JP2009129083A - Vehicle control device and vehicle control system using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control system for reducing the processing load of function domain control means for performing behavior control for control objects in respective function domains as well as the adaptation operation of the function domain control means to the system configuration. <P>SOLUTION: A common control unit 220 in an intra box 200 performs common processing that is independent from behavior control for control objects extracted from function domain controllers such as a steering control device 30 and a brake control device 40 or the like. A control condition management unit 230 manages control conditions that are shared by the function domain control means for controlling behavior of the control objects. An inspection unit 250 audits the abnormality of the behavior control by the function domain control means. A resource management unit 260 manages distribution as well as residue amount, storage, and use restriction of commonly owned resource. A plug and play management unit 280 manages the system configuration of a vehicle control system. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle control apparatus that controls functional domain control means for controlling the behavior of a control target mounted on a vehicle for each functional domain, and a vehicle control system using the same.

  2. Description of the Related Art Conventionally, there is known a vehicle control system that controls the behavior of a device that is a control target mounted on a vehicle by a plurality of control units that are installed in a distributed manner for each function (see, for example, Patent Document 1).

Thus, in a vehicle distributed control system composed of a plurality of control units, each control unit does not depend on the function of the control target in addition to individual behavior control according to the function of the control target with respect to the control target. It is necessary to perform common processing such as an execution schedule that is commonly processed in the control unit. The common processing is distributed and installed in the control units, and the common processing is performed in cooperation between the control units.
JP 2001-239901 A

  However, in order to perform common processing that is commonly processed in the control units while being linked between the control units, it is necessary to communicate between the control units and exchange information. As a result, there is a problem that the amount of communication between control units increases and the processing load on the control units increases.

  In the configuration in which common processing is performed by communication between control units, for example, if the number of control units configuring the vehicle control system differs for each vehicle type, it is necessary to adapt the control unit to changes in the system configuration.

  The present invention has been made to solve the above-described problem, and reduces the processing load of the functional domain control means for controlling the behavior of the control target for each functional domain, and adapts the system configuration of the functional domain control means to the system configuration. It is an object of the present invention to provide a vehicle control device that reduces noise and a vehicle control system using the same.

  According to the invention described in claims 1 to 27, the common processing common to the functional domain control means not depending on the behavior control by the functional domain control means for controlling the behavior of the controlled object for each functional domain is performed by the common processing means. Yes. Here, the common process common to the functional domain control means represents a process common to the functional domain control means regardless of the number of functional domain control means such as one or more functional domain control means. Yes.

  In this way, the common processing common to the functional domain control means is extracted from the functional domain control means and executed by the common processing means, so that the functional domain control related to the common processing is compared with the configuration in which the common processing is distributed to the functional domain control means. The communication amount of the means is reduced. As a result, the processing load on the functional domain control means is reduced.

  In addition, since the common processing means performs common processing independent of behavior control, which does not depend on behavior control by the functional domain control means for the control target, for example, even if there is only one functional domain control means constituting the vehicle control system Even if there are a plurality of units, the common processing unit can absorb the change in the configuration of the vehicle control system regardless of the number of functional domain control units. As a result, general-purpose common processing means can be used, and adaptation work to the system configuration of the functional domain control means can be reduced.

  In addition, since the common processing unit consolidates and executes the common processing, the management of the functional domain control unit based on the common processing can be comprehensively performed. For example, the schedule of behavior control by the functional domain control means can be easily adjusted.

  By the way, in a vehicle control system, a plurality of functional domain control means may control the behavior of the same controlled object in cooperation. In this case, it is conceivable that behavior control by a plurality of functional domain control means for the control target is performed in cooperation by the cooperation control means. Cooperation control by the cooperation control means is control dependent on behavior control by the functional domain control means for the control target.

  Thus, even when the cooperation control means controls the cooperation of behavior control by a plurality of functional domain control means, according to the invention described in claim 2, the common processing means can perform behavior control and cooperation control by the functional domain control means. A common process that does not depend on cooperative control by means is implemented.

Thereby, the effect described in claim 1 can be obtained even in the system configuration in which the cooperation control means is installed.
According to the third and fourth aspects of the present invention, the common processing means has control condition management means for managing control conditions shared when the functional domain control means controls the behavior of the control target. As control conditions shared by the functional domain control means, for example, schedule, time, event, data, mode, etc. can be considered.

  Thus, since the control condition management means comprehensively manages the control conditions shared when the functional domain control means performs the behavior control, the control conditions when the functional domain control means performs the behavior control are It can be managed by the control condition management means.

