JP2010215008A - Vehicle control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control system for reducing a change amount of control processing due to a change of sharing information. <P>SOLUTION: A vehicle control system is constituted such that a power train ECU 20 acting as a function domain ECU, a chassis ECU 30, a body ECU 40, an infotainment ECU 50, its subdomains ECU 60, 62, 64 and 66 are connected through a global network 300 and a local network 310 so as to be communicated each other. A plurality of function domains ECU and subdomains ECU within the same function domain and among the different function domains have a sharing information in common through a communication frame 320 used in the communication at the global network 300 and the local network 310. An information management means 24 at the power train ECU 20 manages a sharing of information at the communication frame 320 by the function domains ECU and subdomains ECU on the basis of a configuration of the vehicle. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle control system that controls the behavior of a control object mounted on a vehicle.

  There is known a vehicle control system that controls the behavior of a control target mounted on a vehicle for each functional domain classified by the function of the control target, and for each sub-domain classified by a function more detailed than the functional domain ( For example, see Patent Document 1.)

  In such a vehicle control system, sensor information shared by a plurality of domains, diagnosis results for a control target, and the like may be shared as shared information. In this case, by providing a shared area for storing the shared information, and setting the identifier (ID) of the shared information, the position of the shared information in the shared area, the data length, and the like at the time of designing the vehicle control system, a plurality of domains can be created. Information can be shared in the shared area.

JP 2001-239901 A

  However, changes in the vehicle configuration occur due to the addition, version change, deletion, etc. of the control target or the control device that controls the behavior of the control target, and sharing of the shared information identifier, shared information position and data length in the shared area, etc. Changes to information settings may occur.

  As described above, when the setting related to the shared information is changed due to the change of the vehicle configuration, the control processing related to the shared information set at the time of designing the vehicle control system is performed again in each control device using the changed shared information. Must be set and changed. As a result, there is a problem that the amount of change in the control processing accompanying the change in the shared information increases.

  The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a vehicle control system that can reduce the amount of change in control processing accompanying change in shared information as much as possible.

  According to the first aspect of the present invention, the function domain control means for controlling the behavior of the control target for each function domain classified by the function of the control target mounted on the vehicle, and the function domain is more detailed than the function domain. Sub-domain control means for controlling the behavior of the controlled object for each sub-domain classified by function, local communication means for communication between the functional domain control means and the sub-domain control means in the functional domain, and local communication means Information sharing means having an information sharing area for sharing information between the functional domain control means and the subdomain control means, and information sharing in the information sharing area by the functional domain control means and the subdomain control means based on the vehicle configuration Information management means.

  Thus, since the information management means integrates and manages the sharing of information in the information sharing area based on the vehicle configuration, even if the setting of the shared information is changed due to the change of the vehicle configuration, the functional domain control means and The subdomain control unit can respond to the change of the setting of the shared information by an instruction from the information management unit.

  Thereby, when the setting of shared information is changed with the change of the vehicle configuration, the amount of change in the control processing related to the shared information can be reduced as much as possible in the functional domain control means and the subdomain control means.

  According to the second and third aspects of the present invention, the plurality of functional domain control means for controlling the behavior of the control target for each functional domain classified by the function of the control target mounted on the vehicle, Subdomain control means for controlling the behavior of the control target for each subdomain classified by more detailed function, local communication means for communication between the functional domain control means and the subdomain control means in the functional domain, A global communication means for communicating between a plurality of functional domains; an information sharing means having an information sharing area in which the functional domain control means and the subdomain control means of different functional domains share information via the global communication means; Setting of shared information in the information sharing area by the functional domain control means and the subdomain control means An information managing means for managing on the basis of and a.

  Thus, even when the functional domain control means and the subdomain control means of different functional domains share information in the information sharing area of the information sharing means via the global communication means, the functional domain control means and the subdomain control means The information management means integrates and manages the setting of shared information in the information sharing area.

  Thereby, even if the setting of the shared information is changed due to the change of the vehicle configuration, the functional domain control means and the subdomain control means can cope with the change of the setting of the shared information by an instruction from the information management means. .

  As a result, when the setting of the shared information is changed with the change of the vehicle configuration, the amount of change in the control processing related to the shared information can be reduced as much as possible in the functional domain control means and the subdomain control means.

  Further, according to the first to third aspects of the present invention, when the setting of the shared information is changed with the change of the vehicle configuration in the functional domain control means and the subdomain control means, the change amount of the control processing related to the shared information is minimized. Since it can be reduced, the same algorithm is used for a long time in the control processing by the functional domain control means and the subdomain control means.

This increases the chances of solving the problem of the algorithm of the control processing by the functional domain control means and the subdomain control means, thereby improving the reliability of the algorithm.
According to the invention described in claim 4, the information sharing means is provided when there are a plurality of local communication means and a plurality of functional domains for communication between the functional domain control means and the subdomain control means in the functional domain. Is a global communication means for communicating between a plurality of functional domains, and the information sharing area is a communication frame communicated by the communication means.

  By using a communication frame as an information sharing area in order to communicate information with the communication means, there is no need to newly provide information sharing means. As a result, it is possible to prevent the manufacturing cost from increasing due to the provision of the information sharing means.

  Further, for example, when sharing shared information in a memory device, the step of writing the shared information in the memory device, the step of notifying by communication that the shared information has been written, and the shared information written in the memory device are communicated. And a step of reading by the functional domain control means or the sub-domain control means through the means.

  On the other hand, if the communication frame is an information sharing area, if the communication frame in which the shared information is written is transmitted, the control means that requires the shared information among the functional domain control means and the subdomain control means transmits the communication frame. Since it only has to be received, the real-time property of the shared information is improved. In addition, by using the communication frame as an information sharing area, it is possible to prevent an abnormality from occurring in a memory device that shares information and disabling information sharing.

  According to the invention described in claim 5, the information management means functions as a communication master means for managing communication by the communication means, and the communication master means transmits at least one of the functional domain control means and the subdomain control means. Shared information is selected from the communication information, and the selected shared information is set in a communication frame and transmitted.

  As a result, although there is a time delay between the communication master unit selecting the shared information and setting and transmitting the shared information in the communication frame, the communication master unit is divided into the functional domain control unit and the sub-domain control unit. Shared information can be selected and transmitted without leaking from the communication information to be transmitted.

  According to the invention described in claim 6, the information management means functions as a communication master means for managing communication by the communication means, and at least one of the functional domain control means and the subdomain control means transmits the shared information. The shared information is sequentially set in the communication frames created by the communication master unit according to the order managed by the communication master unit.

  As a result, when the communication master means transmits a communication frame with an empty information area in order to transmit the shared information, the functional domain control and the sub-domain control means sequentially add the shared information to the communication frame according to the order managed by the communication master means. Set. As a result, the real-time property of the shared information is improved.

  However, as in the invention according to claim 6, in the method in which the functional domain control and the sub domain control means sequentially set the shared information in the communication frame transmitted by the communication master means, error detection of information set in the communication frame is detected. When the code is calculated, there is a case where it is difficult to calculate the error detection code because there is no time lapse from the time when all the shared information is set in the communication frame until the calculation of the error detection code.

