JP2006146789A - Electronic controller, its control method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To keep a processing sequence of events for improving a maintenance property when the type/number of events is changed. <P>SOLUTION: An input processing routine 112 checks whether a corresponding event is inputted or not (Figure (a)), and queues the event in an event queue IQ of a simplified OS 121 when the event is inputted (Figure (a)-2). The simplified OS 121 checks the event queue IQ, and when the event is queued, refers to an event table matching the event to call a group of user functions in an application unit corresponding to the event for sequentially performing them (Figure (b)-1). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to an electronic control device, a control method thereof, and a program, and more particularly to an electronic control device mounted on a vehicle or the like for performing control, a control method thereof, and a program.

Conventionally, according to a control program stored in a memory, for example, the state of various sensors is input as an event every predetermined time, and it is determined whether to control a control target (output device) according to the event, and control Then, when it is determined, an electronic control device that performs output for controlling the control target is known. Electronic control units (ECUs) vary in the types and number of events that are handled depending on the product (body ECU, verification ECU, door ECU,...), Vehicle type, grade, destination, and the like. For example, the body ECU of the vehicle body system handles an event related to an operation by a person of the vehicle, and as a feature of the event, there are many types (˜100 or more) and a low occurrence frequency.

Such a control program for an electronic control device generates a user function for each predetermined functional unit according to a control target, a control purpose, etc., registers a user function group of an application unit corresponding to an event in an event table, and generates It is configured to execute the user function group of the application unit corresponding to the event, that is, by executing with a scheduling method (simple scheduling) that sequentially executes a plurality of user functions, it is possible to control a plurality of control targets or one A plurality of controls to be controlled are realized by a single electronic control unit.

However, such an electronic control device has the following problems because each application unit performs input → judgment → output processing. That is, when a plurality of application units input from the same input device, or a plurality of application units output to the same output device, the processing is executed after the processing in the previously executed application unit. The data input from the input device changes in the processing performed by the new application unit, resulting in inconsistencies in the processing results, or output of data that differs between the processing executed by the application unit executed earlier and the processing executed by the application unit executed later. As a result, the output device may malfunction. Therefore, it is necessary to perform arbitration in the processing by each application unit so that no contradiction occurs in the result of each processing, and it is necessary to exchange data between the application units for the arbitration. As a result, there is a problem that a dependency relationship is generated between the application units, and the design maintenance of the control program becomes difficult as the complexity of the system increases.

In such an electronic control device, since input / output is performed in the processing of each application unit, input / output is performed by processing by a plurality of application units to the same input / output device. There was also a problem of waste due to code duplication.

Therefore, the applicant of the present application adopts an event flag method, thereby improving the modularity (independence) of the application unit and improving the degree of freedom of the application unit, and electronic control that can ensure reliability. An apparatus has already been proposed (see, for example, Patent Document 1).

Here, the event flag method employed in the conventional electronic control apparatus will be briefly described with reference to FIG. Now, it is assumed that the input processing routine A has cleared the corresponding event flags in the event flag strings E0 to En because no event is detected. On the other hand, since the input processing routine B has detected an event, it is assumed that a corresponding event flag in the event flag sequence E0 to En is set. For example, when the ignition switch is switched from OFF to ON, the event flag E5 has a value “0” for the ignition switch OFF event.
In the ignition switch ON event, the event flag E5 is assumed to have a value “1”. Next, a simple OS (Operating
System) detects whether or not there is an event by scanning whether or not there is an event flag having a value “1” in the event flag string E0 to En, and if there is an event, addresses the event table T5 corresponding to the event. Calls the user function group of the application unit in which is registered and executes it sequentially.
JP 2002-202891 A

In a conventional electronic control apparatus that employs such an event flag method, since the simple OS in the application phase manages the relationship between the event flag and the corresponding event table, the types and number of events handled are limited. If it changed, the simple OS had to be changed. In particular, in a body system with a large number of events to be handled and a large number of variations thereof, the event execution order may change according to the scan order of the event flag strings E0 to En, and event management is complicated. There is a problem in that the number of steps for developing a simple OS is increased.

In the conventional electronic control device, the control program is divided into an input phase, an application phase, and an output phase, and the control program is executed every predetermined time, and the control processing is completed within the predetermined time. Control to do. At this time, a plurality of input processing routines for the input phase are sequentially executed, while in the application phase, only the user function group of the application unit corresponding to the external event input in the input phase is executed. In the output phase, an output processing routine for performing output based on the processing result generated by executing the user function group in the application phase is sequentially executed. That is, the input phase and the output phase are executed by a scheduling method (simple scheduling) for sequentially calling, and the application phase executes a user function group of an application unit corresponding to the event when the event occurs (event driven method) . Therefore, since only the user function group of the application unit corresponding to the event that has occurred is executed, the user function group of the application unit that does not need to be processed is not executed, and the processing load of the electronic control device is reduced. There is an advantage that can be. Specifically, the control process can be reliably completed within the predetermined time.

Further, according to the conventional electronic control device, in the application phase, the user function group of the application unit is configured not to input / output to the input device and the output device. Therefore, the application unit can be created without considering the dependency before and after the input / output, and the reliability is improved. Further, the application unit can easily add or delete user functions in units of functions as independent user function groups, for example. Furthermore, the size of the control program can be reduced compared with the conventional case where input / output code is written in the user function group of each application unit and input / output is performed. Memory capacity such as “Only Memory” can be reduced.

In such a conventional electronic control apparatus, the control program is executed at predetermined time intervals, and the control process is controlled to complete the execution within the predetermined time period. Therefore, the input phase, application phase, and output phase are controlled. When using the processing result of the user function group of the application unit corresponding to one event when executing other user functions so that inconsistency of input data and output results does not occur in each phase of The processing result is not used until another user function is executed. For this reason, when a time slit of a predetermined time occurs at the maximum before the use of the processing result and a timer process or the like occurs during this time and the above processing result is changed, there is a risk of inconsistency in the use of the processing result. was there.

In view of the above points, the first object of the present invention is to employ an event queue method to maintain the order relationship between the event generation order and the event processing order, and to increase the development man-hours for a simple OS. An object of the present invention is to provide an electronic control device that can be suppressed.