  According to the fifth aspect of the present invention, the parameter adjustment unit of the control condition management unit adjusts the use of the common parameter in the control condition shared when the functional domain control unit performs the behavior control. As common parameters in the control conditions, for example, the occupation period of the calculation means, the processing synchronization time, the data access address, and the like can be considered.

  As described above, the parameter adjustment unit comprehensively adjusts the use of the common parameters, so that the use order of the common parameters can be easily adjusted. As a result, for example, the use of common parameters that cannot be used simultaneously can be prevented from competing by the functional domain control means.

In the invention described in claim 6, the parameter adjusting means adjusts synchronization when the functional domain control means uses the common parameter.
Thereby, since the use of the common parameter moves back and forth on the time axis, it is possible to prevent the plurality of functional domain control means from using different values of the common parameter and impair the uniformity of behavior control by the functional domain control means.

  According to the seventh aspect of the present invention, the parameter adjustment means does not depend on the cooperation control by the cooperation control means, and the use of the common parameter in the control condition shared when the functional domain control means controls the behavior of the control target. Adjust.

  As described above, the parameter adjustment unit comprehensively adjusts the use of the common parameters, so that the use order of the common parameters can be easily adjusted even in the system configuration in which the cooperation control unit is installed. As a result, for example, the use of common parameters that cannot be used simultaneously can be prevented from competing by the functional domain control means.

  In the invention described in claim 8, the parameter adjusting means adjusts the synchronization when the common parameters shared by the functional domain control means or between the functional domain control means and the linkage control means are used.

  Thereby, in order to use the common parameter back and forth on the time axis, a plurality of function domain control means, or the function domain control means and the cooperation control means need to use a common parameter of the same value, It is possible to prevent common parameters having different values from being used. As a result, it is possible to prevent the uniformity of vehicle control from being lost even in the master-slave relationship control, such as the equivalent behavior control by the functional domain control means, and the cooperative control by the cooperative control means and the behavior control by the functional domain control means. .

  According to the invention described in claim 9, the parameter adjusting means adjusts the use of the common parameter in a time-sharing manner for each functional unit of behavior control performed by the functional domain control means on the control target.

  By adjusting the usage order of the common parameters in advance within the functional unit for behavior control, the parameter adjusting means does not need to adjust the usage order of the common parameters within the functional unit. Then, by adjusting the use of the common parameter for each functional unit in a time-sharing manner, it is possible to prevent common parameter contention between the functional units.

  According to the invention described in claim 10, the parameter adjusting means adjusts the use of the common parameter by the functional domain control means based on the common parameter use request from the functional domain control means.

  That is, the parameter adjustment means performs the use adjustment of the common parameter when there is a request for using the common parameter, and does not perform the use adjustment of the common parameter when there is no use request. Thereby, the parameter adjustment means can reduce the consumption of resources, time, and the like required for adjusting the use of common parameters as much as possible, and as a result, the power consumption and heat generation can be reduced.

Moreover, the parameter adjustment means can adjust the use of the common parameters flexibly and appropriately by sequentially switching the use order according to the use request.
According to the invention described in claims 11 and 12, the common processing means has the auditing means for auditing the behavior abnormality of the functional domain control means.

  The functional domain control means do not exchange behavior control information to detect behavioral abnormalities, but the common processing means auditing means audits the behavioral abnormalities of the functional domain control means. Abnormal behavior can be detected, and appropriate fail-safe or evacuation traveling can be performed according to the abnormality result. The auditing means may itself detect a behavioral abnormality of the functional domain control means, or may refer to abnormality detection information from the functional domain control means when the functional domain control means has an abnormality detection means.

According to the invention as set forth in claim 11, the control condition management means manages the control condition based on the audit result of the audit means.
As a result, the control condition management means limits or stops the behavior control by the functional domain control means for abnormal behavior, so that the consumption of power, time, etc. used by the functional domain control means for abnormal behavior can be reduced as much as possible.

According to the invention described in claims 13 to 16, the common processing means has resource management means for managing resources shared by the functional domain control means.
Since the resource management means does not exchange resource usage information between the function domain control means to manage resources, but the resource management means of the common processing means manages the shared resources. Resource allocation and resource usage restrictions.