Therefore, according to the seventh aspect of the present invention, the communication master means sets dummy data between the shared information and the error detection code.
Thus, since all the shared information is set in the communication frame, it is possible to secure the time for dummy data to calculate the error detection code, so that it is possible to prevent the error detection code from being calculated in time.

  In the invention described in claim 7, although the communication master means sets dummy data between the shared information and the error detection code, the calculation of the error detection code is not limited to the communication master means, but other calculation means. May do.

  According to the invention described in claim 8, the communication master means for managing the communication by the communication means calculates the error detection code of the information set in the communication frame, and sets the error detection code after the shared information of the communication frame. .

  Thereby, based on the correct data set by itself before at least the shared information in the communication frame, compared to the case where the calculation means other than the communication master means calculates the error detection code based on the received communication frame data. The communication master means can calculate the error detection code. As a result, there is a high possibility that a correct error detection code is calculated.

According to the ninth aspect of the present invention, it is provided with verification means for verifying whether or not the error detection code set in the communication frame is correct.
Accordingly, when the verification unit determines that the error detection code is incorrect, an appropriate fail-safe process such as retransmission of shared information can be performed.

According to the tenth aspect of the present invention, when the verification unit determines that the error detection code is incorrect, the verification unit blocks transmission of a communication frame in which the error detection code is incorrect.
As a result, the sender and the receiver can immediately know that the error detection code is incorrect. As a result, it is possible to immediately prevent the subsequent communication process or control process from being executed based on the shared information in which the error detection code is incorrect without noticing the error detection code error.

  By the way, as in the above-described invention according to claim 6 or 7, at least one of the functional domain control and the sub-domain control means is shared by the communication frame created by the communication master means according to the order managed by the communication master means. When information is set sequentially, it is conceivable that noise is generated only around the node of the communication master means, and the communication master means receives erroneous data. In this case, when the communication master means calculates the error detection code, the error detection code is calculated based on the erroneous received data, so the error detection code becomes an incorrect code. At this time, if the error detection code is calculated in another node when noise is not generated in the vicinity of a node different from the communication master means and correct information is received, a communication abnormality in the communication master means is detected. it can. However, the communication master means cannot detect the transmission of its own error detection code unless another node notifies the communication abnormality of the communication master means.

  Therefore, according to the invention of claim 11, the communication master means and the code calculation means for calculating the error detection code of the information set in the communication frame are provided together with the communication master means, and the communication master means and the code calculation means respectively calculate the calculated error. A part of the detection code is set after the shared information to complete the error detection code.

  Thereby, the communication master means can receive a part of the error detection code calculated by the code calculation means other than the communication master means and compare it with the error detection code calculated by the communication master means itself. Thereby, the communication master means can detect an error in the error detection code when the error detection code created by itself and the part of the error detection code calculated by the code calculation means do not match. In this case, the communication master unit can perform appropriate fail-safe processing such as notifying the functional domain control and sub-domain control unit of the retransmission of the shared information and performing the retransmission of the shared information.

  According to the twelfth aspect of the present invention, when the communication master means retransmits the communication frame when a communication error occurs, the communication master means uses the time when the communication frame that first caused the communication error is transmitted as the shared information in the communication frame. Set.

  Thereby, the receiver who received the communication frame transmitted normally can process the shared information retroactively to the communication time when the communication error first occurred. For example, when diagnosing the behavior of a control target based on the elapsed time after the water temperature has exceeded a predetermined temperature, the time when the water temperature first exceeded the predetermined temperature from the shared information that was normally received, although a communication error occurred. Can know. As a result, the elapsed time can be counted back to the time when the water temperature first exceeds the predetermined temperature, and the behavior of the controlled object can be diagnosed.

According to a thirteenth aspect of the present invention, the apparatus includes sub-master means for managing communication by the communication means instead of the communication master means when the communication master means is abnormal.
Thereby, even if an abnormality occurs in the communication master unit, the sub-master unit can continue to manage the communication unit.

  According to the invention described in claim 14, when the communication arbitration unit detects a communication start request to the global communication unit by the subdomain control unit in the local communication unit, the communication arbitration unit detects a communication start request to the global communication unit in the local communication unit. If the priority of the received communication is higher than the predetermined priority and higher than the priority of other communication whose communication start request is detected in the global communication means, the communication start request is detected in the local communication means. Allows communication to global communication means.

  As a result, the priority of the communication in which the communication start request to the global communication means is detected in the local communication means is higher than the predetermined priority, and the priority of the other communication in which the communication start request is detected in the global communication means. If it is higher than the rank, the communication from the local communication means to the global communication means can be started promptly in preference to the other communication that has previously requested the global communication means to start communication.

  According to the fifteenth aspect of the present invention, when the communication arbitration unit detects a communication start request to the global communication unit in the local communication unit during communication in the global communication unit, the communication arbitration unit is executing in the global communication unit. After the communication is completed, the communication to the global communication means for which the communication start request is detected in the local communication means is permitted.

  Thereby, even if there is a communication start request from the local communication means having a higher priority than the communication currently being executed in the global communication means to the global communication means, the communication being executed in the global communication means is completed without interruption. be able to. As a result, although communication from the local communication means having higher priority than the communication being executed in the global communication means to the global communication means can be waited, the communication processing that increases to interrupt and retry the ongoing communication Can be reduced.

  By the way, along with the quantitative expansion and complexity of in-vehicle software, standardization of in-vehicle software is required. Therefore, the in-vehicle software is standardized by an association formed by companies involved in the manufacture of vehicles, electronic control units (ECUs), etc., such as AUTOSAR (Automotive Open System Architecture). It is being considered for use. In AUTOSAR, communication between software is standardized by VFB (Virtual Functional Bus) among standardization of in-vehicle software. Thereby, in different vehicles, it can communicate between software by the standardized common communication specification, without being conscious of the difference of a vehicle structure and communication hardware.

  However, in the VFB provided by AUTOSAR, since communication between software is standardized, communication in the functional domain control means and sub-domain control means, communication in the local communication means, communication in the global communication means, The hierarchy is not conscious, and communication is performed with a common communication specification. As a result, communication between a plurality of layers in the same layer and different layers, for example, communication in a local communication unit, communication in a global communication unit, and communication between a global communication unit and a local communication unit cannot be distinguished. It is difficult to distinguish and process communications between the same layer and different layers at a level.

  Therefore, according to the invention described in claim 16, the communication between the software installed in the functional domain control means and the subdomain control means is set on the VFB provided by AUTOSAR, and the communication on the VFB The communication specifications in the domain control means and the sub-domain control means, the communication in the local communication means, and the communication in the global communication means have a three-layer structure. Is set for each.

  Thereby, the creator of the in-vehicle software distinguishes communication between the same hierarchy and different hierarchies based on the communication specifications set between the same hierarchy and different hierarchies on the VFB. You can create a process. Of course, the creator of the in-vehicle software can create a communication process between the software based on the set communication specifications without being aware of the difference between the configuration of the vehicle and the communication hardware.

