JP2011014033A - On-board information processing apparatus, and vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-board information processing apparatus capable of sharing data for functional cooperation between a plurality of ECUs mounted on a vehicle before used by a vehicle control application that each ECU holds.SOLUTION: The on-board information processing apparatus 100 includes: a functional cooperation tagged data memory 101 for storing data given tag data related to functional cooperation with the other ECU; a functional cooperation memory control unit 103a referring to the tag data stored in the functional cooperation tagged data memory 101 according to the situation information of the vehicle, to specify the execution aspect of a program for functional cooperation with the other ECU; a functional cooperation OS control unit 102 for starting a functional cooperation OS for functional cooperation with the other ECU and for generating packet data for functional cooperation transmitted and received for functional cooperation when the execution aspect for functional cooperation is specified in the functional cooperation memory control unit 103a; and a functional cooperation packet transmitting and receiving unit 103b for transmitting and receiving the packet data for functional cooperation.

Description

  The present invention relates to an in-vehicle information processing apparatus for sharing information for function cooperation between a plurality of ECUs (electronic control units) mounted on a vehicle, and a vehicle that performs vehicle control in real time using the information The present invention relates to a control device.

  In recent years, the number of ECUs installed in vehicles has increased dramatically with the increase in vehicle control systems, such as power train systems such as engine control, information processing systems such as car navigation, and body systems such as air conditioner control. The content of vehicle control is becoming more sophisticated.

  Under such a background, there is an increasing need to perform function cooperation processing by sharing information among a plurality of ECUs. For example, a car navigation linked vehicle control system is a vehicle control system that links map information, transmissions, etc., possessed by a car navigation system, predicts a curve based on map information, and automatically shifts before the curve. Driving down and using the engine brake will make driving more comfortable and increase safety.

  In the above-mentioned car navigation system, it is possible to determine the road shape in three dimensions based on curve information and gradient information using a dedicated application program, and to control the shift to the optimum gear ratio for traveling on the road. It becomes.

  Especially in various vehicle control systems such as brake control, steering control and engine control in recent years, in order to further improve the safety of the driver, accurate vehicle control in real time using information linked with functions is desired. Yes.

  By the way, in a distributed memory type parallel computer, a parallel computer that realizes a main memory content sharing mechanism at low cost and improves the efficiency of cooperative processing between element processors has been disclosed (for example, Patent Documents). 1). In this parallel computer, each element processor of the mirror table has a page having the same main memory content to share the main memory content in a pseudo manner.

  In addition, an automatic data transfer method between computers that manages data update using a management table when performing data linkage between a plurality of computers is disclosed (see, for example, Patent Document 2), and further, linkage between objects is performed using structured messages. An object cooperation system using a structured description structured message that binds a factor that matches the structure description is also disclosed (see, for example, Patent Document 3).

JP-A-10-214259 JP 07-334472 A JP 2001-209619 A

  However, in a system that performs vehicle control using information that is functionally linked between a plurality of ECUs in the conventional in-vehicle environment, it is necessary to share data (including programs) between a plurality of applications held by different ECUs. However, depending on the connection form of the execution environment, a long path may be required to access another ECU that holds data.

  That is, at present, when shared data for function cooperation is required in a predetermined ECU, a data transfer request is made to the software on the other ECU via the in-vehicle LAN. Depending on the load status of the ECU and LAN, a waiting time may occur. For example, when map data is shared between ECUs connected using a CAN (Controller Area Network), if the terrain data is 512 Kbytes, the communication speed of the terrain data is assumed with a CAN signal transmission speed of 512 Kbps. Only a waiting time of 8 seconds will occur.

  In such a case, in the conventional vehicle control system, there is a problem that it is difficult to improve the real time performance and the execution performance of the vehicle control because the execution time cannot be estimated as the execution time becomes longer.

  Further, when an application program on the vehicle-mounted ECU uses data on another ECU, there is no unified method for accessing the acquired data. For this reason, explicit code for access that has nothing to do with the context in particular impairs the portability and readability of the software and makes it difficult to optimize execution efficiency.

  For example, when accessing data on another ECU from the ECU, it is necessary to explicitly load and store data using a complex OS (Operating System) function such as a message communication function. For this purpose, for example, it is necessary to describe a software function call called a system call. Therefore, a change in the source code of the software is inevitable depending on the connection form of other ECUs that perform function cooperation.

  The present invention has been made in view of the above problems, and provides an in-vehicle information processing apparatus capable of sharing data for function cooperation among a plurality of in-vehicle EUCs in advance of use by an application executed by an ECU. provide.

  In addition, even when using data from other ECUs that function together, in-vehicle information that enables a uniform access method to data for function cooperation and ensures the portability and readability of software used for vehicle control Another object is to provide a processing apparatus.

  It is another object of the present invention to provide a vehicle control device that can realize various vehicle controls such as transmission control and brake control in real time using data acquired by the in-vehicle information processing device.

  In order to solve the above problems, an in-vehicle information processing apparatus according to the present invention is an in-vehicle information processing apparatus provided in an ECU in order to share data used for functional cooperation among a plurality of ECUs. Data storage means with function cooperation tag for storing data to which tag data related to function cooperation with the ECU is attached, and the tag stored in the data storage means with function cooperation tag according to vehicle status information Referring to the data, function cooperation memory control means for specifying the execution phase of the program for function cooperation with the other ECU, and execution of the program for function cooperation with the other ECU in the function cooperation memory control means When the situation is specified, the function cooperation that activates the function cooperation OS for function cooperation and generates the function cooperation packet data used for the function cooperation. And S control means, characterized in that it comprises a function coordination packet transmitting and receiving means for transmitting to the other ECU that functions cooperate packet data above functions together.