According to a thirteenth aspect of the present invention, the control condition management unit manages the control condition based on the usage state of the resource managed by the resource management unit.
Thereby, for example, when the amount of resources required by the functional domain control unit cannot be allocated based on the resource usage state, the control condition management unit limits or stops the behavior control by the functional domain control unit. As a result, consumption of resources used by the functional domain control means can be reduced as much as possible, and power consumption and heat generation can be reduced.

According to the fifteenth aspect of the present invention, the resource management means distributes resources according to the usage request from the functional domain control means based on the priority set for each functional domain control means.
Thereby, since a necessary amount of resources can be preferentially distributed to the functional domain control means with high priority, behavior control by the functional domain control means with high priority can be implemented without delay.

According to the invention described in claim 16, the resource management means distributes resources to the functional domain control means according to the urgency of the use request from the functional domain control means.
As a result, since a necessary amount of resources can be distributed to the functional domain control means with a high urgency of use requests, behavior control by the functional domain control means with a high urgency can be implemented without delay.

According to the seventeenth and eighteenth aspects of the present invention, the common processing means has plug and play management means for managing plug and play of the functional domain control means.
Thereby, the plug and play management means can comprehensively manage the change in the configuration of the vehicle control system for each vehicle or due to addition or change of the functional domain control means. As a result, the plug-and-play management unit can appropriately set, for example, the communication procedure on the system, the order of behavior control between the functional domain control units, and the like according to the configuration of the vehicle control system.

  According to the invention described in claim 17, the control condition management means manages the control condition based on the system configuration by the functional domain control means managed by the plug and play management means.

  Thereby, based on the configuration of the vehicle control system, the control condition management means limits or stops unnecessary behavior control of the functional domain control means. As a result, power consumption and heat generation by the functional domain control means can be reduced.

According to the nineteenth aspect of the present invention, the resource management means manages the use of resources by the functional domain control means based on the audit result of the audit means.
Thereby, the resource management means can distribute as many resources as possible to other normal functional domain control means by restricting or stopping the resource use by the functional domain control means of abnormal behavior based on the audit result by the audit means. .

According to the twentieth aspect of the present invention, the plug-and-play management unit limits the change of the system configuration by the functional domain control unit based on the audit result of the audit unit.
Thereby, the plug-and-play management unit can prevent a change in the system configuration that causes an abnormal behavior of the functional domain control unit or worsens the abnormal behavior.

  According to the twenty-first aspect of the present invention, the plug and play management unit limits the change of the system configuration by the functional domain control unit based on the usage state of the resource managed by the resource management unit.

  Thus, for example, when the amount of resources required by the newly added or changed functional domain control means can be allocated based on the resource usage state, the plug and play management means Restrict additions and changes. As a result, it is possible to configure a system in which the functional domain control means can use resources as efficiently as possible.

  According to the invention described in claim 22, the control condition management means includes at least two pieces of information out of the audit information of the audit means, the resource management information of the resource management means, and the system management information of the plug and play management means. Based on the control conditions.

  Thereby, the control condition management means, for example, by setting the priority and importance of the audit information, resource management information, and system management information in advance, based on at least two of these three pieces of information. The behavior control by the functional domain control means can be appropriately controlled.

According to the twenty-third aspect of the present invention, the common processing means has a dedicated independent calculation means and information storage means.
As a result, the common processing means can reduce the processing load of the dedicated computing means and improve the processing capability, compared with, for example, the case where the functional domain control means, the computing means, and the information storage means are shared.

Further, calculation or information can be stored and read regardless of the failure of other calculation means or information storage means.
According to a twenty-fourth aspect of the present invention, the common processing means includes a dedicated independent power source. As a result, the common processing means can perform the common processing without being affected by malfunctions of other power supplies as compared with, for example, the case where the power supply is shared with the functional domain control means.

According to the invention of claim 25, the vehicle control device is installed in a power supply control device or a communication control device shared with other devices.
Since the vehicle control device can be installed in the existing power supply control device or communication control device, a space for newly installing the vehicle control device including the common processing means is unnecessary.

According to a twenty-sixth aspect of the present invention, the common processing means has synchronization adjusting means for adjusting synchronization when a plurality of common processes are performed.
As a result, the use of information shared by a plurality of common processes extracted from the functional domain control means moves back and forth on the time axis. It can be prevented from being damaged.