  According to the invention of claim 17, the information management means uses at least one of the data, the start timing of the control processing by the functional domain control means and the subdomain control means, and the synchronization timing of the control processing as shared information. Set in the information sharing area.

  In addition to data, when the start timing and the synchronization timing of the control processing are individually notified by using at least one of the control processing start timing and the synchronization timing by the functional domain control means and the sub-domain control means as shared information Compared to the above, it becomes easier to start and synchronize control processing by a plurality of functional domain control means and sub-domain control means.

According to the invention described in claim 18, the information sharing means is a memory device included in the functional domain control means, and the information sharing area is a shared area provided in the memory device.
Since an existing memory device can be used as the information sharing means, there is no need to newly provide information sharing means. As a result, it is possible to prevent the manufacturing cost from increasing due to the provision of the information sharing means.

  According to the nineteenth aspect of the present invention, the common processing common to the control processing executed by the functional domain control means and the subdomain control means is executed, which is different from the processing apparatus constituting the functional domain control means and the subdomain control means. Information management means is provided in the common processing apparatus.

  As described above, the common processing device has a different configuration from the processing devices constituting the functional domain control means and the subdomain control means, and thus is affected by hardware and software changes of the functional domain control means and the subdomain control means. Instead, the information management means provided in the common processing device can manage the setting of the shared information in the information sharing area by the functional domain control means and the subdomain control means based on the vehicle configuration.

  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.

The block diagram which shows the vehicle control system of 1st Embodiment. The block diagram which shows the example of a setting of the shared information by the communication frame of 1st Embodiment. The block diagram which shows the other example of a setting of the shared information by the communication frame of 1st Embodiment. 5 is a flowchart showing an information sharing routine 1; The schematic diagram which shows the example of application to VFB of this embodiment. The block diagram which shows the example of a setting of the shared information by the communication frame of 2nd Embodiment. The block diagram which shows the other example of a setting of the shared information by the communication frame of 2nd Embodiment. 5 is a flowchart showing an information sharing routine 2; The block diagram which shows the example of a setting of the shared information by the communication frame of 3rd Embodiment. The block diagram which shows the other example of a setting of the shared information by the communication frame of 3rd Embodiment. The block diagram which shows the example of a setting of the shared information by the communication frame of 4th Embodiment. The block diagram which shows the example of a setting of the shared information by the communication frame of 5th Embodiment. The block diagram which shows the vehicle control system of 6th Embodiment. The schematic diagram which shows the structure of a shared memory. 10 is a flowchart showing an information sharing routine 3; The block diagram which shows the vehicle control system of 7th Embodiment. The block diagram which shows the vehicle control system of 8th Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
A vehicle control system according to a first embodiment of the present invention is shown in FIG.

(Vehicle control system 10)
The vehicle control system 10 includes a power train ECU 20, a chassis ECU 30, a body ECU 40, an infotainment ECU 50, sub-domain ECUs 60, 62, 64, 66, and the like. The powertrain ECU 20, the chassis ECU30, the body ECU40, and the infotainment ECU50 are each a function of a control target mounted on the vehicle, in other words, a powertrain domain that is a function domain classified according to the role of the control target in the vehicle, It is a functional domain ECU that executes a control process for controlling the behavior of a control target for each chassis domain, body domain, and infotainment domain using an implemented control program.

  Each functional domain is classified into subdomains that are more detailed than the functional domain according to the function to be controlled. And in each functional domain, subdomain ECU60, 62, 64, 66 controls the behavior of a control object for every subdomain by the mounted control program.

  The power train ECU 20, the chassis ECU 30, the body ECU 40, and the infotainment ECU 50 are communicably connected to each other via a global network 300 such as FlexRay (registered trademark of Daimler Chrysler). Further, each functional domain ECU and its subdomain ECU are connected to each other via a local network 310 such as a CAN (Controller Area Network), MOST (Media Oriented Systems Transport) or the like so as to communicate with each other. The global network 300 and the local network 310 may be networks having the same communication specifications.

  The classification of functional domains is not limited to the above, and various combinations of control targets included in the functional domains are possible. Moreover, it is not necessary to classify all the control targets into functional domains, and only some control targets may be integrated into the functional domain.

  The powertrain ECU 20 integrates and controls the behaviors of the injectors, transmissions, and the like to be controlled in units of powertrain domains. The powertrain ECU 20 is provided with communication arbitration means 22 and information management means 24.

  The chassis ECU 30 integrates and controls behaviors of steering, brakes, and the like, which are controlled objects, on a chassis domain basis. The chassis ECU 30 is provided with communication arbitration means 32.

The body ECU 40 integrates and controls the behaviors of air conditioners, doors and the like to be controlled in units of body domains. The body ECU 40 is provided with communication arbitration means 42.
The infotainment ECU 50 integrates and controls the behavior of the audio device, navigation device, and the like to be controlled in units of infotainment domains. The infotainment ECU 50 is provided with communication arbitration means 52.

  The sub-domain ECUs 60, 62, 64, 66 individually control the behavior of the control target of the sub-domain constituting each functional domain, for example, for each high-pressure pump discharge amount, each wheel brake, steering, each door, and each CD player. To do.

  Each functional domain ECU and sub-domain ECU are mainly configured by a microcomputer (hereinafter also referred to as “microcomputer”) including a CPU, ROM, RAM, flash memory, communication interface, and the like (not shown).

  In the vehicle control system 10 shown in FIG. 1, a plurality of functional domain ECUs and sub-domain ECUs within the same functional domain and between different functional domains are shared by the communication frame 320 used for communication in the global network 300 and the local network 310. Share In order to realize information sharing by the communication frame 320, in the first embodiment, the powertrain ECU 20 functions as a communication master device 100 (see FIGS. 2 and 3) that manages communication in the global network 300 and the local network 310. To do. The power train ECU 20 as the communication master device 100 is provided with information management means 24.

  FIG. 2 shows an example of setting shared information by CAN as an in-vehicle network, and FIG. 3 shows an example of setting shared information by FlexRay instead of CAN. Since the configuration of CAN and FlexRay communication frames is known, the description thereof is omitted.

  Next, functions executed by the powertrain ECU 20 and each functional domain ECU by executing a control program stored in the ROM or flash memory will be described.

(Communication mediation means)
Since the functions of the communication arbitration means 22, 32, 42, and 52 are substantially the same, the communication arbitration process by the communication arbitration means will be described taking the communication arbitration means 22 in the powertrain domain as an example.

  The communication arbitration unit 22 arbitrates communication between the local network 310 and the global network 300. When the communication arbitration unit 22 detects a communication start request from the local network 310 to the global network 300 by the subdomain ECU 60 of the power train domain, the communication arbitration unit 22 starts communication with the global network 300 in the local network 310 of the power train domain. When the priority of the communication in which the request is detected is higher than the predetermined priority and higher in priority than the other communication in which the communication start request is detected in the global network 300, the local network 310 in the power train domain Communication to the global network 300 is permitted.

