JP2012185541A - In-vehicle device, scheduling program, and scheduling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an in-vehicle device and the like which can efficiently use a CPU and perform task scheduling.SOLUTION: A control program 1 of an ECU 100 has: A and B tasks 21 and 22 for controlling a motor and the like; and a C task 31 for controlling power windows and the like. Also, the control program 1 generates cyclic timing, and regards each cycle as a time slice (TS), then in each TS, gives an execution right to each task for a 1TS operation time which is individually preset. Then, the ECU 100 has 5 operational states based on IG switch operations: an ACC OFF state; an ACC ON state; an IG ON just after state; an IG ON steady state; and an IG OFF just after state. The control program 1 increases an operation frequency of a task which is estimated to have a high processing load in each state, by changing the 1TS operation time of each task according to the operational state of the ECU 100.

Description

  The present invention relates to an in-vehicle device that performs task scheduling.

  Different types of ECUs such as a control system ECU that controls engines and brakes, a body system ECU that controls meters and power windows, an information system ECU such as a navigation device, and the like are mounted on the vehicle. In recent years, the number of these ECUs has increased as the functions of vehicles have increased, and the development and manufacturing costs of vehicles have increased. Therefore, a plurality of ECUs have been integrated into a single control system, body system, and information system. It has been proposed to implement different types of functions such as systems with a single ECU. However, the ECU program is required to have real-time characteristics, and particularly with respect to the functions of the control system, there is a risk that safety problems may occur due to the loss of real-time characteristics. Time constraints are imposed.

  Here, Patent Document 1 describes a scheduling method in which CPU operation times are equally divided to generate a series of time slices, and these time slices are statically assigned to each process. According to such a scheduling method, since the operation time of the CPU allocated to each process is guaranteed, even when performing a plurality of processes in which time constraints such as a video distribution process are imposed in parallel, It becomes possible to guarantee the service quality of each process. Then, by applying the scheduling method to the above-mentioned ECU having different types of functions, it is possible to guarantee the operation time of tasks corresponding to each function, and satisfy severe time constraints in the functions of the control system. It is considered possible.

JP 11-293694 A

  By the way, it is considered that the processing load of the control system greatly varies depending on the operating state of the engine, and in order to guarantee the real-time performance of the function, it is assumed that the processing load is maximized. It is necessary to allocate operation time to the task. As a result, the engine can be controlled safely, but on the other hand, when the processing load is low, the operation time is excessively allocated to the task, and the use efficiency of the CPU deteriorates.

  The present invention has been made in view of the above problems, and an object thereof is to provide an in-vehicle device that can perform task scheduling while efficiently using a CPU.

  The in-vehicle device according to claim 1, which has been made in view of the above problems, is configured to operate these tasks in parallel by sequentially granting an execution right to a plurality of tasks. And a changing unit that changes the frequency of operating each task in accordance with the state of the host vehicle determined by the determining unit.

  According to such a vehicle-mounted device, the processing load of each task is measured in advance for each state of the host vehicle, and in each state, the frequency at which a task with a high processing load operates is increased and a task with a low processing load is provided. The frequency of operation can be lowered. Therefore, task scheduling can be performed while using the CPU efficiently. As a result, sufficient performance can be obtained even if the CPU performance is lowered, and the cost of the in-vehicle device can be reduced.

Note that it is conceivable that the processing load of the task for controlling the engine, the brake, and the like varies greatly depending on the operating state of the engine of the host vehicle.
Therefore, in the in-vehicle device according to the second aspect, the state of the vehicle is based on the operation of a switch such as an ignition switch or a starter switch for starting the operation of the host vehicle.

  Further, in a hybrid vehicle that obtains driving force from an engine and a motor, it is conceivable that the processing load of tasks related to these fluctuates greatly depending on the operating state of the engine and motor.

  Therefore, in the in-vehicle device according to the third aspect, in the case where the host vehicle is configured as a hybrid vehicle on which an engine and a motor for obtaining driving force are mounted, the state of the host vehicle is set to the state of the engine and the motor. The state is based on the operating state.

By changing the frequency at which each task operates in accordance with such a state, the CPU can be used efficiently.
The in-vehicle device may change the frequency with which each task operates as follows.