  The functions of the plurality of means provided in the present invention are realized by hardware resources whose functions are specified by the configuration itself, hardware resources whose functions are specified by a program, or a combination thereof. The functions of the plurality of means are not limited to those realized by hardware resources that are physically independent of each other.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
A vehicle control system according to an embodiment of the present invention is shown in FIG.
(Vehicle control system 10)
The vehicle control system 10 of this embodiment includes a power supply control device (Battery ECU) 20, a steering control device (Steering ECU) 30, a brake control device (Brake ECU) 40, a vehicle body control device 50, a navigation device 60, an intra box (Intra). Box) 200 and the like. The steering control device 30, the brake control device 40, the vehicle body control device 50, and the navigation device 60 correspond to the functional domain control means described in the claims, and the intra box 200 is the vehicle control device described in the claims. It corresponds to. In addition, description of the intra box 200 other than FIG. 1 is simplified.

  As the vehicle control system, as in the vehicle control system 12 shown in FIG. 2, for example, a cooperation control means 80 for controlling the cooperation of the steering control device 30 and the behavior control of the brake control device 40 with respect to the tire 70 that is the same control target is installed. May be. The cooperation control means 80 controls the cooperation depending on the behavior control of the steering control device 30 and the brake control device 40 with respect to the tire 70.

  The power supply control device 20 shown in FIG. 1 controls the power supplied to the steering control device 30, the brake control device 40, the cooperation control means, and the intra box 200. The power supply to the vehicle body control device 50 and the navigation device 60 is controlled by another power supply control device.

The steering control device 30 controls the steering angle of each tire 70 based on the detection signal of the angle detection sensor that detects the steering angle.
The brake control device 40 controls the braking amount of each tire 70 based on a detection signal of a sensor that detects the depression amount of the brake pedal.

  The vehicle body control device 50 controls vehicle doors, air conditioning, and the like. The navigation device 60 searches for a route to the destination of the vehicle based on a satellite positioning system such as GPS and map data, and guides the optimum route.

(Intra box 200)
The intra box 200 includes a communication interface unit 210, a common processing unit 220, and the like. The common processing unit 220 performs common processing common to the steering control device 30, the brake control device 40, the vehicle body control device 50, and the navigation device 60 via the communication interface unit 210.

(Common processing means 220)
The common processing means 220 of the intra box 200 performs a plurality of common processes extracted from the functional domain control means and does not depend on behavior control by the functional domain control means for the control target. The common processing unit 220 includes a control condition management unit 230, an audit unit 250, a resource management unit 260, a plug and play management unit 280, and the like.

  The control condition management unit 230, the audit unit 250, the resource management unit 260, and the plug and play management unit 280 are configured by a rewritable nonvolatile memory such as a CPU, a ROM, a RAM, and a flash memory (not shown). The common processing unit 220 performs an infrastructure process common to the functional domain control unit.

  The common processing unit 220 is desirably provided with a synchronization adjusting unit that adjusts synchronization when a plurality of common processes are performed. As a result, the use of information shared by a plurality of common processes extracted from the functional domain control means moves back and forth on the time axis. It can be prevented from being damaged.

(Control condition management means 230)
As shown in FIG. 3, the control condition management unit 230 includes a global schedule 234, a global time as control conditions shared when the functional domain managers 90, 92, 94, 96 control the behavior of the control target such as the tire 70. 236, global event 238, global data 240, global mode 242 and the like. The functional domain managers 90, 92, 94, and 96 shown in FIG. 3 correspond to functional domain control means such as the steering control device 30, the brake control device 40, the vehicle body control device 50, and the navigation device 60.

(Parameter adjustment means 232)
The parameter adjustment means 232 shown in FIG. 1 comprehensively uses common parameters in the global schedule 234, global time 236, global event 238, global data 240 and global mode 242 shared by the functional domain managers 90, 92, 94, 96. Adjust to.

  Thereby, the parameter adjusting means 232 can easily adjust the use order of the common parameters by the functional domain managers 90, 92, 94, 96. As a result, the parameter adjustment unit 232 can prevent common parameter contention by the functional domain manager when, for example, a request for using a common parameter that cannot be used simultaneously is issued from a plurality of functional domain managers.

  Further, the parameter adjusting unit 232 is provided for each functional unit of behavior control of the functional domain managers 90, 92, 94, 96 for the control target, for example, for each software supply source of the functional domain managers 90, 92, 94, 96 as shown in FIG. As shown, the use of common parameters may be adjusted in time division. In FIG. 4, the products of suppliers 1, 2, 3, and OEM (Original Equipment Manufacturer) correspond to the function domain control means.

  As shown in FIG. 2, in the vehicle control system 12 in which the cooperation control unit 80 is installed, the parameter adjustment unit 232 adjusts the use of the common parameter without depending on the cooperation control of the cooperation control unit 80.