As a result, communication to the global network 300 by the sub-domain ECU 60 that has detected a communication start request in the powertrain domain is immediately started.
When the communication by the sub domain ECU 60 of the power train domain is required by, for example, the sub domain ECU 66 of the chassis domain which is another functional domain, the communication arbitration means 32 of the chassis ECU 30 is transmitted by the sub domain ECU 60 of the power train domain. The communication priority may be raised and transmitted from the global network 300 to the local network 310 in the chassis domain.

  As a result, the information transmitted from the sub domain ECU 60 of the power train domain to the global network 300 can be preferentially transmitted to the local network 310 of the chassis domain. As a result, communication delay between subdomain ECUs of different functional domains can be reduced as much as possible.

  Note that the communication arbitration unit 22 can detect the global network even if it detects a communication start request from the local network 310 to the global network 300 by the subdomain ECU 60 in the power train domain when communication is performed in the global network 300. The communication start request from the local network 310 to the global network 300 by the sub-domain ECU 60 is waited until the communication being executed in 300 is completed.

  Then, the communication arbitration unit 22 permits the communication from the local network 310 in the power train domain to the global network 300 when the communication being executed in the global network 300 is completed. Then, communication to the global network 300 by the sub domain ECU 60 of the powertrain domain that has been waiting is started.

  Thus, even when there is a communication start request from the local network 310 having a higher priority than the communication currently being executed in the global network 300 to the global network 300, the communication being executed in the global network 300 is completed without interruption. be able to.

  As a result, although communication from the local network 310 having a higher priority than the communication being executed to the global network 300 can be waited, the communication processing load that is increased to interrupt and retry the communication being executed is reduced. it can. However, when the highest priority communication start request is generated, as an exception, the communication being executed in the global network 300 may be interrupted.

(Information management means 24)
The information management means 24 provided in the power train ECU 20 manages settings related to shared information such as where in the communication frame 320 the shared information from which functional domain ECU and sub-domain ECU is set and at which data length. When the vehicle configuration is changed, the vehicle configuration change information is acquired via the global network 300 and the local network 310, and settings related to the shared information are managed based on the change information.

(Information sharing routine 1)
Next, an information sharing routine 1 for executing information sharing using the communication frame 320 in the first embodiment will be described. FIG. 4 shows a flowchart of the information sharing routine 1. The information sharing routine 1 can be applied to both CAN and FlexRay. The information sharing routine 1 in FIG. 4 is always executed.

  In S400, the communication master device 100 has a change in the vehicle configuration, such as whether an optional product has been added or the version of any ECU control program has been updated via the global network 300 and the local network 310. Determine. When there is no change in the vehicle configuration (S400: No), the communication master device 100 shifts the process to S404.

  When there is a change in the vehicle configuration (S400: Yes), in S402, the communication master device 100 changes the setting related to the shared information in the communication frame 320 based on the change in the vehicle configuration.

  In S404, the communication master device 100 determines whether or not the transmission condition of the shared information is satisfied. For example, the communication master device 100 determines whether or not the water temperature is equal to or higher than a predetermined temperature as the transmission condition. When the transmission condition is not satisfied (S404: No), the communication master device 100 ends this routine.

  When the transmission condition is satisfied (S404: Yes), in S406, communication master device 100 selects and acquires shared information from communication information transmitted from each functional domain ECU and sub-domain ECU. The functional domain ECU and the sub-domain ECU that transmit the shared information detect that the water temperature is equal to or higher than the predetermined temperature from the communication frame that transmits the water temperature information and transmit the predetermined shared information, or the water temperature is the predetermined temperature. Predetermined shared information is transmitted in response to a request from the communication master device 100 that has detected the above.

  The communication master device 100 transmits sensor signals of the engine speed sensor and the accelerator position sensor as shared information, for example, when the engine speed and the accelerator position information when the water temperature is equal to or higher than a predetermined temperature are required. The engine speed and the accelerator opening are acquired as shared information from the subdomain ECU.

  In S408, the communication master device 100 calculates a CRC (Cyclic Redundancy Check) code of shared information including the water temperature, the engine speed, and the accelerator opening, and in S410, as shown in FIG. 2 or FIG. In accordance with communication specifications such as FlexRay, the communication information is set with the shared information including the water temperature, the engine speed, and the accelerator opening, and the CRC code is transmitted. The shared information set in the communication frame 320 may be one piece or plural pieces. The calculation of the CRC code is not limited to the communication master device 100 but may be performed by another functional domain ECU or a sub-domain ECU.

  The functional domain ECU other than the sub-domain ECU 110 or the communication master device 100 not shown in FIGS. 2 and 3 calculates the CRC code together with the communication master device 100 based on the information of the communication frame transmitted by the communication master device 100. Then, the functional domain ECU other than the sub domain ECU 110 or the communication master device 100 compares the CRC code calculated by itself with the CRC code of the communication frame 320, and if it is abnormal (S412: Yes), in S414, Forcibly cut off transmission by the current communication frame. Thereby, the communication master device 100 and the receiving node can immediately know that the CRC code is incorrect. As a result, appropriate fail-safe processing such as immediately preventing subsequent communication or control processing from being executed based on shared information in which the CRC code is incorrect without noticing the CRC code error can be performed.

In order to block transmission of a communication frame when the CRC code is abnormal, it is conceivable to invalidate communication by the following method.
(1) When a functional domain ECU other than the communication master device 100 detects an abnormality in the CRC code during the transmission of the CRC code, the functional domain ECU that has detected the abnormality is all “Low” or “High” in the remaining CRC codes. Set an abnormal value. Can be used in both CAN and FlexRay.
(2) An ID having a higher priority than the mid-communication communication is transmitted. Can be used in CAN.
(3) An error frame is transmitted. Can be used in CAN.

  When the sub domain ECU 110 or the functional domain ECU detects an abnormality in the CRC code transmitted by the communication master device 100, the sub domain ECU 110 or the functional domain ECU may instruct other appropriate fail-safe processing without immediately interrupting communication.

  When the CRC code is normal (S412: No), the transmitted communication frame is received by the ECU that requires the shared information, and the shared information is acquired. When the shared information of the communication frame is required by the ECU of another functional domain, the power train ECU 20 that functions as the communication master device 100 in this embodiment transmits the communication network 22 from the local network 310 to the global network 300 described above. Based on the communication arbitration process, communication from the local network 310 to the global network 300 is arbitrated.

  As described above, as the shared information, for example, the water temperature, the engine speed, and the accelerator opening when the water temperature is equal to or higher than a predetermined temperature can be considered. If the information of the communication frame transmitted by the communication master device 100 is predetermined shared information including the water temperature, the engine speed, and the accelerator opening, it can be indicated by an identifier (ID) field in the case of CAN. If it is FlexRay, a plurality of frame IDs may be assigned to the communication master device 100, and the corresponding frame ID may indicate shared information including the water temperature, the engine speed, and the accelerator opening. May be shared information including the water temperature, the engine speed, and the accelerator opening, by a combination of the data and the head data of the payload segment.