  With this configuration, the function cooperation memory control unit of the in-vehicle information processing device according to the present invention refers to the tag data stored in the data storage unit with the function cooperation tag and functions cooperation with other ECUs. Can be identified. The function cooperation OS control means starts up the function cooperation OS, creates function cooperation packet data, and transmits data to other ECUs in advance via the function cooperation packet transmission / reception means, or other ECUs. You can get data from. For this reason, the vehicle-mounted information processing apparatus according to the present invention can share data for function cooperation among a plurality of vehicle-mounted EUCs in advance, before an application that the ECU holds is used.

  Further, the data stored in the data storage unit with the function cooperation tag of the vehicle information processing apparatus according to the present invention includes entity data other than program data, and the function cooperation memory control unit includes the entity data. Referring to the given tag data, the entity data for function cooperation with the other ECU is specified, and the function cooperation OS control means transmits the data to the other ECU using the entity data. The function cooperation packet data is generated, and the function cooperation packet transmission / reception means transmits the function cooperation packet data to the other ECUs that function cooperation.

  With this configuration, the function cooperation memory control unit of the in-vehicle information processing apparatus according to the present invention specifies not only program data used for function cooperation but also entity data used for function cooperation by referring to the tag data. The function cooperation packet data including the entity data can be transmitted in advance to the ECU function cooperation.

  In the in-vehicle information processing apparatus according to the present invention, the tag data includes scene identification information, which is information corresponding to the execution phase of the function cooperation with the other ECU, and data to which the tag data is assigned. And a function cooperation memory bit indicating whether or not the function cooperation data is used in the ECU.

  With this configuration, the function cooperation memory control unit identifies the function cooperation application program using the function cooperation memory bit, and uses the scene identification information to relate to a scene that actually functions in cooperation with another ECU. Data can be identified.

  The tag data of the in-vehicle information processing apparatus according to the present invention further includes a CPU valid bit that indicates a CPU that uses the data of the corresponding address as shared data, an ECU ID that indicates an identification number of an ECU that functions, and a function It is characterized in that it includes at least one of a CPU ID indicating the identification number of a target CPU in the cooperating ECU and an application ID that is an identification number of the application.

  With this configuration, the function cooperation memory control unit specifies a CPU, an ECU, and an application program that perform an execution operation when performing function cooperation using the CPU valid bit, the ECU ID, the CPU ID, and the application ID. be able to.

  The function cooperation OS control means of the in-vehicle information processing apparatus according to the present invention receives the function cooperation packet transmission / reception means when the function cooperation packet transmission / reception means receives the function cooperation packet data from the other ECU with the function cooperation. The function cooperation packet data is stored in a predetermined storage unit.

  With this configuration, according to the present invention, the received data for function cooperation packet data is held in a predetermined storage unit, so that data necessary for function cooperation can be recorded in the storage unit in advance. In the vehicle control system, data recorded in the storage unit can be used for vehicle control in real time without causing a delay due to network communication.

  In the in-vehicle information processing apparatus according to the present invention, the situation information includes at least one of vehicle environment information, position information, and road information.

  With this configuration, the in-vehicle information processing apparatus according to the present invention specifies a scene for performing functional cooperation with another ECU based on at least one of the environment information, the position information, and the road information of the vehicle. Data corresponding to the scene can be specified using the scene identification information of the tag data, and the execution phase of the function cooperation with other ECUs can be specified.

  The on-vehicle information processing apparatus according to the present invention further includes the scene identification information given to the tag data of the program data fetched from the data stored in the data storage means with the function cooperation tag by the CPU. The comparison means for comparing the scene identification information given to the tag data of the program data fetched last time, and when the comparison means determines that a new bit is set in the scene identification information, Interrupt generating means for generating interrupt processing to the CPU for function cooperation with the other ECU, and when the interrupt is generated in the interrupt generation means, the function cooperation memory control means is the function cooperation OS control means. To start the function cooperation OS and create the function cooperation packet data. Cooperation packet transmission means, and transmits to the ECU that functions cooperate packet data for that function together.

  With this configuration, the comparison unit compares the current scene identification information of the fetched data with the previous scene identification information, and the function cooperation memory control unit determines that a new bit of the scene identification information is set. It can be identified as the execution phase of function cooperation. Further, since the interrupt generation means can cause the CPU to generate an interrupt process for performing the function cooperation process only in the function cooperation execution phase, it is possible to effectively use the CPU resources.

  In addition, the function cooperation packet data in the in-vehicle information processing apparatus according to the present invention includes a function cooperation data request packet for requesting data held by the other ECU function-linked and data held by its own ECU. A function cooperation data transmission packet for transmitting the function cooperation data to the other ECU is included, and the function cooperation packet transmission / reception means is configured to use the function cooperation data request packet or the function cooperation according to the vehicle status information. A data transmission packet is transmitted to the other ECU that is function-linked.

  With this configuration, when the function cooperation OS control means requests data from another ECU in advance, the function cooperation data request packet and the function cooperation data in advance according to vehicle status information from the other ECU. When transmitting, a function cooperation data transmission packet can be created. Further, the function cooperation packet transmitting / receiving means can transmit the function cooperation data request packet or the function cooperation data transmission packet to another ECU that is function cooperative in accordance with the vehicle situation information.