  Further, the parameter adjusting means 232 adjusts the synchronization when the functional domain managers 90, 92, 94, 96 use each other or the cooperation control means 80 and the functional domain managers 90, 92, 94, 96 use common parameters. Also good. For example, in FIG. 5, synchronization is adjusted when a use request for different common parameters is issued from the supply source 2 and the supply source 3, and from the supply source 1 and the supply source 2.

  As a result of the synchronous adjustment by the parameter adjustment means 232, the use of the common parameter is changed on the time axis. The domain managers 90, 92, 94, and 96 can use common parameters having different values to prevent the behavior control uniformity from being lost.

  As described above, it is desirable that the parameter adjustment unit 232 optimizes the adjustment process based on the common parameter use request. For example, by not performing adjustment processing for common parameters that do not require use, power consumption and heat generation associated with the adjustment processing can be reduced as much as possible. In addition, the usage order of the common parameters can be sequentially adjusted based on the usage request.

(Common parameters)
Hereinafter, common parameters in the global schedule 234, global time 236, global event 238, global data 240, and global mode 242 will be exemplified.

(1) Occupancy period when the global schedule / functional domain control means uses the CPU as the calculation means.
-Synchronization time when processing for the same data is required.
The CPU occupancy order in the vehicle global when the functional domain control means uses the CPU that is the arithmetic means.
A CPU that is selected when the functional domain control means uses a plurality of CPUs that are arithmetic means.

(2) Global time / function time when the domain control means controls the behavior of the controlled object.
(3) Global events • Opening and closing of vehicle doors.
-The ignition key must be turned on.
-Changes in vehicle status (mode) such as accident detection and theft detection.

(4) Access address or pointer of data shared by global data / function domain control means.
(5) Travel mode such as global mode / energy-saving travel, vehicle state mode such as vehicle transport.

(Audit means 250)
As shown in FIG. 6, the auditing unit 250 determines the abnormality of the global behavior 252 of the vehicle from the viewpoint of the vehicle control system 10 by auditing the abnormality of the behavior control of the functional domain managers 90, 92, 94, 96. The cause of the abnormality is diagnosed by the global diagnosis 254.

  The global behavior 252 is a behavior of the vehicle that occurs as a result of behavior control by a plurality of functional domain managers among the functional domain managers 90, 92, 94, 96. The global diagnosis 254 diagnoses the cause of abnormality of the global behavior 252 based on behavior control by a plurality of functional domain managers.

(Resource management means 260)
As shown in FIG. 7, the resource management unit 260 manages global power 262, global RAM 264, global flash memory 266, global operation unit 268, global heat 270 distribution, remaining amount, storage, usage restrictions, and the like. The global power 262, global RAM 264, global flash memory 266, global computing means 268, and global heat 270 are resources shared by the functional domain managers 90, 92, 94, and 96.

(Plug and play management means 280)
As shown in FIG. 8, the plug and play management means 280 manages the system configuration of the vehicle control system 10. In FIG. 8, reference numerals 282, 284, 286, 288, 290, 292, 294, and 296 represent functional domain managers.

  The plug-and-play management means 280 includes the functional domain managers 282 and 284, the difference between the suppliers 1 and 2, the presence / absence of optional installation of the functional domain managers 286 and 288, the retrofit installation of the functional domain manager 290, Of some software (SW) from V (version) 1.0 to V1.1, replacement of products from V2.0 functional domain manager 294 to V3.0 functional domain manager 296 due to problems, etc. Etc. are detected. Then, the plug-and-play management unit 280 can appropriately set the communication procedure on the system, the order of behavior control between functional domain managers, and the like according to the detected system configuration. Thereby, the plug-and-play management unit 280 prevents the collision of behavior control between the functional domain managers, and ensures the consistency of behavior control of the functional domain managers.

(Processing based on the audit information of the audit means 250)
(1) Control condition management means 230
The control condition management unit 230 desirably manages the control conditions based on the audit result of the audit unit 250. The control condition management unit 230 can reduce power consumption, time, and the like used by the functional domain control unit for behavior abnormality as much as possible by limiting or stopping the behavior control by the functional domain control unit based on the audit result.

(2) Resource management means 260
It is desirable that the resource management unit 260 manages the resource usage by the functional domain control unit based on the audit result of the audit unit 250. The resource management means 260 can secure resources to be distributed to other normal functional domain control means by restricting or stopping the resource use of the functional domain control means of abnormal behavior based on the audit result.