  In other words, as described in claim 4, the in-vehicle device generates a periodically arrived timing as a reference cycle, and sequentially grants execution rights to tasks in a time slice that is one cycle of the reference cycle. At the same time, for each task, an operation time within one cycle that is a time during which execution rights are granted in each time slice, and a priority order that is the order in which execution rights are given at each time slice may be set. The changing unit may change the frequency of operating each task by changing at least one of the operation time within one cycle and the priority order.

  In addition, as described in claim 5, if each task is set with an operation time that is a time for which an execution right is granted per unit time, the changing means is assigned to the task. The frequency of operating each task may be changed by changing the set operation time.

According to such a configuration, the frequency at which each task operates can be flexibly changed according to the state of the vehicle.
In addition, the in-vehicle device can be easily reproduced by virtualizing the computer of the existing in-vehicle device using the virtualization technology and operating the OS or application installed in the in-vehicle device on the virtualized computer. It has been known. And by creating multiple virtual machines that are programs that reproduce existing in-vehicle devices using virtualization technology, and operating these virtual machines with one in-vehicle device, multiple in-vehicle devices are integrated into one. It has been proposed to do. Further, when a plurality of virtual machines are operated with one in-vehicle device in this way, it is conceivable to perform scheduling using each virtual machine as a task.

Therefore, in the in-vehicle device according to the sixth aspect, the task is configured as a virtual machine that is a program for reproducing a function realized in a certain device.
In this way, for example, when a plurality of virtual machines are operated in parallel with one in-vehicle device, the CPU can be used efficiently.

  Note that, in claim 7, a scheduling program for performing task scheduling in the in-vehicle device according to claim 1 is described. According to such a scheduling program, the CPU can be used efficiently.

  Further, claim 8 describes a task scheduling method in the in-vehicle device according to claim 1. According to such a method, the CPU can be used efficiently.

It is a block diagram which shows the structure of ECU of 1st embodiment, and a control program. It is a table | surface which shows the state transition diagram about the driving | running state in 1st embodiment, and the schedule table corresponding to each driving | running state. In 1st embodiment, it is a timing chart which shows that the operation time of each task changes according to a driving | running state. It is the flowchart about the state change detection process in 1st embodiment, and the flowchart about a table switching process. It is a block diagram which shows the structure of ECU and control program of 2nd embodiment. It is a table | surface which shows the schedule table corresponding to each driving | running state in 2nd embodiment. In 2nd embodiment, it is a timing chart which shows that the operating time of each VM changes according to a driving | running state. It is a state transition diagram about the drive state of the engine and motor of a hybrid car in a third embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiment of the present invention is not limited to the following embodiment, and can take various forms as long as they belong to the technical scope of the present invention.

[First embodiment]
[Description of configuration]
First, the first embodiment will be described.

  The ECU 100 according to the first embodiment is mounted on a vehicle driven by an engine, and controls a control system function for controlling the engine, a brake having an ABS function, an air bag, and the like, a meter, an air conditioner, a keyless entry system, and the like. It has the function of body system. In addition to these functions, the ECU 100 may have information-related functions such as an audio function and a navigation function.

  All of these functions are required to have real-time characteristics. However, regarding the functions of the control system, there is a risk that safety problems may occur due to the loss of real-time characteristics. Real-time characteristics are required (in other words, the most severe time constraint is imposed on the function of the control system). In addition, regarding the functions of the body system, convenience and comfort may deteriorate due to the loss of real-time characteristics, and driving of the host vehicle may become difficult. However, the real-time characteristics of the information system functions are impaired. However, convenience and amusement are reduced, and the body functions are required to have higher real-time performance than the information functions.

FIG. 1 is a block diagram showing a schematic configuration of the ECU 100 and a configuration of a control program 1 that controls the ECU 100.
The ECU 100 has three power terminals, an IG terminal, an ACC terminal, and a + B terminal, and the power management ECU 200 supplies power to the ECU 100 from different power terminals according to the operation state of the ignition switch (IG switch) of the host vehicle. Supply. Further, the ECU 100 includes a CPU 110 that executes the control program 1 and a physical device 120 for realizing various functions. The control program 1 does not require a memory holding operation such as a flash memory in the physical device 120. Is stored in a storage unit (not shown) composed of various devices.