The second object of the present invention is to process the external event, the timer process, and the internal event in this order, thereby suppressing the reversal of the processing order between the external event and the timer process, and processing the internal event in the same cycle. Another object of the present invention is to provide a method for controlling an electronic control device that does not cause a time slit until the processing result is used.

A third object of the present invention is to provide a program capable of operating an electronic control device in an event queue system.

Means for Solving the Problems and Effects of the Invention

The electronic control device according to claim 1 is based on an input phase for inputting an event from an input device, an application phase for executing a user function group of an application unit corresponding to the event, and a processing result of the user function group. An electronic control device that repeatedly performs control processing consisting of an output phase that controls output to the output device, and an input processing manager means for queuing an event from the input device to an event queue by an input processing routine in the input phase; And event handler means for dequeuing an event queued in the event queue in an application phase and executing a user function group of an application unit corresponding to the event. According to the electronic control device of the first aspect, since the event is queued in the event queue, the order relation between the event generation order and the event processing order is maintained by the first-out first-out method. It is possible to prevent inconsistency in the processing result by executing the previous event before the previous event.

The electronic control device according to claim 2 includes an input phase for inputting an external event from an input device, an application phase for executing a user function group of an application unit corresponding to the external event, and a processing result of the user function group. An input control manager that repeatedly performs control processing consisting of an output phase for controlling output to an output device based on it, and queues an external event from the input device in an event queue by an input processing routine in the input phase Means, input arbitration manager means for arbitrating an external event input by the input processing routine in the input phase by an input arbitration routine, and dequeuing the external event queued in the event queue in the application phase In External event handler means for executing a user function group of the corresponding application unit, timer processing handler means for executing a user function group of the application unit corresponding to timer processing in the application phase, and an application corresponding to the timer processing in the application phase Internal event handler means for dequeuing internal events queued in the event queue by execution of the user function group of the unit and executing the user function group of the application unit corresponding to the internal event, and corresponding to sequential processing in the application phase A sequential processing handler means for sequentially executing the user function group of the application unit to be output, and an output to the output arbitration routine to output the processing result of the user function group to the output device in the output phase Output arbitration manager means for arbitrating Ri, and having an output processing manager means for outputting to the output device by the output routine based on the output arbitration result of said output arbitration routine at the output phase. According to the second aspect of the present invention, since the event is queued in the event queue, the order relationship between the event generation order and the event processing order is maintained by the first-out first-out method. Event is executed before the previous event to prevent inconsistency in the processing results, and external event input arbitration and processing result output arbitration are performed. It is possible to prevent the processing order from being reversed and the processing result output order from being reversed. In addition, when the input device or output device is an electronic control device for transmitting data via a network, the delay of data input / output by the network can be arbitrated, and the control program can be designed easily. can do.

According to a third aspect of the present invention, there is provided an electronic control device comprising a simplified OS means for sequentially executing the external event handler means, the timer processing handler means, the internal event handler means, and the sequential processing handler means. According to the electronic control device of the third aspect, since the user function group of the application unit is executed in the order of the external event, the timer process, and the internal event, the reversal of the process order between the external event and the timer process is prevented. And internal events can be processed in the same lap. For this reason, a time slit for a predetermined time at most until the use of the processing result does not occur, and there is no contradiction in the use of the processing result.

The electronic control device according to claim 4 is characterized in that the control process is executed at predetermined time intervals, and the control process is completed within the predetermined time period. According to the electronic control device of the fourth aspect, the control process is repeatedly executed. By executing the control process periodically at predetermined time intervals and completing the process within the predetermined time period, for example, A complicated process such as a real-time OS can be reduced to a low cost and highly reliable electronic control device.

The electronic control device according to claim 5, wherein an event table storing an address of a user function group of an application unit corresponding to the event for each event and an event for storing a pointer to the event table corresponding to the event in a first-in first-out manner A queue, input processing means for queuing a pointer to the event table corresponding to the event when the event is detected, and the event queue when the event is queued to the event queue. Event handler means for dequeuing a pointer to an event table corresponding to an event and calling a user function group of an application unit corresponding to the event with reference to the event table pointed to by the pointer. According to the electronic control device of the fifth aspect, since the simple OS only has to call the user function group stored in the event table corresponding to the event queued in the event queue, the conventional event flag and the corresponding event flag are associated therewith. It is not necessary to manage the consistency with the function group, and the development man-hour for the simple OS is reduced.

The electronic control device according to claim 6, wherein for each event, an event table storing an address of a user function group of an application unit corresponding to the event, and an event storing a pointer to the event table corresponding to the event in a first-in first-out manner An input processing manager for queuing an external event from the input device to the event queue by an input processing routine; and an input arbitration manager for input arbitrating an external event input by the input processing routine by an input arbitration routine; External event handler means for dequeuing an external event queued in the event queue and executing a user function group of an application unit corresponding to the external event, and an application unit corresponding to timer processing Timer processing handler means for executing the user function group of the application unit, and an internal event queued in the event queue by execution of the user function group of the application unit corresponding to the timer process to dequeue the internal event of the application unit corresponding to the internal event An internal event handler means for executing the user function group, a sequential processing handler means for sequentially executing the user function group of the application unit corresponding to the sequential processing, and an output arbitration routine for outputting the processing result of the user function group to the output device Output arbitration manager means for arbitrating according to the above, and output processing manager means for performing output to the output device by the output processing routine based on the output arbitration result by the output arbitration routine. According to the electronic control device of the sixth aspect, since the event is queued in the event queue, the order relation between the event generation order and the event processing order is maintained by the first-out first-out method, and Event is executed before the previous event to prevent inconsistency in the processing results, and external event input arbitration and processing result output arbitration are performed. It is possible to prevent the processing order from being reversed and the processing result output order from being reversed. In addition, when the input device or output device is an electronic control device for transmitting data via a network, the delay of data input / output by the network can be arbitrated, and the control program can be designed easily. can do.