  The function cooperation data request packet in the in-vehicle information processing apparatus according to the present invention uses header information including address information of the ECU for function cooperation, packet type information indicating the type of the function cooperation packet data, and At least one of the application ID, the scene identification information, the own ECU ID, and the own CPU ID of the current application, and the function cooperation data transmission packet includes address information of the other ECUs that perform the function cooperation. At least one of header information including the above, packet type information, and function cooperation data body.

  With this configuration, the in-vehicle information processing apparatus that has received the function cooperation data request packet or the function cooperation data transmission packet can identify other ECUs, CPUs, applications, and the like that are function cooperative.

  The vehicle control device according to the present invention is a vehicle control device that shares data for function cooperation among a plurality of ECUs and performs vehicle control using the data for function cooperation. Data storage means with function cooperation tag for storing data to which tag data related to function cooperation is stored, and referring to the tag data stored in the data storage means with function cooperation tag according to vehicle status information The function cooperation memory control means for specifying the execution aspect of the program for function cooperation with the other ECU, and the execution situation and specification of the program for function cooperation with the other ECU in the function cooperation memory control means A function cooperation OS control unit that activates a function cooperation OS for function cooperation and generates packet data for function cooperation used for function cooperation; When the function cooperation packet transmission / reception means for transmitting the function cooperation packet data to the other ECU for function cooperation and the function cooperation packet transmission / reception means for receiving the function cooperation packet data from the other ECU for function cooperation, It is characterized by comprising storage means for holding the function cooperation packet data and vehicle control means capable of executing vehicle control with reference to the function cooperation data stored in the storage means.

  With this configuration, in the vehicle control device according to the present invention, various vehicle controls such as transmission control and brake control can be realized in real time using the data for function cooperation recorded in advance in the storage unit.

  Further, a program according to the present invention is a program used for an in-vehicle information processing device provided in an ECU so that the data used for function cooperation between the plurality of ECUs is shared by the plurality of ECUs. The tag data stored in the data storing step with function cooperation tag according to the vehicle status information according to the data storage step with function cooperation tag for storing the data to which the tag data related to the function cooperation with is attached. The function cooperation memory control step for specifying the function cooperation program with the other ECU and the function cooperation memory control step for executing the function cooperation program with the other ECU in the function cooperation memory control step. When it is specified, the function cooperation OS is started for function cooperation and the function cooperation used for function cooperation is started. A function coordination OS control step of generating packet data, characterized in that it comprises a functional linkage packet transmission step of transmitting to the other ECU that functions cooperate packet data above functions together.

  Further, in the function cooperation OS control step, the function cooperation data transmitted / received in the function cooperation packet transmission / reception step is expanded in the function cooperation address space on the user address space managed by the function cooperation OS, The program further includes a step of accessing the function cooperation data recorded in the function cooperation address space via a dedicated API.

  With this configuration, in the program according to the present invention, even when using data of another ECU that performs function cooperation, the application is expanded in the function cooperation address space by using a unified API to the function cooperation data. It is possible to access the data for function cooperation and to ensure the portability and readability of the software used for vehicle control.

  In addition, it implement | achieves as a vehicle-mounted information processing method which uses the process means which comprises the vehicle-mounted information processing apparatus which concerns on this invention as a step, implement | achieves those steps as a program which makes a computer perform, The said program is DVD, CD- Needless to say, it can be distributed via a recording medium such as a ROM or a transmission medium such as a communication network.

  In the in-vehicle information processing apparatus according to the present invention, each ECU stores data for function cooperation among a plurality of in-vehicle EUCs by referring to the memory tag data for function cooperation given to each data in advance. It can be shared in advance rather than being used by the vehicle control application that it holds.

  Further, in the vehicle information processing apparatus according to the present invention, since the application program can access the data for function cooperation using a common API, the function cooperation can be performed even when the data of another ECU for function cooperation is used. This makes it possible to provide a unified access method to the business data and ensure the portability and readability of the software used for vehicle control.

  Furthermore, in the vehicle control device according to the present invention, there is an effect that various vehicle controls such as transmission control and brake control can be realized in real time using data acquired in advance by the in-vehicle information processing device.

Overall configuration diagram of an in-vehicle information processing apparatus according to an embodiment The figure which shows the execution environment example of the vehicle-mounted information processing apparatus which concerns on embodiment The figure which shows the structural example of the data memorize | stored in the data storage part with a function cooperation tag of the vehicle-mounted information processing apparatus which concerns on embodiment Explanatory drawing of operation | movement of the function cooperation memory control part with which the vehicle-mounted information processing apparatus which concerns on embodiment is equipped The figure which shows the example of the packet for function cooperation communication produced | generated in the function cooperation OS control part of the vehicle-mounted information processing apparatus which concerns on embodiment Functional block diagram of function-linked packet transmitting / receiving unit of in-vehicle information processing apparatus according to embodiment The figure which shows the address space where the data for function cooperation is stored Flowchart showing an operation procedure until the transmission side ECU generates a function cooperation data request packet and transmits it to the navigation side ECU side The flowchart which shows the operation | movement procedure of ECU of the navigation side which received the packet for function cooperation data requests from ECU of the transmission side The flowchart which shows the operation | movement procedure of ECU of the transmission side which received the data for function cooperation from ECU of the navigation side

  Embodiments of an on-vehicle information processing apparatus according to the present invention will be described below with reference to the drawings.

(Embodiment 1)
FIG. 1 is an overall configuration diagram of an in-vehicle information processing apparatus 100 according to the present embodiment. The in-vehicle information processing apparatus 100 includes a data storage unit 101 with a function cooperation tag, a function cooperation OS control unit 102, and a microcomputer 103. Is provided. The in-vehicle information processing apparatus 100 is provided in each ECU that shares information in cooperation with other ECUs.