  Further, as the shared information, the start timing and the synchronization timing of the control processing that should be shared by the plurality of functional domain ECUs and sub-domain ECUs 110 may be set in the communication frame.

  When the individual information constituting the shared information is transmitted from the subdomain ECUs of a plurality of functional domains, the communication master device 100 that is the functional domain ECU uses information corresponding to the information transmitted by the subdomain ECUs of different functional domains as the corresponding functions. It can be received via the functional domain ECU of the domain.

In addition, when shared information is added by adding an optional product or the like, for example, in the case of CAN, it is conceivable to change the setting of shared information and add shared information as follows.
(1) The existing shared information ID is used in the communication frame, and in the control field DLC (Data Length Field), for example, if an optional product is not installed, DLC = 1 is set and the shared information is added by adding the optional product. If so, DLC = 2. As a result, the data in the second byte of the data field becomes valid, and shared information added along with the addition of an optional item can be set.
(2) If the optional product to be added is a genuine product and an optional product that may be added is known, an ID for shared information is assigned in advance for the optional product to be added. When a corresponding optional product is added, a corresponding ID is assigned.
(3) When an optional product is added, the remote product requests the communication master device 100 to allocate an ID and a data position in the data field by a remote frame. The communication master device 100 allocates an ID that is not allocated for other optional items from the unused ID as shared information. Accordingly, shared information can be added by assigning an ID to an option item that is not predicted to be added.

  As described in (1) to (3) above, when the communication master device 100 changes the data length in the communication frame and sets the ID for shared information, the shared information is added to the functional domain ECU and the subdomain ECU. You can know what was done.

However, when the optional product is not a product that can be mounted, for example, in the case of a product of a manufacturing company that is not registered, it is desirable to reject the mounting itself before assigning the ID.
In the case of FlexRay, shared information can be added along with the addition of optional products in the same manner as in (1) and (2) above. However, there is no communication frame corresponding to the CAN remote frame in FlexRay. Therefore, the option product side may request the allocation of the shared information ID and the data position in the slot allocated in the static segment or the slot in the dynamic segment.

  By the way, when the communication between the control programs (software) installed in the functional domain ECU and the sub-domain ECU of the present embodiment is set on the VFB provided by AUTOSAR, it is desirable to realize as follows.

  In VFB, communication between software is standardized, but layering such as communication in functional domain ECUs and sub-domain ECUs, communication in local network 310, and communication in global network 300 is recognized. Absent.

  Therefore, in this embodiment, as shown in FIG. 5, communication between software installed in the functional domain ECU and the subdomain ECU is set on the VFB provided by AUTOSAR, and the communication on the VFB The communication specifications in the ECU and the subdomain ECU, the communication in the local network 310, and the communication in the global network 300 are set to three layers, and communication specifications between the same and different layers of the three layers are set on the VFB. ing.

  Accordingly, the creator of the in-vehicle software can create communication processing between software by distinguishing communication between the same layer and different layers based on the communication specification of the three-layer structure set on the VFB. In this case, the creator of the in-vehicle software can create a communication process between the software based on the communication specifications set on the VFB without being aware of the difference in vehicle configuration and communication hardware.

In the present embodiment, the global network 300 and the local network 310 correspond to information sharing means of the present invention, and the communication frame 320 corresponds to an information sharing area.
In this way, by setting shared information in the communication frame 320 using the global network 300 and the local network 310 as information sharing means, when the communication master device 100 sets and transmits the shared information, the necessary ECU shares the shared information. Shared information can be acquired by receiving information. Therefore, the real time property of the shared information is improved.

In addition, since it is not necessary to newly provide information sharing means for sharing information, manufacturing costs can be reduced.
Further, it is considered that the probability that the global network 300 and the local network 310 become abnormal and communication becomes impossible is low. Therefore, by using the global network 300 and the local network 310 as information sharing means, it is possible to reduce as much as possible that information sharing is prevented.

  In this embodiment, the power train ECU 20, chassis ECU 30, body ECU 40, and infotainment ECU 50 correspond to functional domain control means of the present invention, and the sub domain ECUs 60, 62, 64, 66, 110 correspond to sub domain control means. . In the powertrain ECU 20 that also functions as the communication master device 100, the information management means 24 corresponds to the communication master means of the present invention. Further, the sub-domain ECU 110 or the functional domain ECU that detects the abnormality of the CRC code transmitted by the communication master device 100 corresponds to the verification means of the present invention. Also, S400 to S410 in FIG. 4 correspond to functions performed by the information management unit and communication master unit of the present invention, and S412 and S414 correspond to functions performed by the verification unit. In the present embodiment, the CRC code corresponds to the error detection code of the present invention.

[Second Embodiment]
A second embodiment of the present invention is shown in FIGS. Components that are substantially the same as those in the first embodiment are denoted by the same reference numerals.

  FIG. 6 shows a communication frame by CAN, and FIG. 7 shows a communication frame by FlexRay. In the second embodiment, not the communication master device 100 but the subdomain ECU 110 itself that transmits the shared information sets the shared information in the communication frame according to the setting order managed by the communication master device 100.

(Information sharing routine 2)
Next, an information sharing routine 2 for executing information sharing using a communication frame in the second embodiment will be described.

  FIG. 8 shows a flowchart of an information sharing routine 2 using a communication frame according to the second embodiment. The information sharing routine 2 can be applied to both CAN and FlexRay. The information sharing routine 2 in FIG. 8 is always executed.

  In S420, the communication master device 100 has a change in the vehicle configuration, such as whether an optional product has been added or the version of any ECU control program has been updated via the global network 300 and the local network 310. Determine. When there is no change in the vehicle configuration (S420: No), the communication master device 100 shifts the process to S424.

  When there is a change in the vehicle configuration (S420: Yes), in S422, the communication master device 100 changes the setting related to the shared information in the communication frame 320 based on the change in the vehicle configuration.

  In S424, the communication master device 100 determines whether or not the shared information transmission condition is satisfied. For example, the communication master device 100 determines whether or not the water temperature is equal to or higher than a predetermined temperature as the transmission condition. When the transmission condition is not satisfied (S424: No), the communication master device 100 ends this routine.

  When the transmission condition is satisfied (S424: Yes), in S426, the communication master device 100 sets the information before the data field in the communication frame and transmits it as shown in FIGS.

  As described above, the communication master device 100 indicates that the transmitted communication frame is the predetermined shared information by an ID field if it is CAN, and if it is FlexRay, it indicates the frame ID or the frame ID and the data payload segment. Shown in combination with the top data.