On the other hand, the control method of the electronic control device according to claim 7 includes: an input phase for inputting an event from an input device; an application phase for executing a user function group of an application unit corresponding to the event; and the user function group An electronic control device control method for repeatedly performing a control process comprising an output phase for controlling output to an output device based on a processing result, wherein input from an input device is queued in an event queue by an input processing routine Executing a processing manager and checking whether an external event is queued in the event queue; if an external event is queued in the event queue, the external event handler sends the external event to the event queue. Dequeue from the outside Characterized in that it comprises a step of executing a user function group of application units corresponding to the vent. According to the control method of the electronic control device according to the seventh aspect, since the event is queued in the event queue, the order relationship between the event generation order and the event processing order is maintained by the first-out first-out method. Therefore, it is possible to prevent a subsequent event from being executed before a previous event and causing inconsistencies in processing results.

The control method of the electronic control device according to claim 8, wherein an input phase for inputting an external event from an input device, an application phase for executing a user function group of an application unit corresponding to the external event, and the user function group An electronic control device control method that repeatedly performs control processing consisting of an output phase that controls output to an output device based on a processing result, and checks an external event from the input device, and externally if there is an external event An input processing routine for queuing the external event in the event queue by the input processing routine corresponding to the event, and input by the input arbitration routine when there is a need for input arbitration of the event input by the input processing routine Process of executing input arbitration manager that performs arbitration A step of dequeuing an external event from the event queue and executing a user function group of an application unit corresponding to the external event by an external event handler; and an application unit corresponding to a timer process whose activation time has elapsed by a timer processing handler An application that dequeues an internal event queued in the event queue by executing a user function group and executing a user function group of an application unit corresponding to the timer process, and responds to the internal event by an internal event handler A step of executing the user function group of the unit, a step of executing the user function group of the application unit corresponding to the sequential processing by the sequential processing handler, and outputting the processing result of the user function group to the output device A step of executing an output arbitration manager for arbitrating by an output arbitration routine; and a step of executing an output processing manager for performing output to an output device by an output processing routine based on an output arbitration result of the output arbitration routine. And According to the control method of the electronic control device according to the eighth aspect, since the event is queued in the event queue, the order relation between the event generation order and the event processing order is maintained by the first-out first-out method. Therefore, it is possible to prevent the inconsistency in the processing result by executing the subsequent event before the previous event, and by adjusting the input of the external event and the output of the processing result, It is possible to prevent inversion of processing order between events and inversion of processing result output order. In addition, when the input device or output device is an electronic control device for transmitting data via a network, the delay of data input / output by the network can be arbitrated, and the control program can be designed easily. can do.

On the other hand, the program according to claim 9 includes an input processing manager that queues an event from an input device in an event queue by an input processing routine, and a simple OS that checks whether an event is queued in the event queue; And an external event handler that dequeues the external event and executes a user function group of the application unit corresponding to the external event when an event is queued in the event queue. According to the program of claim 9, since the event is queued in the event queue, the order relation between the event generation order and the event processing order is maintained by the first-out first-out method, and the subsequent event It is possible to easily realize an electronic control device that is executed before the previous event and prevents inconsistency in processing results.

The program according to claim 10 is based on an input processing manager for checking an external event from an input device, an input processing routine for queuing the external event in an event queue, and an event input by the input processing routine. An input arbitration manager that determines whether or not input arbitration of an external event queued in the event queue is necessary, and an input arbitration routine that executes input arbitration when the input arbitration manager determines that input arbitration is necessary An external event handler that dequeues an external event queued in the event queue and executes a user function group of the application unit corresponding to the external event, and a user function group of the application unit corresponding to the timer process Timer processing An internal event handler that dequeues an internal event queued in the event queue by execution of the user function group of the application unit corresponding to the timer process and executes the user function group of the application unit corresponding to the internal event A sequential processing handler that sequentially executes a user function group of an application unit corresponding to the sequential processing, and an output arbitration manager that determines whether it is necessary to arbitrate the output of the processing result of the user function group to an output device; An output arbitration routine for arbitrating an output determined to require output arbitration by the output arbitration manager, and an output for executing output to an output device by an output processing routine based on an output arbitration result by the output arbitration manager Including a processing manager And butterflies. According to the program of claim 10, the order relationship between the event generation order and the event processing order is maintained by the first-out first-out method, and the subsequent event is executed before the previous event to obtain the processing result. Inconsistency is prevented in advance, and external event input arbitration and processing result output arbitration are performed, thereby reversing the processing order between external events and the output order of processing results. Can be prevented. In addition, when the input device or output device is an electronic control device for transmitting data via a network, the delay of data input / output by the network can be arbitrated, and the control program can be designed easily. It is possible to easily realize the electronic control device.

By queuing the event from the input device in the event queue in the input phase, dequeuing the event queued in the event queue in the application phase, and executing the user function group of the application unit corresponding to the event, Maintain the order relationship between the order of occurrence and the order of event processing.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 2 is a block diagram showing a body system 100 including a body ECU 10 that is an electronic control apparatus according to the first embodiment of the present invention. The body system 100 includes a body ECU 10 connected to an in-vehicle LAN (Local Area Network) 50 corresponding to a network, and a communication target ECU 20 that can communicate with the body ECU 10 via the in-vehicle LAN 50.

The body ECU 10 and the communication target ECU 20 are a computer system including a CPU (Central Processing Unit) 11, a ROM 12, a RAM (Random Access Memory) 13, an I / O (Input / Output) port 14, a timer 15, and the like. An input device 30, an output device 40, and an in-vehicle LAN 50 are connected to the O port 14.

The communication target ECU 20 reads the state of the input device 30 to generate a packet, and transmits the packet to the body ECU 10 via the in-vehicle LAN 50. The communication target ECU 20 controls the output device 40 based on packet control information from the body ECU 10 input via the in-vehicle LAN 50. The communication target ECU 20 includes, for example, a D seat door ECU 20a that is an ECU installed on a driver side door (D seat door), a P seat door ECU 20b that is an ECU installed on an auxiliary seat side door (P seat door), An instrument panel ECU 20c, which is an ECU installed on the instrument panel (instrument panel).