  The control program 1 includes a control system application 20 for realizing a control system function, a body system application 30 for realizing a body system function, and an OS 10 for operating these applications. . The OS 10 is configured as a real-time OS, and includes a scheduling unit 11 that schedules the A task 21 and the B task 22 that configure the control system application 20 and the C task 31 that configures the body system application 30, and the physical device 120. And a device control unit 12 for controlling the physical device 120 in accordance with an instruction from each application. In addition, the scheduling unit 11 executes time for each task (execution time) (scheduling time), scheduler setting unit 11a for setting the priority of each task, and execution for each task according to the set operation time and priority. It has a scheduler execution unit 11b that operates these tasks in parallel by granting the right.

[Description of operation]
Next, operation | movement of the control program 1 of 1st embodiment is demonstrated.
(1) Regarding the operation state of the IG switch As described above, the power management ECU 200 supplies power to the ECU 100 from different power supply terminals according to the operation state of the IG switch, but the ECU 100 is based on the operation of the IG switch ( In other words, it has the following operating conditions (based on the power supply terminal used for power supply).

  That is, as described in FIG. 2A, as an operation state, when the IG switch is set to ACC OFF state (power is supplied only from the + B terminal), the IG switch is set to ACC. ACC ON state, state immediately after IG OFF (power is supplied from + B terminal and ACC terminal), state immediately after IG ON when IG switch is set to ON or START, steady state of IG ON (+ B terminal, ACC terminal) And power is supplied from the IG terminal).

When the operating state is the ACC OFF state and the IG switch is set to ACC (ACC ON), the operating state becomes the ACC ON state.
Further, when the operation state is the ACC ON state, when the IG switch is set to ON or START (IG ON), the operation state is a state immediately after the IG ON, and when the IG switch is set to OFF (ACC OFF), the driving state is the ACC OFF state.

  In addition, when the operation state is a state immediately after IG ON, when the predetermined initial time (for example, 100 ms) has elapsed after entering the state, the operation state becomes the IG ON steady state and the IG switch is turned on. When set to ACC (IG OFF), the operating state is the state immediately after IG OFF.

In the case where the operation state is the IG ON steady state, when the IG switch is set to ACC (IG OFF), the operation state becomes a state immediately after IG OFF.
In addition, when the operation state is a state immediately after IG OFF, when the predetermined end time (for example, 100 ms) has elapsed after entering the state, the operation state becomes the ACC ON state and the IG switch is turned ON. Alternatively, when set to START (IG ON), the operating state is the state immediately after IG ON.

(2) Scheduling Next, scheduling of tasks constituting each application performed in the scheduling unit 11 of the control program 1 mounted on the ECU 100 will be described.

  As described above, the control system application 20 and the body system application 30 are required to have real-time characteristics, and it is necessary to guarantee the operation time allocated to each task at predetermined intervals.

  For this reason, the scheduling unit 11 generates a periodically arrived timing as a reference cycle, and sets one cycle of the reference cycle as a time slice (also referred to as TS (abbreviation of Time Slice)). Is set to the operation time within one cycle that is the operation time in TS and the priority that is the order in which the execution right is given. Then, in each TS, the execution right is given to each task in the order according to the priority order, and the operation time of each task (the time during which the execution right is given) is set to the operation time within one period set for each task. By doing so, each application is operated in a state where real-time performance is guaranteed. Such a scheduling method is referred to as Definite Scheduling (also referred to as DS).

  Further, in the ACC OFF state, the ACC ON state, and the state immediately after IG OFF in which the IG switch is set to OFF or ACC, the engine is stopped, so the processing load of the control system application is reduced. For this reason, the scheduling part 11 is comprised so that the operation time of the task which comprises each application may be changed according to a driving | running state.

  That is, as described in FIG. 2B, in the scheduling unit 11, TSs having different lengths are set according to the operation state, and the operation time and priority in the 1TS of the A to C tasks are set. The set scheduling table is individually provided for each operation state.

  In each schedule table, the priority of each task and the operation time in 1TS are set based on the processing load predicted in the corresponding operation state. Specifically, in the state immediately after the IG ON where the engine is operating, the IG ON steady state, or the state immediately after the IG OFF is performed, in the state immediately after the IG OFF in which various processes for stopping the engine are performed, The A and B tasks configuring the control system application 20 are set to have a higher operation time within 1 TS and higher priority than the C task configuring the body system application 30. On the other hand, in the ACC ON state and the ACC OFF state in which the end time has elapsed after the engine has stopped, the A and B tasks are set to have a shorter operation time within 1 TS than the C task, and the priority order is set lower. .