  The data storage unit 101 with a function cooperation tag is a memory unit having an extension area for holding information necessary for application cooperation operation between ECUs for entity data such as programming data and terrain data. The extension area corresponds to the tag data in FIG. 3 described later, and is assigned to each data stored in the data storage unit 101 with the function cooperation tag in advance or at the time of compiling and performs function cooperation. Information related to the other party's ECU, information indicating that a function linkage is necessary under the execution context of the application, and the like are described. The tag data may not be directly referred to from the application software to be executed.

  When the function cooperation OS control unit 102 receives a function cooperation data transfer request from another ECU, the function cooperation OS control unit 102 activates the function cooperation OS by a reception interrupt or a transmission interrupt from the function cooperation packet transmission / reception unit 103b, and obtains necessary data. The data is expanded in the data storage unit 101 with the function cooperation tag. Further, the function cooperation OS control unit 102 generates a function cooperation data request packet and function cooperation data transmission packet data described in FIG.

  The microcomputer 103 is a computer incorporated to control function cooperation processing between other ECUs, and includes a function cooperation memory control unit 103a and a function cooperation packet transmission / reception unit 103b in the present embodiment.

  The function cooperation memory control unit 103a detects that the function cooperation processing is necessary, and requests the function cooperation data from the cooperation destination ECU. In addition, the function cooperation memory control unit 103a analyzes the information of the extended area of the data stored in the data storage unit 101 with the function cooperation tag, and when the function cooperation operation is necessary, the function cooperation memory control unit 103a Notification is performed by a mechanism such as interrupt.

  The function cooperation packet transmitting / receiving unit 103b transmits packet data for making a function cooperation data request to the ECU of the other party that performs the function cooperation. When function cooperation request data arrives from the partner ECU, the function cooperation data is extracted from the received data and passed to the function cooperation OS control unit 102.

  Next, an implementation example of function cooperation in the in-vehicle information processing apparatus 100 according to the present invention will be described.

  FIG. 2 is a diagram illustrating an example of an execution environment of the in-vehicle information processing apparatus 100 according to the present embodiment. For example, the ECU 200 and the ECU 210 are connected via an in-vehicle LAN, and functional cooperation is performed between these two ECUs. Process to share data. In the present embodiment, description will be made assuming that ECU 200 executes an application program for navigation that is an information processing system, and ECU 210 executes an application program for transmission control that is a control system.

  The ECU 200 is a map search application 201 that is a map search program, a drawing application 202 that draws map data to be displayed in navigation using map information stored in a database, and an interface corresponding to hardware in the ECU 200. When the OS 203, the CPU 204, and the CPU 204 provided to the software acquire / update information such as data and instructions, the cache memory 204a, the main memory 204b, the CPU 205, and the CPU 205 acquire and update information such as data and instructions. A cache memory 205a to be used and a main memory 205b are provided.

  For example, the map search application 201 executed in the ECU 200 is executed by the CPU 205 sequentially reading instructions on the main memory 205b and processing the instructions.

  The ECU 210 includes a transmission control unit 211 that controls a transmission (transmission) for switching a gear ratio according to speed and engine speed, a brake control unit 212 that controls a brake, a CPU 214, and a CPU 214 that receive information such as data and instructions. A cache memory 214a, a main memory 214b, a CPU 215, and a CPU 215 that are used when acquiring / updating are provided with a cache memory 215a and a main memory 215b that are used when information such as data and instructions is acquired / updated.

  It is assumed that when the map search application 201 is executed by the ECU 200, it is detected that there is a steep and winding slope in front of the vehicle. In order to improve fuel efficiency, it is effective to automatically change the transmission shift appropriately according to the road gradient and curve. Therefore, the ECU 210 shares data with the ECU 200 for function cooperation.

  In the map search application 201, for example, the curvature of the curve can be calculated from the digital map information (coordinate point data) of car navigation, and the gradient can be estimated by the strength of acceleration to the vehicle, or the map data You can also refer to the contour lines above.

  In the in-vehicle information processing apparatus 100, the ECU 210 that performs transmission control immediately by transmitting map information such as road gradient and curve curvature managed by the ECU 200 in advance before the ECU 210 executes vehicle control. It is possible to refer to map information. When the ECU 210 tries to perform fine control of the transmission, since necessary data is developed in the memory on the ECU 210 in advance, it is possible to perform appropriate vehicle control according to the vehicle situation.

  The function linkage for vehicle control used in the in-vehicle information processing apparatus 100 according to the present invention is also effective for efficient driving of, for example, a hybrid car. That is, if the timing for using the motor and the regenerative brake can be accurately predicted according to the road information, the fuel consumption can be improved. For example, when a long downhill continues several kilometers away, the regenerative brake can be used to charge the battery, so that the battery can be discharged by running the motor before that. In addition, by using the in-vehicle information processing apparatus 100 according to the present invention, a travel pattern on a road that passes every day such as a commuting route is made into a database, and power generation, discharge, etc. are controlled in accordance with the travel pattern, thereby improving fuel efficiency. It becomes possible.

  FIG. 3 is a diagram illustrating a structure example of the data 300 stored in the data storage unit 101 with the function cooperation tag (corresponding to the main memory 204b in FIG. 2) of the in-vehicle information processing apparatus 100 according to the present embodiment. In addition to a data portion 308 (for example, 32 bits) including a program command, the data 300 is provided with a “function cooperation memory tag 310 (corresponding to tag data in claims)”. This function cooperation memory tag 310 is, for example, 7-bit additional information as shown in the figure, and each of them cannot be referred directly from the application software.