The D seat door ECU 20a is connected to a D seat door control switch 30a and the like as an input device 30, and is connected to a D seat door lock motor 40a and a D seat power window motor (not shown) as an output device 40. Yes.

The P seat door ECU 20b is connected with a P seat door control switch 30b and the like as the input device 30, and is connected with a P seat door lock motor 40b and a P seat power window motor (not shown) as the output device 40.

A buzzer 40c, a lamp 40d and the like are connected to the instrument panel ECU 20c as the output device 40.

The body ECU 10 receives packets transmitted from the communication target ECU 20 to the in-vehicle LAN 50 at predetermined time intervals, captures them via the I / O port 14, activates an application unit corresponding to the contents of the captured packets, and outputs them. When control of the device 40 is necessary, a control process for generating and transmitting a packet including a control instruction to the communication target ECU 20 to be controlled is performed.

FIG. 1 is a block diagram showing a configuration of a control program of a body ECU 10 that is an electronic control apparatus according to Embodiment 1 of the present invention. This control program is composed of a system phase processing program group, an input phase processing program group, an application phase processing program group, and an output phase processing program group.

The system phase processing program group includes a system initialization routine 101 that initializes the system of the body ECU 10, an idle task manager 102 that manages idle tasks, a user definition 103 for idle tasks, and a CPU monitoring manager that monitors the CPU 11. 104, a system manager 105 that accepts a timer interrupt, and a sleep manager 106 that exits from the timer interrupt.

The input phase processing program group includes an input processing manager 111 that queues an external event from the input device 30 to the event queue IQ by the input processing routine 112, and a plurality of (one in the figure) inputs provided for the external event. A processing routine 112; an input arbitration manager 113 that arbitrates an external event input by the input processing routine 112 by an input arbitration routine 114; and a plurality (one in the figure) of input arbitration routines 114 provided for external events; It is composed of

The application phase processing program group includes a simple OS 121 having an event queue IQ (see FIG. 3), and a user function group 123 of an application unit corresponding to the external event by dequeuing an external event queued in the event queue IQ. An external event handler 122 to execute, a user function group 123 of an application unit corresponding to an external event, a timer processing handler 124 to execute a user function group 125 of an application unit corresponding to timer processing, and an application unit corresponding to timer processing The internal event queued in the event queue IQ by the execution of the user function group 125 and the user function group 125 of the application unit corresponding to the timer process is dequeued and the internal event The internal event handler 126 that executes the user function group 127 of the application unit corresponding to the above, the user function group 127 of the application unit corresponding to the internal event, and the user function group 129 of the application unit corresponding to the sequential processing are sequentially executed. The processing handler 128 includes a user function group 129 of an application unit corresponding to sequential processing.

User function group 123 of application units corresponding to external events, user function group 125 of application units corresponding to timer processing, user functions group 127 of application units corresponding to internal events, and user functions of application units corresponding to sequential processing The group 129 includes a plurality of user functions, and the user function group of each application unit is configured not to directly perform input / output processing to the I / O port 14. That is, the input is performed via the input data storage area on the RAM 13 by the input processing routine 112 and the input arbitration routine 114 in the input phase, and the output is performed on the RAM 13 by the output arbitration routine 132 and the output processing routine 134 in the output phase. This is done through the processing result storage area.

Further, data is not directly transferred between user function groups of each application unit. That is, for example, when there is a user function group of an application unit to be executed first and a user function group of an application unit to be executed later, data of a result of executing the user function group of the application unit executed first ( The processing result) is configured not to be used in the user function group of the application unit to be executed later. That is, the user function group of the application unit executed first stores the processing result in the processing result storage area on the RAM 13, but the processing result is directly from the user function group of the application unit executed later. Is not referenced. When the user function group of the application unit to be executed later requires the processing result of the user function group of the application unit to be executed first, the processing result stored in the processing result storage area by the input arbitration routine 114 in advance Is copied to the input data storage area. Then, when the user function is activated according to the event extracted from the event queue IQ, the processing result is referred to from the input data storage area. Therefore, even when a user function group of an application unit to be executed later is executed immediately after a user function group of an application unit to be executed first, the user function group of the application unit executed later is a processing result. Since the input data storage area is referenced instead of the storage area and used for processing, it is not the processing result of the user function group of the application unit executed before the same cycle (immediately before), but the destination at the time of the timer interrupt of the previous cycle The processing is performed using the processing result of the user function group of the application unit to be executed.

Which application unit user function group is to be executed is determined by the external event handler 122, the timer processing handler 124, the internal event handler 126, and the sequential processing handler 128. This determination process is performed based on event tables T0 to Tn (see FIG. 3) that register in advance which event is executed when the user function group of each application unit is generated. In the event table T0 to Tn, the address of the user function group of the application unit corresponding to the event is registered (stored), and the event is queued in the event queue IQ by the input processing routine 112 (the event has occurred). In the case), the address of the user function group of the application unit corresponding to the event is called, and control is transferred to the user function group. When a plurality of user functions are associated with one event in the event tables T0 to Tn, the user functions of the application units corresponding to the event are sequentially executed. That is, when the user function group of the application unit corresponding to one event includes the user function U1, the user function U2, the user function U3,..., The user function Ux, if the user function U1 is terminated, the user function When the control is transferred to U2 and the user function U2 is completed, the user functions are sequentially executed so that the control is transferred to the user function U3.

The output phase processing program group includes an output arbitration manager 131 that arbitrates the output of the processing result of the user function group of each application unit to the output device 40 by the output arbitration routine 132, and a plurality (one in the figure) of output arbitration routines. 132, an output processing manager 133 that outputs to the output device 40 by the output processing routine 134 based on the output arbitration result by the output arbitration routine 132, and a plurality (one in the figure) of output processing routines 134. Yes.