  And the scheduling part 11 switches TS according to a driving | running state, selects the scheduling table corresponding to a driving | running state, and gives an execution right to A-C task according to the selected scheduling table.

  FIG. 3 also shows a timing chart showing how the operation time of each task changes due to a change in the driving state. As shown in the timing chart, when the operation state is the ACC ON state, the scheduler setting unit 11a of the scheduling unit 11 sets TS to 5 ms and sets a scheduling table corresponding to the ACC ON state (FIG. 2B). -2)) is selected. Then, according to the selected scheduling table, the scheduler execution unit 11b allocates operation times of 3 ms, 0.5 ms, and 0.5 ms in the order of the C task 31, the A task 21, and the B task 22 in each TS.

  When the operating state becomes the state immediately after IG ON by operating the IG switch, the scheduler setting unit 11a sets TS to 1 ms and selects the scheduling table (FIG. 2 (b-4)) corresponding to the state immediately after IG ON. To do. Then, according to the selected scheduling table, the scheduler execution unit 11b sets operation times of 0.4 ms, 0.4 ms, and 0.1 ms in the order of A task 21, B task 22, and C task 31, respectively, in each TS. assign.

  Thereafter, when the initial time elapses and the operation state becomes the IG ON steady state, the scheduler setting unit 11a maintains TS at 1 ms, and the scheduling table corresponding to the IG ON steady state (FIG. 2 (b-5)). Select. Then, according to the selected scheduling table, the scheduler execution unit 11b sets operation times of 0.4 ms, 0.2 ms, and 0.1 ms in order of the A task 21, the B task 22, and the C task 31, respectively, in each TS. assign.

(3) About change of operation time of each task Next, the process which changes the operation time allocated to each task according to a driving | running state is demonstrated in detail. In the following description, it is described that a part constituting the control program 1 performs processing. This means that processing is performed by the CPU 110 operating according to the part.

(3-1) About state change detection processing First, the state change detection processing which detects the change of a driving | running state is demonstrated using the flowchart as described in Fig.4 (a). This process is a process periodically executed by the scheduler setting unit 11a of the scheduling unit 11 of the control program 1.

  In S305, the scheduler setting unit 11a determines the current operation state based on the voltage value of each power supply terminal detected via the device control unit 12, and detects a change in the operation state. If the operating state has changed (S305: Yes), the process proceeds to S310. If the operating state has not changed (S305: No), this process ends.

In S310, the scheduler setting unit 11a turns on the schedule table change flag, and proceeds to S315.
In S315, the scheduler setting part 11a memorize | stores the present driving | running state, and complete | finishes this process.

(3-2) Table switching process Next, a table switching process for switching a TS or a schedule table in accordance with a change in the operation state will be described with reference to the flowchart shown in FIG. This process is a process periodically executed by the scheduler setting unit 11a.

  In S405, the scheduler setting unit 11a determines whether or not the schedule table change flag is ON. If an affirmative determination is obtained (S405: Yes), the process proceeds to S410 and a negative determination is obtained. If this happens (S405: No), this process ends.

In S410, the scheduler setting unit 11a sets a TS and a schedule table according to the current operation state, and the process proceeds to S415.
In S415, the scheduler setting unit 11a clears the schedule table change flag, and ends this process.

[Second Embodiment]
[Description of configuration]
Also in the second embodiment, the ECU has the same control system function and body system function as in the first embodiment, but the configuration of the control program is different. In the second embodiment, each function is a virtual machine. (Also described as VM (abbreviation of Virtual Machine)).

  Here, the VM will be described. The VM is a program for reproducing all or a part of the functions realized in a predetermined device, and a program in which all or a part of the program installed in the device is transplanted in the state of binary code, It is composed of a virtual CPU, which will be described later. The control program of the second embodiment has a first VM that virtualizes a control system ECU and a second VM that virtualizes a body system ECU, and operates these VMs in parallel. Thus, the functions realized in the control ECU and the body ECU are simultaneously realized in one ECU.

