the main storage means, and each of the required data A backup cycle measuring means for measuring a set backup cycle, wherein the data storage storage means stores a first storage unit for storing the data to be stored at a backup cycle set for each of the data, and a diagnosis abnormality. A second storage unit for storing the storage-necessary data when the diagnosis unit determines that an abnormality has occurred; Wherein after storage of the main data stored in the part, the control device for a vehicle which comprises a third storage unit for storing the main storage data in the backup period synchronized with the backup period to the first storage unit.

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