Referring to FIG. 3, the event queue method employed in the electronic control apparatus according to the first embodiment is managed by the simple OS 121 in the application phase in order to improve the disadvantage of the event flag method (see FIG. 5). The event types and event tables T0 to Tn are assigned to the input processing routines 112 in the input phase. In FIG. 3, the input processing routine A has a switch AON event table T0 and a switch AOFF event table T1, and the input processing routine B has a switch BON event table T2 and a switch BOFF event table T3. On the other hand, the simple OS 121 in the application phase includes an event queue IQ. When each input processing routine 112 detects an external event, it registers a pointer (address) to the event table T0 to Tn corresponding to the external event in the event queue IQ. The simple OS 121 checks the event queue IQ periodically (every lap), and if an event is queued in the event queue IQ, the event queue IQ moves to the event table T0 to Tn corresponding to the event in a first-in first-out manner. Is dequeued, and the user function group of the application unit corresponding to the event is called with reference to the event tables T0 to Tn pointed to by the pointer.

FIG. 4 is a flowchart showing processing in the application phase.

Next, the operation of the body ECU 10 that is the electronic control apparatus according to the first embodiment configured as described above will be described with reference to FIGS. 1 to 4.

In the body ECU 10, when the power is turned on, as shown in FIG. 1, the system initialization routine 101 performs system initialization processing such as the I / O port 14 and the RAM 13 in the system phase. Next, the idle task manager 102 is activated to execute the user definition 103 for the idle task. Subsequently, the CPU monitoring manager 104 that monitors the state of the CPU 11 is executed. Then, control returns to the idle task manager 102. In this way, the idle task manager 102, the user definition 103, and the CPU monitoring manager 104 are executed in a loop.

Since a timer interrupt is applied to the CPU 11 from the timer 15 every predetermined time, for example, every 5 ms, control is transferred to the system manager 105 by this timer interrupt.

The system manager 105 activates the interrupt task and sequentially executes the input processing manager 111, the input arbitration manager 113, the simple OS 121, the output arbitration manager 131, and the output processing manager 133 in a simple schedule system.

First, the input processing manager 111 checks an external event input from the I / O port 14. Specifically, each input processing routine 112 is sequentially activated to check whether an external event corresponding to each input processing routine 112 is input (see FIG. 3A). If there is no external event, the input processing routine 112 does nothing (see FIG. 3A-1). For example, an external event input from the D seat door ECU 20a via the in-vehicle LAN 50 is detected. If there is an external event, the input processing routine 112 queues the external event in the event queue IQ of the simple OS 121 as shown by the broken line arrow in FIG. 1 (see FIG. 3A-2). When the processing is completed for all the input processing routines 112, the input processing manager 111 shifts the control to the input arbitration manager 113.

By adopting the event queue method, even if the type and number of external events change, the processing in the application phase is not affected. Further, since the type and number of external events of the body ECU 10 are determined by input, the provision of the event tables T0 to Tn in the input processing routine 112 coincides with the change unit, so that maintenance becomes easy. Here, for example, in the control for locking the door by the button operation when the door is closed, consider a case where a plurality of events, that is, button operation and door opening occur simultaneously. When the input processing manager 111 detects the button operation first and then detects the opening of the door, the input processing routine 112 notifies the external queue without queuing these external events to the event queue IQ. It locks (malfunction). On the other hand, when the button processing event is notified after the input processing routine 112 queues an external event to the event queue IQ and also detects a change in the door, the input processing routine 112 recognizes the button operation when the door is open and the door. Is not locked (normal operation).

When control is transferred from the input processing manager 111, the input arbitration manager 113 performs input arbitration by comprehensively inputting external events input from the I / O port 14 by the input processing manager 111. Specifically, the input arbitration manager 113 activates the input arbitration routine 114 and performs input arbitration of the external event queued in the event queue IQ based on the input data of the external event input by the input processing manager 111. For example, when the input data of the external event A and the input data of the external event B are both “1”, the input arbitration manager 113 performs input arbitration such that the external event C is generated as an input arbitration result. When such input arbitration is performed, by queuing the external event C to the event queue IQ, the user function group 123 of the application unit corresponding to the external event to be executed when the external event C occurs in the application phase. Can be executed. By using such a mechanism, it is possible to execute the user function group 123 of the application unit corresponding to the external event according to the combination of the external events, and check whether there is a contradiction in the input data in the application unit, etc. There is no need to do this. Therefore, the creation of the control program is facilitated, the modularity is improved, and the reliability is improved. The input arbitration manager 113 sequentially executes each input arbitration routine 114, and when the execution of all the input arbitration routines 114 is completed, the control is transferred to the simple OS 121 in the application phase.

When the control is transferred from the input arbitration manager 113, the simple OS 121 in the application phase checks whether an external event (pointer to the event table T0 to Tn) is queued in the event queue IQ (step S101). If no external event is queued in the event queue IQ (NO in step S101), the simple OS 121 shifts control to step S104 without activating the external event handler 122. If an external event is queued in the event queue IQ (Yes in Step S101), the simple OS 121 activates the external event handler 122.

The external event handler 122 dequeues the external event from the event queue IQ by a first-in first-out method (step S102), refers to the event table pointed to by the pointer to the event table, and refers to the user function group 123 of the application unit corresponding to the external event. Are sequentially executed (step S103). In the example of FIG. 3, the simple OS 121 checks the event queue IQ (see FIG. 3B), and if the pointer is queued in the event queue IQ, the external event handler 122 indicates the switch BON pointed to by the pointer. The user function group (B1, B2, B3) of the application unit corresponding to the external event is called with reference to the event table T2 and sequentially executed (see FIG. 3B-1). Steps S102 and S103 are repeated for all external events queued in the event queue IQ. If no external event is queued in the event queue IQ in step S101 (No in step S101), the external event handler 122 The process is terminated and control is returned to the simple OS 121.

When the control returns from the external event handler 122, the simple OS 121 checks whether there is a timer process whose start time has passed (step S104), and if there is no timer process whose start time has passed (No in step S104), Control is transferred to step S106 without activating the timer processing handler 124. If timer processing is present (Yes in step S104), the simple OS 121 activates the timer processing handler 124. Here, considering the processing order of external events and timer processing, timer processing is purely software internal processing, whereas external events occur outside the electronic control unit and can be observed. Process the event first. By starting the timer processing handler 124 after the processing of the external event handler 122 is completed, it is possible to suppress reversal of the processing order between the external event and the timer processing. For example, the external event is processed first in order to prevent the event that should be canceled by the output event of the previous round from moving due to the timer process.