FIG. 5 is a block diagram illustrating a schematic configuration of the ECU 100 and a configuration of a control program 500 that controls the ECU 100 in the second embodiment.
The ECU 100 is configured similarly to the first embodiment.

The control program 500 according to the second embodiment includes the first VM 520 and the second VM 530 described above, and a VM control management unit 510 that operates these VMs.
First, the first and second VMs will be described.

  The first VM 520 is a program that emulates an engine control system application 521 and an OS 522 that are transplanted in a binary code state of a program that was running on the control system ECU, and is a so-called virtual hardware. A virtual device 523 corresponding to hardware, and a virtual CPU 524. The engine control system application 521 includes an A task 521a and a B task 521b.

The OS 522 is a well-known OS that performs scheduling of the A task 521a, the B task 521b, and the like, and is configured as a real-time OS.
The virtual CPU 524 is configured as a program that analyzes and executes binary codes of the engine control system application 521 and the OS 522.

  The virtual device 523 is a program that is an I / F between the engine control system application 521 and the OS 522 and the physical device 120 of the ECU 100, and the engine control system application 521 and the OS 522 access the virtual device 523. To control the physical device 120.

  As for the second VM 530, a body application 531 and OS 532, which are transplanted programs in the body system ECU in a binary code state, and a virtual device 523 and a virtual CPU 524 similar to those of the first VM 520 are provided. Have. The body application 531 includes a C task 531a and the like.

Next, the VM control management unit 510 will be described.
The VM control management unit 510 notifies a scheduling unit 511 that performs VM scheduling, a signal from the physical device 120 to the virtual device of each VM, and controls the physical device 120 according to an instruction from the virtual device And a control unit 512. In addition, the scheduling unit 511 executes a time (operation time) when an execution right is given to each VM and a scheduler setting unit 511a for setting the priority of each VM, and executes each VM according to the set operation time and priority. It has a scheduler execution unit 511b that operates these VMs in parallel by granting the right.

[Description of operation]
Next, the operation of the control program 500 of the second embodiment will be described.
Similarly to the first embodiment, the ECU 100 of the second embodiment is mounted on a vehicle driven by an engine, and is supplied with power from the power management ECU 200, and the operation states are the ACC OFF state, the ACC ON state, and the IG. A state immediately after OFF, a state immediately after IG ON, and an IG ON steady state are provided, and the operating state changes according to the operation of the IG switch and the like.

  Further, since the first and second VMs 520 and 530 are required to have real-time properties, each VM is operated by the DS as in the first embodiment. That is, the scheduling unit 511 sets, for each VM, the operation time within one cycle that is the operation time in the TS and the priority order that is the order in which the execution right is given, and the order according to the priority order in each TS. Then, the execution right is given to each VM, and the operation time of each VM is set to the operation time within one period set for each VM.

  Further, in the ACC OFF state and the ACC ON state in which the IG switch is set to OFF or ACC, the engine is stopped, so the processing load on the first VM 520 in which the engine control system application 521 is mounted is reduced. For this reason, the scheduling unit 511 is configured to change the operation time of each VM in accordance with the operation state, as in the first embodiment.

  That is, as described in FIG. 6, in the scheduling unit 511, TSs having different lengths are set according to the operation state, and the operation time and priority in the 1TS of the first and second VMs are set. The scheduling table thus prepared is individually provided for each operating state. Similar to the first embodiment, in each schedule table, the priority order of each VM and the length of the operation time in 1TS are set based on the processing load predicted in the corresponding operation state. And while switching TS according to a driving | running state, the scheduling table corresponding to a driving | running state is selected, and the execution right is provided to 1st, 2nd VM according to the selected scheduling table.

  FIG. 7 also shows a timing chart showing how the operating time of each VM changes due to a change in operating state. As shown in the timing chart, when the operation state is the ACC ON state, the scheduler setting unit 511a of the scheduling unit 511 sets the TS to 5 ms and sets a scheduling table corresponding to the ACC ON state (FIG. 6B). )). Then, according to the selected scheduling table, the scheduler execution unit 511b allocates operation times of 3 ms and 1 ms in each TS in the order of the second VM 530 and the first VM 520, respectively.