(3) Plug and play management means 280
It is desirable that the plug and play management unit 280 restricts the change of the system configuration by the functional domain control unit based on the audit result of the audit unit 250. The plug-and-play management unit 280 can prevent a change in the system configuration that may cause a behavioral abnormality of the functional domain control unit or worsen the behavioral abnormality.

(Processing based on resource management information by resource management means 260)
(1) Control condition management means 230
The control condition management unit 230 restricts or stops the behavior control by the functional domain control unit when the resource amount required by the functional domain control unit cannot be allocated based on the usage state of the resource managed by the resource management unit 260. To do. As a result, consumption of power, time, etc. used by the functional domain control means for behavioral abnormality can be reduced as much as possible.

(2) Plug and play management means 280
The plug-and-play management unit 280 restricts the change of the system configuration by the functional domain control unit based on the usage state of the resource managed by the resource management unit 260. Thus, for example, when the amount of resources required by the newly added or changed functional domain control means determined from the resource usage state cannot be distributed, the plug and play management means 280 displays the functional domain control means. Restrict additions and changes to As a result, it is possible to configure a system in which the functional domain control means can use resources as efficiently as possible.

(Processing based on system management information by plug and play management means 280)
The control condition management unit 230 manages the control conditions based on the system configuration of the functional domain control unit managed by the plug and play management unit 280. Thereby, based on the configuration of the vehicle control system 10, the control condition management unit 230 limits or stops unnecessary behavior control of the functional domain control unit. As a result, power consumption and heat generation by the functional domain control means can be reduced.

(Processing based on audit information, resource management information, and system management information)
The control condition management unit 230 manages the control condition based on at least two pieces of information among the audit information of the audit unit 250, the resource management information of the resource management unit 260, and the system management information of the plug and play management unit 280. . Thereby, the control condition management means 230 sets at least two pieces of information among these three pieces of information by, for example, setting priorities and importance levels of audit information, resource management information, and system management information in advance. Based on this, behavior control by the functional domain control means can be appropriately controlled.

(Processing based on priority and urgency of usage requests)
It is desirable that the resource management unit 260 distributes resources according to the usage request from the functional domain control unit based on the priority set for each functional domain control unit. Thereby, since a necessary amount of resources can be preferentially distributed to the functional domain control means with high priority, behavior control by the functional domain control means with high priority can be implemented without delay.

  Further, it is desirable that the resource management unit 260 distributes resources to the functional domain control unit according to the urgency of the use request from the functional domain control unit. As a result, since a necessary amount of resources can be distributed to the functional domain control means with a high urgency of use requests, behavior control by the functional domain control means with a high urgency can be implemented without delay.

(Independent power supply, independent information storage means, independent calculation means)
As shown in FIG. 9, the common processing unit 220 preferably includes a dedicated independent power supply 300 that is independent of other devices such as the functional domain managers 90, 92, 94, and 96. Thereby, even if a failure occurs in another power source, the operation of the common processing means 220 can be continued. The independent power source 300 may be a power source common to the intra box 200.

  Furthermore, the common processing means 220 preferably includes information storage means such as a dedicated independent flash memory 302 and an independent RAM 304 independent of the functional domain managers 90, 92, 94, and 96, and an independent calculation means 306. As a result, it is possible to prevent the processing efficiency of the common processing means 220 from being lowered by sharing the arithmetic means and the information storage means with the functional domain managers 90, 92, 94, 96. In addition, the common processing unit 220 can continue to operate even when other calculation means or information storage means malfunctions.

  As shown in FIG. 10, the intra box 200 may be installed in a junction box 310 as a power supply control device. Thereby, the intra box 200 can be mounted on the vehicle without changing the existing device layout. Further, instead of the junction box 310, the intra box 200 may be installed in a communication control device such as a line concentrator installed for the in-vehicle network.

(Common parameter adjustment routine)
Next, a common parameter adjustment routine for scheduling resource use time, use period, etc. when a use request for a resource is received as common parameters shared by the functional domain control means will be described with reference to the flowchart of FIG. .

  In S400, the intra box 200 accepts a use request such as a resource use period and a use resource amount for each individual resource. Then, in step S402, the intra box 200 considers the usage priority level set in advance in the functional domain control means or the urgency level of the usage request due to the imminent processing deadline, and the like as shown in FIG. Map the usage schedule on the time axis.