  In S428, if the communication frame 320 transmitted by the communication master device 100 is a frame for transmitting predetermined shared information, the sub-domain ECU 110 sequentially sets the shared information in the data field according to the setting order managed by the communication master device 100. . The functional domain ECU may set shared information in the communication frame 320 transmitted by the communication master device 100. Each sub-domain ECU 110 sequentially sets, for example, the water temperature and the engine speed and accelerator opening information when the water temperature is equal to or higher than a predetermined temperature in the data field as shown in FIG. 6 or FIG. However, when the shared information is sequentially set in the data field of the communication frame 320, the functional domain ECU and the subdomain ECU 110 that can set the shared information in the same communication frame in consideration of the transmission delay are within a limited length range. It may be limited to those connected to the network bus.

  When the shared information is set in the data field (S430: Yes), the communication master device 100 calculates the CRC code of the information set in the communication frame 320 in S432, and the remaining communication including the CRC code in S434. Send a frame. The calculation of the CRC code is not limited to the communication master device 100 but may be performed by another functional domain ECU or a sub-domain ECU.

  In the second embodiment, the communication master device 100 does not collect all the shared information once, but the corresponding subdomain ECU 110 sequentially transmits the shared information to the communication frame 320 of the predetermined shared information transmitted by the communication master device 100. Since it is set, the real-time property of shared information is improved.

  Here, as in the second embodiment, the ECU itself that transmits the shared information sets the shared information in the communication frame in accordance with the setting order managed by the communication master device 100, and the CRC code is set immediately after the shared information. In this case, it is desirable that the ECU that sets the shared information lastly calculates the CRC code.

  This is because, in the case of an ECU other than the ECU that has set the shared information at the end, the CRC code can be calculated only after the last shared information is received. is there. In the case of the ECU that has set the shared information at the end, since the shared information that is set last is already known, there is a time margin for calculating the CRC based on the data of the communication frame including the last shared information. is there.

  On the other hand, as shown in FIGS. 6 and 7, when the communication master device 100 calculates the CRC code and sets it immediately after the shared information, it may be difficult to calculate the CRC code temporally. However, compared with the case where the ECU other than the communication master device 100 calculates the CRC code, the communication master device 100 calculates the CRC code based on the correct data set by itself before the shared information in the communication frame 320 at least. it can. Therefore, the possibility that the correct CRC code is calculated by the communication master device 100 calculating the CRC code increases.

In the second embodiment, S420 to S434 in FIG. 8 correspond to functions performed by the information management unit and the communication master unit of the present invention.
[Third Embodiment]
A third embodiment of the present invention is shown in FIGS. Components that are substantially the same as those of the second embodiment are denoted by the same reference numerals.

  FIG. 9 shows a communication frame by CAN, and FIG. 10 shows a communication frame by FlexRay. In the third embodiment, as shown in FIG. 9 or FIG. 10, the communication master device 100 has a dummy between the data field and the CRC code when the shared information is sequentially set by the subdomain ECU in the second embodiment. Set the data (Dummy Data). Thereby, the communication master device 100 can calculate the CRC code while the dummy data is being transmitted.

[Fourth Embodiment]
A fourth embodiment of the present invention is shown in FIG. 11 using a CAN communication frame as an example. Components that are substantially the same as those of the second embodiment are denoted by the same reference numerals.

  In the fourth embodiment, in the second embodiment, when shared information is sequentially set in the data field by each subdomain ECU 110, both the communication master device 100 and any one of the subdomain ECUs 110 are set in the communication frame 320. CRC code of the information is calculated. Then, for example, the first 8 bits of a 15-bit CRC code are set by the sub-domain ECU 110, and the latter 7 bits are set by the communication master device 100. The communication master device 100 transmits the remaining communication frames after the CRC code.

The reason why the CRC code is shared and set between the communication master device 100 and the subdomain ECU 110 will be described below.
When each subdomain ECU 110 sequentially sets shared information in the data field, it is conceivable that noise is generated only around the communication line of the communication master device 100 and the communication master device 100 receives erroneous data. In this case, the communication master device 100 calculates the CRC code based on the erroneous received data, so the CRC code becomes an incorrect code.

  In this case, if no noise is generated around the sub-domain ECU 110 other than the communication master device 100 and correct information is received, the sub-domain ECU 110 can calculate a correct CRC code. Then, if the sub-domain ECU 110 sets the CRC code in sharing with the communication master device 100, the communication master device 100 receives a part of the CRC code calculated by the sub-domain ECU 110 other than the communication master device 100, and receives the communication master. It can be compared with the CRC code calculated by the device 100 itself.

  Thereby, communication master device 100 can detect an abnormality in its own CRC code when the CRC code created by itself does not match a part of the CRC code calculated by subdomain ECU 110. In this case, the communication master device 100 can perform appropriate fail-safe processing such as notifying the sub-domain ECU 110 of retransmission of the shared information and performing retransmission of the shared information.

  As described above, when the shared information is retransmitted due to the occurrence of the communication error, the communication master device 100 desirably sets the time when the communication error first occurs as the final data of the shared information. As a result, the receiving node that has normally received the communication frame can process the shared information, following the communication that first caused the communication error.

  For example, when diagnosing the behavior of the control target based on the elapsed time after the water temperature becomes equal to or higher than a predetermined temperature, the time when the water temperature first becomes equal to or higher than the predetermined temperature can be known from the normally received shared information. As a result, the elapsed time can be counted back to the time when the water temperature first exceeds the predetermined temperature.

In the present embodiment, the sub-domain ECU 110 that assigns and sets the CRC code with the communication master device 100 corresponds to the code calculation means of the present invention.
[Fifth Embodiment]
A fifth embodiment of the present invention is shown in FIG. 12 using a CAN communication frame as an example. Components that are substantially the same as those in the fourth embodiment are denoted by the same reference numerals.

  When the abnormality of the CRC code by the communication master device 100 described in the fourth embodiment is repeated, one of the subdomain ECUs 110 executes the function of the communication master device 100 instead of the communication master device 100. Thereby, even if abnormality occurs in the communication master device 100, the management of communication can be continued by any of the sub-domain ECUs 110.

In this embodiment, subdomain ECU110 which performs the function of the communication master apparatus 100 instead of the communication master apparatus 100 is equivalent to the submaster means of this invention.
[Sixth Embodiment]
A vehicle control system according to a sixth embodiment of the present invention is shown in FIG.

  The powertrain ECU 20 of the vehicle control system 70 is provided with a communication arbitration unit 22, an information management unit 24, and a shared memory 26. The shared memory 26 is composed of, for example, a RAM or a flash memory. In the sixth embodiment, the shared information is shared by the shared memory 26 instead of the communication frame of the first to fifth embodiments.

(Shared memory 26)
As shown in FIG. 14, in the shared memory 26 provided in the powertrain ECU 20, for example, shared information shared by a plurality of functional domain ECUs and sub-domain ECUs is shared among sensor signals, diagnostic information, and navigation information. It is set at a predetermined position in the area. Information set in the shared memory 26 is managed by the information management means 24.

  In the shared memory 26, the start timing and synchronization timing of control processing to be shared by a plurality of functional domain ECUs and sub-domain ECUs are set. In this way, in addition to data such as sensor signals, the control processing start timing and synchronization timing are set in the shared memory 26 as shared information, so that the control processing start timing and synchronization timing are individually notified. The start and synchronization of the control processing by the plurality of functional domain ECUs and subdomain ECUs are facilitated.