The meaning of each bit in the function cooperation memory tag 310 is as follows.
The cooperation memory bit 301 is a bit indicating whether or not the data is loaded for function cooperation with other ECUs, and is “1” in the case of data loaded for function cooperation, for example.
The CPU (204) valid bit 302 indicates whether the CPU 204 is loading the data at the corresponding address as shared data. For example, when the CPU 204 holds the memory contents, the CPU (204) valid bit 302 is “1”.

The CPU (205) valid bit 303 indicates whether the CPU 205 is loading the data at the corresponding address as shared data. For example, when the CPU 205 holds the memory contents, the CPU (205) valid bit 303 is “1”.
The ECU ID 304 indicates an ID of an ECU that performs function cooperation, and is used for identifying an application execution ECU.

The CPU ID 305 indicates the ID of the target CPU of the ECU that performs function cooperation, and is used for application execution CPU identification.
The application ID 306 indicates an identification number of its own application when the cooperation memory bit 301 is on, and is used to identify the application. When the cooperation memory bit 301 is off (for example, “0”), the application ID 306 functions. Indicates the identification number of the application on the ECU.

  The scene ID 307 (corresponding to the scene identification information in the claims) indicates the execution phase of the application, and is used for identifying continuous codes in the application. The scene ID 307 indicates a scene of its own application when the cooperation memory bit 301 is on (for example, “1”). On the other hand, when the cooperation memory bit 301 is OFF, an application scene on the ECU that performs function cooperation is shown. In this embodiment, the scene ID 307 is described with 1 bit. However, when the number of scenes to be distinguished is large, it is possible to deal with various scenes by increasing the number of bits.

  Hereinafter, an operation of the in-vehicle information processing apparatus 100 in an actual function cooperation scene will be described.

  FIG. 4 is a diagram for explaining the operation of the function cooperation memory control unit 103a provided in the in-vehicle information processing apparatus 100 according to the present embodiment.

  For example, when the ECU 200 is executing the map search application 201, a bit is previously stored in the scene ID 307 of the function cooperation memory tag 310 in the memory area for storing a program code to be executed when it is predicted that a terrain with a severe slope or curve will continue. Stand up. When the function cooperation memory fetch / decode controller 403 of the CPU 204 fetches data with the bit of the scene ID 307 set from the function cooperation tag-attached data storage unit 101 via the function cooperation memory control unit 103a, the previous bit and contents are changed. When it is changed, an interrupt is generated in the CPU.

  Specifically, when the map search application 201 is executed on the ECU 200, if it is clear from the map data that if the vehicle goes straight ahead, the vehicle will enter a steep road, the program stores the function link memory tag 310. The function linkage memory bit 301 is referenced to jump to the code portion on the memory that performs the function linkage with the transmission control. At this time, the CPU 204 finds that the scene ID 307 bit of the function cooperation memory tag 310 is set.

  That is, when fetching the program code stored in the data storage unit 101 with the function cooperation tag, the comparison unit 401 of the function cooperation memory control unit 103a checks the function cooperation memory tag 310 and sets the bit of the scene ID 307. If it is found, it is determined whether or not a bit of the scene ID 307 is newly set by comparing with the previous state.

  If a new bit is set in the scene ID 307, the interrupt generation unit 402 interrupts the current process in the CPU 204 and generates an interrupt to perform another process (interrupt process). An interrupt to the CPU 204 in the interrupt generation unit 402 is executed by a program such as an interrupt handler or an ISR (Interrupt Service Routine).

  At the same time, the information of the function cooperation memory tag is copied to the tag data register 401a in the function cooperation memory control unit 103a so that it can be referred to from the program on the CPU 204.

When the interrupt generated from the interrupt generation unit 402 of the function cooperation memory control unit 103a enters the CPU 204, the function cooperation OS that exists as a subsystem of the function cooperation OS control unit 102 is activated.
In addition, the function cooperation OS control unit 102 packetizes data for transmitting the function cooperation memory tag information read from the data storage unit 101 with the function cooperation tag to the function cooperation destination ECU.

  FIG. 5 is a diagram illustrating an example of a function cooperation communication packet generated by packetizing in the function cooperation OS control unit 102 of the in-vehicle information processing apparatus 100 according to the present embodiment, and FIG. The function cooperation data request packet 500 for requesting the function cooperation data from the ECU of FIG. 5, and FIG. 5B shows the function cooperation data transmission packet 510 for returning the function cooperation data requested by the other ECU. Show. These two types of packet data are distinguished by packet type data given in each packet.

  In the function cooperation data request packet 500 shown in this figure, the header information 501 including the address information of the communication destination ECU, the packet type indicating the type of the two types of packet data (for example, “0”, the function cooperation data The request packet 500 includes a function cooperation data transmission packet 510) 502 if “1”, an application ID 503 of the application to be executed, a scene ID 504, its own ECU ID 505, its own CPU ID 506, and packet end information 507. Note that data 503 to 506 surrounded by a dotted line 508 are data acquired from the function cooperation memory tag 310.

  Here, the address information of the communication destination ECU included in the header information 501 is obtained from the network address from the ECU ID 304 in the function cooperation memory tag 310 shown in FIG. 3 and included in the header information 501 according to the LAN protocol used. It is.