The timer process handler 124 calls and sequentially executes the user function group 125 of the application unit corresponding to the timer process whose start time has elapsed (step S105). When a new event (hereinafter referred to as an internal event) occurs during the execution of the user function group 125 of the application unit corresponding to the timer process, the user function group 125 sends the internal event to the event queue IQ of the simple OS 121. Cueing (see dashed arrow in FIG. 1). When the execution of the user function group 125 of the application unit corresponding to the timer process for which all the activation times have elapsed is completed, the timer process handler 124 ends the process and returns control to the simple OS 121.

When the control returns from the timer processing handler 124, the simple OS 121 checks whether or not an internal event is queued in the event queue IQ (step S106), and if no internal event is queued (No in step S106). Then, control is transferred to step S109 without activating the internal event handler 126. If an internal event is queued in the event queue IQ (Yes in step S106), the simple OS 121 activates the internal event handler 126.

As described above, since there is an internal event generated by executing the user function group 125 of the application unit corresponding to the timer process, after execution of the user function group 125 of the application unit corresponding to the timer process by the timer process handler 124, The user function group 127 of the application unit corresponding to the internal event is executed by the internal event handler 126. For this reason, the processing order is the order of external event → timer processing → internal event.

The internal event handler 126 dequeues the internal event from the event queue IQ by a first-in first-out method (step S107), traces the pointer of the internal event, refers to the event table T0 to Tn, and is registered in the event table T0 to Tn. The user function group 127 of the application unit corresponding to the internal event is called and sequentially executed (step S108). When the execution of the user function group 127 of the application unit corresponding to all the internal events is completed, the internal event handler 126 ends the process and returns control to the simple OS 121.

When the control returns from the internal event handler 126, the simplified OS 121 checks whether there is sequential processing (step S109). If there is no sequential processing (No in step S109), the simple OS 121 does not start the sequential processing handler 128. The process ends. If there is sequential processing (Yes in step S109), the simple OS 121 activates the sequential processing handler 129.

The sequential processing handler 128 calls and sequentially executes the user function group 129 of the application unit corresponding to the sequential processing (step S110). When the execution of the user function group 129 of the application unit corresponding to all the sequential processes is completed, the sequential process handler 128 ends the process and returns control to the simple OS 121.

It should be noted that the user function group 129 of the application unit corresponding to the conventional sequential processing, the user function group 123 of the application unit corresponding to the event-driven external event, and the user function group 127 of the application unit corresponding to the internal event Coexistence is possible without inconsistency between the two. For example, a user of an application unit corresponding to a conventional sequential process such as issuing an alarm to the output device 40 if there is a button operation while the door is open (ringing the buzzer 40c, blinking the lamp 40d, etc.) When the function group 129 coexists, if the external event is processed without being queued in the event queue IQ, the door is locked. On the other hand, since the user function group 129 of the application unit corresponding to the conventional sequential processing does not operate by an event, the buzzer 40c is sounded as a button operation when the door is opened at the time of the regular processing. In this case, these two controls are inconsistent operations (the buzzer 40c is sounded even though the lock is output). Therefore, the processing of the external event must be executed after all input data has been determined.

When the control returns from the sequential processing handler 128, the simplified OS 121 ends the application phase and passes control to the output arbitration manager 131 in the output phase.

When the control is passed from the simple OS 121, the output arbitration manager 131 arbitrates whether to perform output by the output processing routine 134 based on the processing result stored in the processing result storage area in the application phase. For example, when a plurality of user functions store different output instructions for the same output target in the processing result storage area, it arbitrates which processing result is reflected and output. At this time, if a new external event occurs as a result of output arbitration, the output arbitration manager 131 queues this external event in the event queue IQ of the simple OS 121 (see the broken line arrow in FIG. 1). However, it goes without saying that the execution of this external event becomes the next round of application phase. By such output arbitration, the user function group of each application unit in the application phase need only output the processing result to the processing result storage area without being aware of the detailed configuration of the I / O port 14. In addition, it is not necessary to determine whether there is a contradiction in the contents of the processing results between the user function groups of each application unit, making it easy to create a control program, improving modularity, and improving reliability. When the execution of all the output arbitration routines 132 is completed, the output arbitration manager 131 passes control to the output processing manager 133.

When the output processing manager 133 receives control from the output arbitration manager 131, the output processing manager 133 sequentially outputs an output processing routine 134 that outputs the processing result in the processing result storage area to the I / O port 14 based on the arbitration result by the output arbitration routine 132. Execute. When the execution of all output processing routines 134 is completed, the output processing manager 133 shifts control to the sleep manager 101 in the system phase.

Thus, the timer interrupt task is returned through the sleep manager 106, and control is returned to the idle loop including the idle task manager 102, the user definition 103, and the CPU monitoring manager 104 in the system phase.

In this way, the timer interrupt task is divided into an input phase, an application phase, and an output phase, and data is not directly exchanged between user function groups of the application unit. As a result, user functions that are functional units can be easily added and deleted. Note that the processing of the input phase, application phase, and output phase by the timer interrupt task is configured to be completed in a shorter time than the timer interrupt interval of 5 ms.

In the electronic control apparatus according to the first embodiment, the timer interrupt task is divided into processes of the input processing manager 111, the input arbitration manager 113, the simple OS 121, the output arbitration manager 131, and the output processing manager 133. Synchronize data. That is, data determined in a certain time is transferred to the next process and is not changed thereafter. For example, after the input processing manager 111 determines that the switch state is ON, the switch state is ON even if the input state of the switch is OFF until the next round input phase is executed. Process as follows. Similarly, the event that has undergone input arbitration by the input arbitration manager 113 is not changed until the processing of the next round of input arbitration manager 113. In addition, the processing result determined in the application phase is not changed until the next application phase. Then, the processing result of the output arbitration by the output arbitration manager 131 is not changed until the process of the next round of output arbitration manager 131. Therefore, data is determined (synchronized) at the end of each process. And, since the data generated in the previous process does not change during each process, for example, it is possible to avoid a process contradiction that performs a process based on the data before the change and a process based on the data after the change, Safety design is also easy. Further, when control is performed on an apparatus system operated by a person, a difference in processing time (recognition time) between a person and a controlled object (machine) can be adjusted by the above-described arbitration or synchronization. In addition, the influence of a deviation in the arrival of data due to a delay or the like through the in-vehicle LAN 50 can be suppressed by these mechanisms.