When there is a change in the configuration of the vehicle control system 10 and shared information is added, additional shared information is set in the free area of the shared memory 26.
(Information sharing routine 3)
Next, information sharing in the shared memory 26 by the information sharing routine 3 will be described. FIG. 15 shows a flowchart of the information sharing routine 3. The information sharing routine 3 in FIG. 15 is always executed.

  In S440, the powertrain ECU 20 determines whether there is a change in the vehicle configuration, such as whether an optional product has been added or the version of any ECU control program has been updated via the global network 300 and the local network 310. judge. When there is no change in the vehicle configuration (S440: No), the powertrain ECU 20 shifts the process to S444.

  When there is a change in the vehicle configuration (S440: Yes), in S442, the powertrain ECU 20 changes the setting related to the shared information in the shared memory 26 based on the change in the vehicle configuration.

  In S444, the powertrain ECU 20 determines whether or not the shared information acquisition condition is satisfied. For example, the powertrain ECU 20 determines whether or not the water temperature is equal to or higher than a predetermined temperature as the acquisition condition. When the acquisition condition is not satisfied (S444: No), the powertrain ECU 20 ends this routine.

  When the acquisition condition is satisfied (S444: Yes), in S446, the powertrain ECU 20 selects and acquires shared information from communication information transmitted from each functional domain ECU and subdomain ECU. For example, when the engine speed and the accelerator opening when the water temperature becomes equal to or higher than the predetermined temperature are necessary, the powertrain ECU 20 determines that the water temperature is the predetermined temperature from the transmission information of the sub-domain ECU that transmits the sensor signal of the water temperature sensor. If it detects that it is above, transmission of the sensor signal of an engine speed sensor and an accelerator opening sensor will be requested | required of applicable subdomain ECU, and an engine speed and an accelerator opening will be acquired as shared information.

  In S <b> 448, the powertrain ECU 20 writes shared information including the water temperature, the engine speed, and the accelerator opening in the shared memory 26. In S450, the power train ECU 20 writes that the shared information including the water temperature, the engine speed, and the accelerator opening is written in the shared memory 26 via the global network 300 and the local network 310 in the same functional domain. Notify the domain ECU, and the functional domain ECUs and subdomain ECUs of different functional domains.

In this case, when the shared information added due to the change in the vehicle configuration is written to the shared memory 26, it is notified that the shared information has been added together with the writing.
A functional domain ECU of a functional domain different from the power train domain can receive the shared information writing notification transmitted from the power train ECU 20 to the global network 300 and know the writing of the shared information.

  When notifying the subdomain ECU of a different functional domain to write shared information, if communication is not being performed in the local network 310 of a different functional domain, the global network 300 immediately notifies the local network 310 of the writing of the shared information. The If communication is being performed in the local network 310, the communication arbitration unit of a different functional domain forcibly cuts off the communication being executed in the local network 310 and notifies the local network 310 of writing of shared information, It waits for notification of writing of shared information until communication is completed.

  When the writing of shared information to the shared memory 26 is notified from the powertrain ECU 20, the functional domain ECU and the subdomain ECU that require the shared information refer to the shared memory 26.

  In the present embodiment, the shared memory 26 corresponds to a memory device as information sharing means of the present invention, and the storage area of the shared memory 26 corresponds to an information sharing area. In the present embodiment, S440 to S450 in FIG. 15 correspond to functions performed by the information management means of the present invention.

[Seventh Embodiment]
A seventh embodiment of the present invention is shown in FIG. Components that are substantially the same as those in the sixth embodiment are denoted by the same reference numerals.

  In the vehicle control system 80 of the seventh embodiment, shared information shared by a plurality of functional domain ECUs and sub-domain ECUs is stored at two locations, a shared memory 26 of the powertrain ECU 20 and a shared memory 34 of the chassis ECU 30. Yes. The contents of the shared memory 26 and the shared memory 34 are the same. Therefore, when there is a change such as deletion, update, or new addition of shared information, both the shared memory 26 and the shared memory 34 are changed similarly. Thereby, even if an abnormality occurs in one shared memory, the shared information can be shared by the other shared memory.

In the present embodiment, the shared memory 34 corresponds to a memory device as information sharing means of the present invention.
[Eighth Embodiment]
FIG. 17 shows an eighth embodiment of the present invention. Components that are substantially the same as those in the sixth embodiment are denoted by the same reference numerals.

  In the vehicle control system 90 of the eighth embodiment, shared information shared by a plurality of functional domain ECUs and subdomain ECUs is stored in the shared memory 122 of the intrabox 120. The shared memory 122 is composed of, for example, a RAM or a flash memory. Then, the information management means 124 provided in the intrabox 120 manages what function domain ECU and subdomain ECU obtain what is shared information and where is set in the shared memory 122.

  The intrabox 120 is configured as a processing device by a microcomputer different from the functional domain ECU and the subdomain ECU, and executes a common process common to the control processes executed by the functional domain ECU and the subdomain ECU on the control target. To do. The common process executed by the intrabox 120 includes, for example, an audit for determining whether the power management process, the control process of the functional domain ECU and the sub-domain ECU is normal or abnormal, and correcting the control process if necessary. Processing, and resource management processing such as CPU and memory.

  The procedure for writing, notifying, and referring to shared information in the shared memory 122 may be performed by replacing the powertrain ECU 20 with the intrabox 120 and the shared memory 26 with the shared memory 122 in the information sharing routine 3 of FIG.

  In this embodiment, since the intra box 120 that executes common processing is configured by a processing device different from the functional domain ECU and the sub domain ECU, the influence of hardware and software changes in the functional domain ECU and the sub domain ECU is affected. Without being received, the information can be shared by the management of the information management means 124 in the shared memory 122 of the intra box 120.

In the present embodiment, the intra box 120 corresponds to a common processing device of the present invention, and the shared memory 122 corresponds to a memory device as information sharing means.
In the above-described embodiment, the global network 300 and the local network 310 or shared memory are used as information sharing means, and the information management means manages the setting of shared information in the information sharing area by the functional domain ECU and subdomain ECU. Yes.

  Thereby, even if the setting of the shared information is changed due to the change of the vehicle configuration, the functional domain ECU and the sub-domain ECU can cope with the change of the setting of the shared information by an instruction from the information management unit. As a result, when the setting of shared information is changed as the vehicle configuration is changed, the amount of change in the control processing related to shared information can be reduced as much as possible in the functional domain ECU and the subdomain ECU.

  Further, in the functional domain ECU and the sub-domain ECU, the amount of change in the control processing related to the shared information accompanying the change in the vehicle configuration can be reduced as much as possible. . This increases the chances of solving the problems of the algorithm of the control processing by the functional domain ECU and the sub-domain ECU, thereby improving the reliability of the algorithm.

[Other Embodiments]
In the above embodiment, any one of the global network 300 and the local network 310 or a shared memory is used as the information sharing means. On the other hand, both the global network 300 and the local network 310 and the shared memory may be used as information sharing means.