In S404, the intra box 200 notifies the function domain control means of the use time and the use period according to the scheduling set for each resource.
FIG. 12 is a flowchart showing another common parameter adjustment routine that performs scheduling such as a resource use time and a use period when a use request for a resource is received. In FIG. 12, the same step numbers are assigned to substantially the same steps as in FIG.

  Some resources are required to be used redundantly by a plurality of functional domain control means, and other resources are required to be used only by one functional domain control means. Therefore, in S410, the intrabox 200 determines whether the use request received in S400 is a duplicate use request for the same resource.

  When the usage requests are duplicated, in S402, the intra box 200 maps the usage schedule for the resources on the time axis in consideration of the urgency of the usage requests due to the usage priority or the processing deadline.

  If the use requests are not duplicated, the intrabox 200 does not execute S402 and shifts the process to S404. The intra-box 200 can reduce power consumption and processing time consumption by omitting mapping processing on the time axis for resources whose use requests do not overlap from a plurality of functional domain control means.

In S404, the intra box 200 notifies the function domain control means of the use time and the use period according to the scheduling set for each resource.
[Other Embodiments]
In the above embodiment, the system configuration in which a plurality of functional domain managers as functional domain control means are installed has been described. On the other hand, the vehicle control system may have only one functional domain control means. Also in this system configuration, the same general-purpose intrabox 200 as in the case where there are a plurality of functional domain control means is used, and the same common processing as in the case where there are a plurality of functional domain control means is performed.

  In the above embodiment, the cooperation control unit 80 is separated from the intra box 200 which is a vehicle control device. On the other hand, the cooperation control means 80 may be installed in the intra box 200.

  As described above, the present invention is not limited to the above-described embodiment, and can be applied to various embodiments without departing from the gist thereof.

The block diagram which shows the vehicle control system by this embodiment. The block diagram which shows another vehicle control system. The block diagram which shows the structure of a control condition management means. A term chart explaining the resource usage schedule. A term chart describing other schedules for resource use. The block diagram which shows the structure of an inspection means. The block diagram which shows the structure of a resource management means. The block diagram which shows the structure of a plug and play management means. The block diagram which shows the independent information storage means, the calculating means, and a power supply. The block diagram which shows the structure which installed the intra box in the junction box. The flowchart which shows a common parameter adjustment routine. The flowchart which shows another common parameter adjustment routine.

Explanation of symbols

10, 12: Vehicle control system, 20: Power supply control device, 30: Steering control device (functional domain control means), 40: Brake control device (functional domain control means), 50: Body control device (functional domain control means), 60: Navigation device (functional domain control means), 80: Cooperation control means, 90, 92, 94, 96, 282, 284, 286, 288, 290, 292, 294, 296: Functional domain manager (functional domain control means) , 200: Intrabox (common processing means), 210: Communication interface means, 230: Control condition management means, 232: Parameter adjustment means, 234: Global schedule, 236: Global time, 238: Global event, 240: Global data, 242: Global mode, 2 0: Audit means, 252: Global behavior, 254: Global diagnosis, 260: Resource management means, 262: Global power, 264: Global RAM, 266: Global flash memory, 268: Global operation means, 270: Global heat, 280: Plug and play management means, 300: independent power supply, 302: independent flash memory (information storage means), 304: independent RAM (information storage means), 306: independent calculation means

Claims (27)