  The function cooperation data request packet 500 is transmitted from the transmission ECU side to the engine ECU side in advance when, for example, the engine ECU and the transmission ECU are function cooperation. As a result, the transmission ECU can store the engine speed and the like in its own memory without transmitting an acquisition request such as the engine speed to the engine ECU each time.

  The function cooperation data transmission packet 510 includes header information 511 including address information of the communication destination ECU, packet type 512, function cooperation data 513 such as map data, and packet end information 514.

  The function cooperation OS control unit 102 creates the function cooperation data request packet 500 and the function cooperation data transmission packet 510, and then incorporates these packets 500 and 510 into the microcomputer 103 as shown in FIG. The function cooperation packet transmission / reception unit 103b sets the packet transmission / reception unit 103b and transmits it to the transmission destination ECU with reference to the header information.

  FIG. 6 shows a functional block diagram of the function cooperation packet transmitting / receiving unit 103b provided in the in-vehicle information processing apparatus 100 according to the present embodiment.

  As shown in the figure, the function cooperation packet transmission / reception unit 103 b includes a function cooperation transmission register 601, a function cooperation reception register 602, and a communication controller 603 mapped on the memory address of the microcomputer 103.

  At the time of transmission, the communication controller 603 loads the data set in the function cooperation transmission register 601 into the internal buffer 604 and converts the protocol into the in-vehicle LAN protocol by the protocol interpretation unit 605, and then starts communication. When data is set in the function cooperation transmission register 601, a transmission completion interrupt occurs and the function cooperation OS control unit 102 is activated. When communication data for function cooperation continues, data can be set again by this mechanism to perform communication.

  On the other hand, when receiving the function cooperation data, the protocol interpretation unit 605 extracts the data portion into the internal buffer 604 and then sets it in the function cooperation reception register 602. Also in this case, a reception completion interrupt occurs, and the function cooperation OS control unit 102 is activated.

  Then, the function cooperation OS control unit 102 writes the data to the internal register (function cooperation tag information, data) in the function cooperation memory control unit 103a, and then transfers the data to the function storage memory data controller 101 with the function cooperation tag. Write instructions for. At this time, the cooperation memory bit 301 in the function cooperation memory tag 310 is set to “1” to indicate that the data is data loaded for function cooperation.

  FIG. 7 is a diagram for explaining a software relationship between an application and function linkage data. FIG. 7A shows a relationship between an application 701, an API (Application Program Interface) 702, and an OS 703. FIG. 7B shows an address space in which function cooperation data is stored. As shown in the figure, in terms of software, the data for function cooperation transmitted / received between the ECUs including the in-vehicle information processing apparatus 100 according to the present invention is a dedicated memory area managed by the OS 703 for function cooperation. It is assigned to a certain “function cooperation address space 704d”.

  This function cooperation address space 704d is not the text area 704a or the kernel address space 705 in the user address space 704, but the data area 704b, the bss area 704c (uninitialized variable area) in the user address space 704, and the stack area 704e. Thus, the memory area is effectively used by being allocated at an intermediate position of dynamically increasing data and dynamically allocating physical memory.

  The access from the application 701 to the function cooperation address space 704d is accessed and controlled using a dedicated API 702 that calls a function of the OS 703.

  Examples of functions used by the API 702 include “Co_func_read (* data, tag)”, “Co_func_write (* data, tag)” used when reading into and writing to the function cooperation address space 704d, and the function cooperation address space 704d. “Co_func_open (ID)”, “Co_func_close (ID)”, etc., used at the time of access.

  Therefore, the application 701 can refer to the function cooperation address space 704d located in the user address space 704 using the dedicated API 702 when executing a scene that requires function cooperation. For this reason, in this invention, the network access time for the data acquisition required for the function cooperation memorize | stored in other ECU can be excluded, and an execution speed can be improved significantly.

  At the same time, since the application 701 can access data of function linkage destinations, which are usually in different data formats, with a unified API 702, not only the software development efficiency is improved, but also the portability of the software is improved. Improvement in readability can be expected.

  Thus, in the present invention, data necessary on the ECU 210 acquired from the ECU 200 can be prepared in the function cooperation address space 704d in a form accessible from the application 701 of the ECU 210. The CPU can execute other operations during these operations, and when the ECU 210 uses the function cooperation data on the ECU 200, the necessary data is already stored in the main memory or cache memory of the CPU. It is possible to prevent delays in application execution due to the deployed situation.

  Next, the operation procedure of the in-vehicle information processing apparatus 100 according to the present invention will be described with reference to FIGS. 8 to 10, the operation procedure when the map data is acquired from the navigation-side ECU 200 in advance by the transmission-side ECU 210 executing the vehicle control by the functional cooperation of the in-vehicle information processing apparatus 100 according to the present invention. Is described.

  FIG. 8 is a flowchart showing an operation procedure until the transmission-side ECU 210 generates a function cooperation data request packet and transmits it to the navigation-side ECU 200.

  First, when executing the transmission program, the ECU 210 determines whether or not the function cooperation is detected by referring to the function cooperation memory bit of the function cooperation memory tag on the data storage unit 101 with the function cooperation tag. (Step S801).

  Next, when it is detected that function cooperation with the ECU 200 is required (YES in step S801), an interrupt is generated from the function cooperation memory control unit 103a, and the function cooperation OS control unit 102 is activated. (Step S802).

  Then, the function cooperation OS control unit 102 generates a function cooperation data request packet that is data request information for the function cooperation destination ECU 200 (step S803). In this case, a request packet for requesting map data to the ECU 200 on the navigation side is prepared.