For example, when different instructions are input from both the D seat door control switch 30a and a smart key (not shown) as the input device 30 (system that locks and unlocks the door using radio waves, etc.) almost simultaneously. When the D-seat door ECU 20a issues an instruction to lock all the seat doors based on the state of the D-seat door control switch 30a, while the smart key outputs an instruction to unlock the all-seat door to the body ECU 10 via the in-vehicle LAN 50, the body ECU 10 These external events are captured from the I / O port 14 by the input processing routine 112. Then, the input arbitration routine 114 performs input arbitration so that any one external event is preferentially executed. For example, input arbitration is performed so that an external event from the D-seat door control switch 30a is given priority. Then, an external event indicating that an instruction for locking all seat doors has been input is queued in the event queue IQ, and control is transferred to the simplified OS 121 in the application phase. Therefore, in the application phase, execution is transferred to the user function group 123 of the application unit corresponding to this external event. For example, an instruction to lock all seat doors is written in the processing result storage area by the process of the user function U1. On the other hand, it is assumed that at this time, for example, the user function U2 is executed by an external event from another input device 30, and a D seat door unlocking instruction is written in the processing result storage area as the processing result. In this case, output arbitration is performed by the execution of the output arbitration routine 132 by the output arbitration manager 13, and control is passed to the output processing manager 133 with priority given to the output of the processing result of all-seat door locking. The output processing manager 133 executes the output processing routine 134 to output a door locking instruction to each door ECU to which the output device 40 is connected. In this way, it is possible to prevent the door from being unlocked → locked or locked → unlocked in a very short time. That is, a plurality of contradictory input data and processing results can be arbitrated, and safe and highly reliable control can be realized.

By the way, in the first embodiment, the input processing routine 112 and the input arbitration routine 114 are sequentially executed by the simple scheduling method in the input phase, and the output arbitration routine 132 and the output processing routine 134 are sequentially executed by the simple scheduling method in the output phase. On the other hand, in the application phase, which application unit is executed is determined by determining the presence or absence of an external event and an internal event.

With such a configuration, the user function group 123 of the application unit corresponding to the external event that does not occur is not executed while the external event does not occur. Similarly, the user function group 127 of the application unit corresponding to the internal event that does not occur is not executed while the internal event does not occur. Therefore, the processing result storage area for the user function group of the application unit that is not executed is not updated during that time. For this reason, when the processing result (data) in the processing result storage area is rewritten due to external noise or the like (so-called RAM corruption), erroneous output may be made by the output arbitration routine 132 and the output processing routine 134. is there. Such a situation is more likely to occur as the processing result storage area has to be updated for a long time. In particular, when controlling a system such as a vehicle that may adversely affect people due to a control error, the value of the RAM 13 may be updated every predetermined time so that this does not occur. desirable.

Therefore, in the application phase, the user function group 123 of the application unit corresponding to the external event that has not been activated for a certain period of time and the user function group 127 of the application unit corresponding to the internal event are sequentially activated, and the user function of each application unit is activated. Update the processing result storage area for the group. This fixed time is an interval longer than the timer interrupt interval (predetermined time), and a time that does not hinder system control even if the processing result (data) in the processing result storage area changes due to external noise or the like. To do. That is, in the body system 100 (see FIG. 2), it is assumed that the instruction to close in a state where it should not be closed is output due to the garbled RAM, for example, power window closing control (not shown). If the time during which such abnormal control continues is about 50 ms, it does not adversely affect humans. Therefore, for example, for 40 ms, the user function group 123 of the application unit corresponding to the external event that has not been activated and the user function group 127 of the application unit corresponding to the internal event are sequentially executed. For example, if the user function U2, the user function U3, and the user function U4 are not executed for 40 ms, the user function U2 is executed, the user function U3 is executed, and the user function U4 is executed. Then, the above-described processing for executing the user function group 123 of the application unit corresponding to the external event and the user function group 127 of the application unit corresponding to the internal event is performed. By adopting such a configuration, reliability and safety can be ensured even if RAM corruption occurs.

In the first embodiment, the body ECU 10 is mainly described as an example of the electronic control device. However, it goes without saying that the present invention can be similarly applied to other electronic control devices such as a verification ECU and an engine ECU.

As mentioned above, although the Example of this invention was described, this is only an illustration, this invention is not limited to this, Based on the knowledge of those skilled in the art, unless it deviates from the meaning of a claim Various changes are possible.

Explanatory drawing explaining the operation | movement in the electronic controller which concerns on Example 1 of this invention. The block diagram which shows the structure of a body type | system | group system. FIG. 3 is a diagram for explaining an event queue method in the electronic control apparatus according to the first embodiment. The flowchart showing the process in the application phase in FIG. The figure explaining the event flag system in the conventional electronic control unit.

Explanation of symbols

10 Body ECU
11 CPU
12 ROM
13 RAM
14 I / O ports
15 timer 20 communication target ECU
20a D seat door ECU
20b P seat door ECU
20c Instrument panel ECU
30 Input device 30a D seat door control switch 30b P seat door control switch 40 Output device 40a D seat door lock motor 40b P seat door lock motor 40c Buzzer 40d Lamp 50 Car interior LAN
100 Body System 101 System Initialization Routine 102 Idle Task Manager 103 User Definition 104 CPU Monitoring Manager 105 System Manager 106 Sleep Manager 111 Input Processing Manager 112 Input Processing Routine 113 Input Arbitration Manager 114 Input Arbitration Routine 121 Simple OS
122 External event handler 123 User unit group of application unit corresponding to external event 124 Timer processing handler 125 User function group of application unit corresponding to timer processing 126 Internal event handler 127 User function group of application unit corresponding to internal event 128 Sequential Processing handler 129 User function 131 of application unit corresponding to sequential processing Output arbitration manager 132 Output arbitration routine 133 Output processing manager 134 Output processing routine IQ Event queue T0 to Tn Event table