A communication interface means with a functional domain control means for controlling the behavior of the control target mounted on the vehicle for each functional domain;
A common processing unit that performs common processing common to the functional domain control unit that does not depend on behavior control by the functional domain control unit for the control target, and manages the functional domain control unit via the communication interface unit;
A vehicle control device comprising:   The common processing means implements the common processing independent of cooperative control by the cooperative control means for controlling the behavior control of the functional domain control means and the cooperative control of the functional domain control means depending on the behavior control. The vehicle control device according to claim 1.   The vehicle control according to claim 1, wherein the common processing unit includes a control condition management unit that manages a control condition shared when the functional domain control unit controls the behavior of the control target. apparatus.   The vehicle control device according to claim 3, wherein the control condition includes at least one of a schedule, a time, an event, data, and a mode.   The said control condition management means has a parameter adjustment means to adjust use of the common parameter shared when the said functional domain control means controls the behavior of the said control object, The Claim 3 or 4 characterized by the above-mentioned. Vehicle control device.   6. The vehicle control apparatus according to claim 5, wherein the parameter adjustment unit adjusts synchronization when the functional domain control unit uses the common parameter. The common processing means includes control condition management means for managing control conditions shared when the functional domain control means controls the behavior of the control target,
The control condition management means includes a parameter adjustment means for adjusting use of a common parameter shared when the functional domain control means controls the behavior of the control target without depending on the cooperation control of the cooperation control means. The vehicle control device according to claim 2, comprising: The common processing means includes control condition management means for managing control conditions shared when the functional domain control means implements the behavior control and when the cooperation control means implements the cooperation control,
The control condition management unit includes a parameter adjustment unit that adjusts synchronization when using a common parameter shared between the functional domain control units or between the functional domain control unit and the cooperation control unit. The vehicle control device according to claim 2.   The said parameter adjustment means adjusts use of the said common parameter to a time division for every functional unit of the said behavior control which the said functional domain control means implements with respect to the said control object, The Claim 5 to 8 characterized by the above-mentioned. The vehicle control device according to any one of the above.   The said parameter adjustment means adjusts use of the said common parameter by the said functional domain control means based on the use request | requirement of the said common parameter from the said functional domain control means. The vehicle control device according to item. The common processing means has an auditing means for auditing behavior abnormality of the functional domain control means,
The vehicle control apparatus according to any one of claims 3 to 10, wherein the control condition management unit manages the control condition based on an audit result of the audit unit.   The vehicle control apparatus according to any one of claims 1 to 10, wherein the common processing unit includes an audit unit that audits a behavior abnormality of the functional domain control unit. The common processing means includes resource management means for managing resources shared by the functional domain control means,
The vehicle control apparatus according to any one of claims 3 to 11, wherein the control condition management unit manages the control condition based on a use state of the resource managed by the resource management unit.   The vehicle control apparatus according to any one of claims 1 to 12, wherein the common processing unit includes a resource management unit that manages resources shared by the functional domain control unit.   15. The resource management unit according to claim 13 or 14, wherein the resource management unit distributes the resource in response to a use request from the functional domain control unit based on a priority set for each functional domain control unit. Vehicle control device.   The said resource management means distributes the said resource to the said functional domain control means according to the urgency of the use request from the said functional domain control means, The Claim 13 characterized by the above-mentioned. Vehicle control device. The common processing means includes plug and play management means for managing plug and play of the functional domain control means,
14. The control condition management unit manages the control condition based on a system configuration by the functional domain control unit managed by the plug and play management unit. The vehicle control device according to claim 1.   The vehicle control apparatus according to any one of claims 1 to 16, wherein the common processing unit includes a plug and play management unit that manages plug and play of the functional domain control unit. .   The common processing means manages the resources shared by the functional domain control means and audit means for auditing behavioral abnormalities of the functional domain control means, and the resources by the functional domain control means based on the audit results of the audit means The vehicle control device according to claim 1, further comprising resource management means for managing use of the vehicle.   The common processing means is an audit means for auditing behavioral abnormalities of the functional domain control means, and plug and play of the functional domain control means, and based on the audit result of the audit means, the functional domain control means The vehicle control device according to any one of claims 1 to 10, further comprising: a plug and play management unit that restricts a change in the system configuration.   The common processing means is based on resource management means for managing resources shared by the functional domain control, plug-and-play of the functional domain control means, and based on a use state of the resources managed by the resource management means. The vehicle control apparatus according to claim 1, further comprising: a plug and play management unit that restricts a change in the system configuration by the functional domain control unit. The common processing means manages auditing means for auditing abnormal behavior of the functional domain control means, resource management means for managing resources shared by the functional domain control, and manages plug and play of the functional domain control means Plug and play management means to
The control condition management unit manages the control condition based on at least two pieces of information of audit information of the audit unit, resource management information of the resource management unit, and system management information of the plug and play management unit. The vehicle control device according to any one of claims 3 to 10, wherein   The vehicle control apparatus according to any one of claims 1 to 22, wherein the common processing unit includes a dedicated independent calculation unit and an information storage unit.   The vehicle control apparatus according to any one of claims 1 to 23, wherein the common processing unit has a dedicated independent power source.   The vehicle control device according to any one of claims 1 to 24, wherein the vehicle control device is installed in a power supply control device or a communication control device shared with another device.   The vehicle control apparatus according to any one of claims 1 to 25, wherein the common processing unit includes a synchronization adjustment unit that adjusts synchronization when performing a plurality of common processes. Functional domain control means for controlling the behavior of the control target mounted on the vehicle for each functional domain;
A vehicle control device according to any one of claims 1 to 26;
A vehicle control system comprising:

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