  Further, the function cooperation OS control unit 102 sets the generated function cooperation data request packet in the function cooperation packet transmission / reception unit 103b (step S804), and the function cooperation packet transmission / reception unit 103b performs function cooperation with the ECU 200 serving as the function cooperation destination. A data request packet is transmitted (step S805).

  FIG. 9 is a flowchart illustrating an operation procedure of the ECU 200 on the navigation side that has received the function cooperation data request packet from the ECU 210 on the transmission side.

  First, the function cooperation packet transmitting / receiving unit 103b determines whether or not a function cooperation data request packet has been received from the ECU 210 (step S901).

  When the function cooperation data request packet is received (YES in step S901), the function cooperation packet transmitting / receiving unit 103b activates the function cooperation OS control unit 102 in response to the reception completion interrupt (step S902).

  Next, the function cooperation OS control unit 102 extracts data corresponding to the function cooperation data request packet from the function cooperation address space and creates a function cooperation data transmission packet (step S903).

  Further, the function cooperation memory control unit 103a sets the function cooperation data transmission / reception unit 103b from the function cooperation tag-attached data storage unit 101 to the function cooperation packet transmission / reception unit 103b (step S904), and the function cooperation packet transmission / reception unit 103b A function cooperation data transmission packet is transmitted to the original ECU 210 (step S905).

  FIG. 10 is a flowchart showing an operation procedure of ECU 210 that has received map data for function cooperation from ECU 200 shown in FIG.

  Initially, the ECU 210 can perform other processing by dispatching in order to effectively use the CPU resources until a reply from the ECU 200 is received (step S1001). Then, the function cooperation packet transmitting / receiving unit 103b determines whether data is received from the function cooperation destination ECU 200 (step 1002).

  When data is received (step S1002 YES), the function cooperation packet transmitting / receiving unit 103b issues a reception completion interrupt to activate the function cooperation OS control unit 102 (step S1003).

  Next, the function cooperation OS control unit 102 expands the received data (map data in the present embodiment) on the function cooperation address space 704d in the user address space 704 as shown in FIG. 7 (step S1004). ).

  In addition, the function cooperation memory control unit 103a transfers the map data on the function cooperation address space 704d to the data storage unit 101 with the function cooperation tag (step S1005).

  Then, the dedicated application for vehicle control of the ECU 210 accesses the function cooperation address space 704d in the user address space 704 using the function cooperation API (step S1006).

  As described above, the in-vehicle information processing apparatus 100 according to the present invention stores data stored in the data storage unit 101 with the function cooperation tag in order to improve the execution efficiency of the cooperation operation of the in-vehicle system in different ECUs. The function cooperation memory tag 310 given to 300 is referred to. Then, in accordance with the vehicle status information, the OS notifies the function linkage that it is necessary from the application execution status in advance, and the function linkage data stored in the storage unit of the other ECU operates on the ECU. It is possible to expand to the management area of the ECU and expand it on the main memory or cache memory of its own ECU.

  Therefore, each ECU can receive or transmit the function cooperation data in advance according to the vehicle situation, so that the vehicle can be controlled in real time without causing a delay in the vehicle control when using the vehicle control application. It is possible to perform control.

  In addition, the application for vehicle control provided in each ECU can access the function cooperation data recorded and updated in the dedicated function cooperation address space with a unified API, and can be used for other ECUs during vehicle control. Network access time can be eliminated, vehicle control execution speed can be greatly improved, and software development efficiency can be improved.

  In the description of the above embodiment, the function linkage between the navigation ECU 200 and the transmission ECU 210 has been described. However, for the function linkage between a plurality of on-vehicle ECUs, for example, an information processing system ECU, brake control, etc. Needless to say, the in-vehicle information processing apparatus according to the present invention can be used for information sharing among various other ECUs such as a control ECU and a steering control ECU.

  The vehicle-mounted information processing apparatus according to the present invention can be applied to, for example, a vehicle that performs vehicle control using the function cooperation of a plurality of ECUs.

DESCRIPTION OF SYMBOLS 100 Vehicle-mounted information processing apparatus 101 Data storage part with function cooperation tag 102 Function cooperation OS control part 103 Microcomputer 103a Function cooperation memory control part 103b Function cooperation packet transmission / reception part 200,210 ECU
201 Map search application 202 Drawing application 203, 213 OS
204, 205, 214, 215 CPU
204a, 205a, 214a, 215a Cache memory 204b, 205b, 214b, 215b Main memory 211 Transmission control unit 212 Brake control unit 401 Comparison unit 401a Register 402 Interrupt generation unit 403 Function linkage memory fetch / decode controller 601 Function linkage transmission register 602 Function Cooperation reception register 603 Communication controller 604 Internal buffer 605 Protocol interpretation part

Claims (14)