Claims (10)

An input phase for inputting an event from the input device, an application phase for executing a user function group of an application unit corresponding to the event, and an output phase for controlling output to the output device based on a processing result of the user function group An electronic control device that repeatedly performs control processing consisting of:
An input processing manager means for queuing an event from the input device in the input phase to an event queue by an input processing routine;
An electronic control device comprising: event handler means for dequeuing an event queued in the event queue in an application phase and executing a user function group of an application unit corresponding to the event. An input phase for inputting an external event from the input device, an application phase for executing a user function group of an application unit corresponding to the external event, and an output for controlling output to the output device based on a processing result of the user function group An electronic control device that repeatedly performs control processing consisting of phases,
An input processing manager means for queuing an external event from an input device in an input phase to an event queue by an input processing routine;
Input arbitration manager means for performing input arbitration by an input arbitration routine for an external event input by the input processing routine in an input phase;
An external event handler means for dequeuing an external event queued in the event queue in an application phase and executing a user function group of an application unit corresponding to the external event;
Timer processing handler means for executing a user function group of an application unit corresponding to timer processing in the application phase;
An internal event handler that dequeues an internal event queued in the event queue by execution of a user function group of the application unit corresponding to the timer processing in an application phase and executes the user function group of the application unit corresponding to the internal event Means,
Sequential processing handler means for sequentially executing user functions of application units corresponding to sequential processing in the application phase;
Output arbitration manager means for arbitrating the output to the output device of the processing result of the user function group in an output phase by an output arbitration routine;
An electronic control device comprising: an output processing manager means for performing output to an output device by an output processing routine based on an output arbitration result by the output arbitration routine in an output phase. 3. The electronic control apparatus according to claim 2, further comprising a simplified OS unit that sequentially executes the external event handler unit, the timer processing handler unit, the internal event handler unit, and the sequential processing handler unit. The electronic control apparatus according to claim 1, wherein the control process is executed every predetermined time, and the control process is completed within the predetermined time. An event table that stores the address of the user function group of the application unit corresponding to the event for each event,
An event queue that stores pointers to the event table corresponding to the events in a first-in first-out manner,
Input processing means for queuing a pointer to the event table corresponding to the event when the event is detected;
And event handler means for dequeuing a pointer from the event queue to an event table corresponding to the event and calling a user function group of the application unit corresponding to the event with reference to the event table pointed to by the pointer Electronic control device. An event table that stores the address of the user function group of the application unit corresponding to the event for each event,
An event queue that stores pointers to the event table corresponding to the events in a first-in first-out manner,
Input processing manager means for queuing an external event from the input device to the event queue by an input processing routine;
Input mediation manager means for mediating an external event input by the input processing routine by an input mediation routine;
External event handler means for dequeuing an external event queued in the event queue and executing a user function group of an application unit corresponding to the external event;
Timer processing handler means for executing a user function group of an application unit corresponding to timer processing;
An internal event handler means for dequeuing an internal event queued in an event queue by execution of a user function group of the application unit corresponding to the timer processing and executing a user function group of the application unit corresponding to the internal event;
Sequential processing handler means for executing a user function group of an application unit corresponding to sequential processing;
Output arbitration manager means for arbitrating the output to the output device of the processing result of the user function group by an output arbitration routine;
An electronic control device comprising: output processing manager means for performing output to an output device by an output processing routine based on an output arbitration result by the output arbitration routine. An input phase for inputting an event from the input device, an application phase for executing a user function group of an application unit corresponding to the event, and an output phase for controlling output to the output device based on a processing result of the user function group A control method for an electronic control device that repeatedly performs control processing consisting of:
Executing an input processing manager that queues events from the input device to an event queue by an input processing routine;
And a step of dequeuing the event from the event queue and executing a user function group of the application unit corresponding to the event by an event handler. An input phase for inputting an external event from the input device, an application phase for executing a user function group of an application unit corresponding to the external event, and an output for controlling output to the output device based on a processing result of the user function group A control method for an electronic control device that repeatedly performs control processing consisting of phases,
Executing an input processing manager for queuing an external event from an input device to an event queue by an input processing routine;
Executing an input arbitration manager that arbitrates an external event input by the input processing routine by an input arbitration routine; and
Dequeuing an external event from the event queue and executing a user function group of an application unit corresponding to the external event by an external event handler;
Executing a user function group of an application unit corresponding to a timer process whose start time has elapsed by a timer process handler;
A step of dequeuing an internal event queued in the event queue by execution of a user function group of the application unit corresponding to the timer process, and executing a user function group of the application unit corresponding to the internal event by an internal event handler When,
Executing a user function group of application units corresponding to sequential processing by a sequential processing handler;
Executing an output arbitration manager that arbitrates the output to the output device of the processing result of the user function group by an output arbitration routine;
And a step of executing an output processing manager for performing output to the output device by the output processing routine based on the output arbitration result of the output arbitration routine. An input processing manager that queues an event from an input device to an event queue by an input processing routine, a simple OS that checks whether an event is queued in the event queue, and an event that is queued in the event queue And an event handler that dequeues the event and executes a user function group of the application unit corresponding to the event. An input processing manager that queues an external event from the input device to an event queue by an input processing routine, an input arbitration manager that inputs an external event input by the input processing routine by an input arbitration routine, and a queue to the event queue An external event handler that dequeues an external event that has been processed and executes a user function group of an application unit corresponding to the external event, a timer processing handler that executes a user function group of an application unit corresponding to timer processing, and the timer The internal function queued in the event queue by the execution of the user function group of the application unit corresponding to the process is dequeued, and the user function group of the application unit corresponding to the internal event is executed. An internal event handler, a sequential processing handler that executes a user function group of an application unit corresponding to sequential processing, an output arbitration manager that arbitrates output to the output device of the processing result of the user function group by an output arbitration routine, and An output processing manager that outputs to an output device by an output processing routine based on an output arbitration result by an output arbitration routine.

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