  Further, as a global network 300 and a local network 310, it is of course possible to adopt a network with other communication specifications besides CAN, FlexRay, and MOST. And not only a CRC code but an error detection code is set according to communication specifications.

  In the above embodiment, information is shared between different functional domains in an information sharing area of an information sharing means such as a communication frame or a shared memory via the global network 300 and the local network 310. On the other hand, the information may be shared in the information sharing area of the information sharing means such as the communication frame or the shared memory via the local network 310 only by the functional domain ECU and the sub domain ECU in one functional domain. .

  The functions of the functional domain control means, subdomain control means, global communication means, local communication means, communication arbitration means, verification means, code calculation means, communication master means, and submaster means of the present invention are identified by a program. It is appropriately realized by hardware whose functions are specified by the configuration of hardware, circuits, etc., or a combination thereof.

  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.

10, 70, 80, 90: Vehicle control system, 20: Powertrain ECU (functional domain control means), 22, 32, 42, 52: Communication arbitration means, 24: Information management means (communication master means), 26, 34 122: shared memory (information sharing means), 30: chassis ECU (functional domain control means), 40: body ECU (functional domain control means), 50: infotainment ECU (functional domain control means), 60, 62, 64, 66: Subdomain ECU (subdomain control means), 100: Communication master device (communication master means), 110: Subdomain ECU (subdomain control means, submaster means, code calculation means, verification means), 120: Intra Box (common processing device), 300: global network (global communication means), 10: Local network (local communication means), 320: communication frame (information sharing means)

Claims (19)

In a vehicle control system that controls the behavior of a control object mounted on a vehicle,
Functional domain control means for controlling the behavior of the controlled object for each functional domain classified by the function of the controlled object;
In the functional domain, subdomain control means for controlling the behavior of the control target for each subdomain classified by a function more detailed than the functional domain;
Local communication means for the functional domain control means and the sub-domain control means to communicate within the functional domain;
Information sharing means having an information sharing area in which the functional domain control means and the sub-domain control means share information via the local communication means;
Information management means for managing sharing of information in the information sharing area by the functional domain control means and the subdomain control means based on a vehicle configuration;
A vehicle control system comprising: Comprising global communication means for communicating between a plurality of said functional domains;
Via the global communication means, the functional domain control means and the sub-domain control means of different functional domains share information of the information sharing area;
The vehicle control system according to claim 1. In a vehicle control system that controls the behavior of a control object mounted on a vehicle,
Functional domain control means for controlling the behavior of the controlled object for each functional domain classified by the function of the controlled object;
In the functional domain, subdomain control means for controlling the behavior of the control target for each subdomain classified by a function more detailed than the functional domain;
Local communication means for the functional domain control means and the sub-domain control means to communicate within the functional domain;
Global communication means for communicating between a plurality of said functional domains;
Information sharing means having an information sharing area in which the functional domain control means and the subdomain control means of different functional domains share information via the global communication means;
Information management means for managing sharing of information in the information sharing area by the functional domain control means and the subdomain control means based on a vehicle configuration;
A vehicle control system comprising:   The information sharing means includes a local communication means for communication between the functional domain control means and the subdomain control means in the functional domain, and a plurality of the functional domains when a plurality of functional domains are provided. The vehicle according to any one of claims 1 to 3, wherein the vehicle is a global communication unit for communicating between domains, and the information sharing area is a communication frame communicated by the communication unit. Control system. The information management means functions as a communication master means for managing communication by the communication means,
The communication master means selects shared information from communication information transmitted by at least one of the functional domain control means and the sub-domain control means, sets the selected shared information in the communication frame, and transmits it.
The vehicle control system according to claim 4. The information management means functions as a communication master means for managing communication by the communication means,
At least one of the functional domain control unit and the sub-domain control unit sequentially transmits the shared information to the communication frames created by the communication master unit according to the order managed by the communication master unit when transmitting the shared information. Set,
The vehicle control system according to claim 4. In the communication frame, an error detection code of information set in the communication frame is set after the shared information,
The communication master means sets dummy data between the shared information and the error detection code;
The vehicle control system according to claim 6.   The communication master means calculates an error detection code of information set in the communication frame, and sets the error detection code after the shared information of the communication frame. The vehicle control system according to claim 1.   9. The vehicle control system according to claim 7, further comprising verification means for verifying whether or not the error detection code set in the communication frame is correct.   The vehicle control system according to claim 9, wherein when the verification unit determines that the error detection code is incorrect, the verification unit blocks transmission of the communication frame in which the error detection code is incorrect.   Code calculation means for calculating an error detection code of information set in the communication frame together with the communication master means, and the communication master means and the code calculation means each include a part of the calculated error detection code. 8. The vehicle control system according to claim 6, wherein the error detection code is set after shared information to complete the error detection code.   When the communication master means retransmits the communication frame when a communication error occurs, the communication master means sets the time when the communication frame that first caused the communication error to be transmitted as the shared information in the communication frame. The vehicle control system according to any one of claims 5 to 11.   The vehicle control system according to any one of claims 5 to 12, further comprising sub-master means for managing communication by the communication means instead of the communication master means when the communication master means is abnormal. When a plurality of the functional domains are provided and a global communication means for communicating between the functional domains is provided,
When the local communication means detects a communication start request to the global communication means by the sub-domain control means, the priority of the communication in which the local communication means has detected the communication start request to the global communication means is a predetermined value. If the priority is higher than the priority of other communication whose communication start request is detected by the global communication means, communication to the global communication means detected by the local communication means is performed. The vehicle control system according to any one of claims 1 to 13, further comprising communication arbitration means for allowing.   When the communication arbitration unit detects a communication start request to the global communication unit in the local communication unit while communication is being performed in the global communication unit, the communication being executed in the global communication unit is terminated. The vehicle control system according to claim 14, wherein communication to the global communication unit in which a communication start request is detected in the local communication unit is permitted.   In the case where a plurality of the functional domains are provided and a global communication means for communicating between the functional domains is provided, communication between software implemented in the functional domain control means and the sub-domain control means is AUTOSAR. (VFB (Virtual Functional Bus) provided by (Automotive Open System Architecture), communication on the VFB includes communication in the functional domain control means and in the subdomain control means, and the local communication. And a communication specification between the same layer and different layers of the three-layer structure is set on the VFB, respectively. The vehicle control system according to any one of 1 to 15.   The information management means sets at least one of data, a control processing start timing by the functional domain control means and the subdomain control means, and a synchronization timing of the control processing as shared information in the information sharing area The vehicle control system according to any one of claims 1 to 16, wherein   18. The information sharing unit is a memory device included in the functional domain control unit, and the information sharing area is a shared area provided in the memory device. Vehicle control system.   A common processing device that executes common processing common to the control processing executed by the functional domain control means and the subdomain control means, and is different from the processing devices constituting the functional domain control means and the subdomain control means, The vehicle control system according to any one of claims 1 to 18, wherein the information management means is provided in the common processing device.

Images