An in-vehicle information processing apparatus provided in an ECU for sharing data used for function cooperation among a plurality of ECUs,
Data storage means with function cooperation tag for storing data to which tag data related to function cooperation with other ECUs is attached;
Function linkage memory control that identifies an execution phase of a program for function linkage with the other ECU by referring to the tag data stored in the data linkage means with the function linkage tag according to vehicle status information Means,
When the function cooperation memory control means specifies the execution phase of the program for function cooperation with the other ECU, the function cooperation OS is started for function cooperation and used for function cooperation. A function cooperation OS control means for generating packet data;
An in-vehicle information processing apparatus comprising: function cooperation packet transmission / reception means for transmitting the function cooperation packet data to the other ECU for function cooperation. The data stored in the data storage unit with the function linkage tag includes entity data other than program data,
The function linkage memory control means refers to the tag data attached to the entity data, specifies entity data for function linkage with the other ECU,
The function cooperation OS control means generates the function cooperation packet data to be transmitted to the other ECU using the entity data,
The in-vehicle information processing apparatus according to claim 1, wherein the function cooperation packet transmitting / receiving means transmits the function cooperation packet data to the other ECU that performs function cooperation. Whether the tag data is scene identification information that is information corresponding to the execution phase of the function cooperation with the other ECU, and whether the data to which the tag data is attached is data for function cooperation used in its own ECU The in-vehicle information processing apparatus according to claim 1, further comprising: a function cooperation memory bit indicating whether or not. The tag data further includes a CPU valid bit that indicates a CPU that uses the data at the corresponding address as shared data, an ECU ID that indicates an identification number of the ECU that cooperates with the function, and an identification number of the CPU that is a target in the ECU that cooperates with the function. The vehicle information processing apparatus according to claim 3, wherein at least one of a CPU ID to be displayed and an application ID that is an application identification number is included. The function cooperation OS control means stores the received function cooperation packet data in a predetermined storage unit when receiving the function cooperation packet data from the other ECU with which the function cooperation packet transmitting / receiving means has function cooperation. The in-vehicle information processing apparatus according to claim 1 or 2, characterized in that: The in-vehicle information processing apparatus according to claim 1, wherein the situation information includes at least one of environment information, position information, and road information of a vehicle. The in-vehicle information processing apparatus further includes:
The CPU adds the scene identification information given to the tag data of the program data fetched from the data stored in the function-linked tag-attached data storage means and the tag data of the program data fetched last time. Comparing means for comparing the scene identification information;
An interrupt generating means for generating an interrupt process to the CPU for function cooperation with the other ECU when it is determined in the comparing means that a new bit is set in the scene identification information;
When an interrupt occurs in the interrupt generation means, the function cooperation memory control means activates the function cooperation OS by the function cooperation OS control means and creates the function cooperation packet data,
The in-vehicle information processing apparatus according to claim 1, wherein the function cooperation packet transmitting / receiving unit transmits the function cooperation packet data to an ECU that performs function cooperation. In the function cooperation packet data, a function cooperation data request packet for requesting acquisition of data held by the other ECU that functions and the data held by its own ECU are transmitted to the other ECU that function cooperation. Function linkage data transmission packet to be included,
The function cooperation packet transmission / reception means transmits the function cooperation data request packet or the function cooperation data transmission packet to the other ECU that is function cooperation according to the vehicle status information. Item 8. A vehicle information processing apparatus according to Item 7. In the function cooperation data request packet, header information including address information of the function cooperation ECU, packet type information indicating the type of the function cooperation packet data, application ID of the application being used, the scene identification information, At least one of its own ECU ID and its own CPU ID is included,
The function cooperation data transmission packet includes at least one of header information including address information of the other ECU that performs function cooperation, the packet type information, and a function cooperation data body. 8. The in-vehicle information processing apparatus according to 8. A vehicle control device that shares data for function cooperation among a plurality of ECUs and performs vehicle control using the data for function cooperation,
Data storage means with function cooperation tag for storing data to which tag data related to function cooperation with other ECUs is attached;
Function linkage memory control that identifies an execution phase of a program for function linkage with the other ECU by referring to the tag data stored in the data linkage means with the function linkage tag according to vehicle status information Means,
When the function cooperation memory control means specifies the execution phase of the program for function cooperation with the other ECU, the function cooperation OS is started for function cooperation and used for function cooperation. A function cooperation OS control means for generating packet data;
A function cooperation packet transmitting / receiving means for transmitting the function cooperation packet data to the other ECU for function cooperation;
When the function cooperation packet transmission / reception means receives the function cooperation packet data from the other ECU with which the function cooperation packet functions, the storage means for holding the function cooperation packet data;
A vehicle control device comprising: vehicle control means capable of executing vehicle control with reference to the function cooperation data stored in the storage means. Whether the tag data is scene identification information that is information corresponding to the execution phase of the function cooperation with the other ECU, and whether the data to which the tag data is attached is data for function cooperation used in its own ECU The vehicle control apparatus according to claim 10, further comprising: a function cooperation memory bit indicating whether or not. A program used in an in-vehicle information processing apparatus provided in an ECU for sharing data used for function cooperation between a plurality of ECUs,
A data storage step with a function cooperation tag for storing data to which tag data related to function cooperation with other ECUs is attached;
Function linkage memory control for identifying an execution phase of a program for function linkage with the other ECU by referring to the tag data stored in the data linkage step with the function linkage tag according to vehicle status information Steps,
When the function cooperation memory control step identifies the execution phase of the program for function cooperation with the other ECU, the function cooperation OS is activated for function cooperation and the function cooperation is used for function cooperation. A function linkage OS control step for generating packet data;
And a function cooperation packet transmission / reception step of transmitting the function cooperation packet data to the other ECU that performs function cooperation. In the function cooperation OS control step, the function cooperation data transmitted / received in the function cooperation packet transmission / reception step is expanded in a function cooperation address space on a user address space managed by the function cooperation OS,
The program further includes:
The program according to claim 11, further comprising a step of accessing the function cooperation data recorded in the function cooperation address space via a dedicated API. Whether the tag data is scene identification information that is information corresponding to the execution phase of the function cooperation with the other ECU, and whether the data to which the tag data is attached is data for function cooperation used in its own ECU The program according to claim 12 or 13, further comprising: a memory bit for function cooperation indicating whether or not.

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