  When the operating state becomes the state immediately after IG ON by operating the IG switch, the scheduler setting unit 511a sets TS to 1 ms and selects the scheduling table (FIG. 6D) corresponding to the state immediately after IG ON. Then, according to the selected scheduling table, the scheduler execution unit 511b assigns operating times of 0.8 ms and 0.1 ms in the order of the first VM 520 and the second VM 530, respectively, in each TS.

  After that, when the initial time has elapsed and the operation state becomes the IG ON steady state, the scheduler setting unit 511a maintains TS at 1 ms and selects the scheduling table corresponding to the IG ON steady state (FIG. 6 (e)). To do. Then, according to the selected scheduling table, the scheduler execution unit 511b allocates operation times of 0.6 ms and 0.1 ms in the order of the first VM 520 and the second VM 530, respectively, in each TS.

  In the scheduler setting unit 511a of the control program 500 of the second embodiment, the same state change detection process and table switching process as those of the first embodiment are executed. With these processes, the TS and the schedule table are changed according to the operating state.

[Third embodiment]
In the first and second embodiments, in the task and VM scheduling in the ECU mounted on the vehicle driven by the engine, the TS, the priority, and the operation time in 1TS are changed according to the driving state. The configuration of changing the frequency at which each task or VM operates has been described. However, not only the driving state but also the frequency at which each task or the like operates may be changed according to the state of another vehicle.

  As a specific example, in one vehicle speed control ECU that is mounted on a hybrid vehicle that obtains driving force by an engine and a motor and controls the vehicle speed by controlling the engine and the motor according to the operation of the driver, The frequency at which each task (or VM) operates may be changed depending on from which motor the driving force is obtained (also described as the driving state). That is, the vehicle speed control ECU is provided with one or more tasks (engine control task) for controlling the engine and one or more tasks (motor control task) for controlling the motor, and the control of the first embodiment. An OS similar to the program 1 is provided, and the OS operates these tasks by DS.

  Further, as described in FIG. 8, in the hybrid vehicle, as a driving state, a stopped state where driving force is not obtained from both the engine and the motor, and an engine driving state where driving force is obtained only from the engine, There are four states: a motor drive state where the drive force is obtained only from the motor, and an engine / motor drive state where the drive force is obtained from both the engine and motor, and a schedule table is provided for each state. Yes. As in the first and second embodiments, in each schedule table, the priority order of each task and the operation time in 1TS are set based on the processing load predicted in each driving state.

  In the schedule table corresponding to the engine / motor driving state and the stopped state, the operation time in the 1TS of the engine control task and the operation time in the 1TS of the motor control task are set to be approximately the same.

  On the other hand, in the schedule table corresponding to the engine driving state, the priority of the engine control task is set higher than that of the motor control task, and the operation time in 1TS of the engine control task is longer than the operation time in 1TS of the motor control task. Set.

  In the schedule table corresponding to the motor drive state, the priority of the motor control task is set higher than that of the engine control task, and the operation time in 1TS of the engine control task is shorter than the operation time in 1TS of the motor control task. Set.

  Then, the driving state is replaced with the driving state, the same state change detection processing and table switching processing as those in the first embodiment are executed, and each task is scheduled by the schedule table corresponding to the driving state.

By doing so, in the vehicle speed control ECU mounted on the hybrid vehicle, the frequency at which each task operates can be changed according to the driving state.
[effect]
According to the ECUs of the first to third embodiments, the schedule table corresponding to the state of the host vehicle such as the driving state based on the operation of the IG switch and the driving state of the engine or the motor is individually provided. In each schedule table, the priority of each task or VM and the operation time within 1TS are set based on the predicted processing load, and scheduling is performed using the schedule table according to the current state of the host vehicle. .

  For this reason, each task or VM can be operated with the optimal frequency according to the current state of the host vehicle, and the CPU can be used efficiently. Thus, even if the CPU performance is lowered, sufficient performance can be obtained, and the cost of the ECU can be reduced.

[Other Embodiments]
(1) The ECUs of the first and second embodiments are mounted on a vehicle driven by an engine. However, the ECU is not limited to this. For example, the ECU is mounted on a hybrid vehicle or an electric vehicle. May be. In such a case, the task and the VM operate according to the operation state based on the operation of the starter switch for starting the motor and the engine for driving the vehicle or the engine instead of the operation state based on the operation of the IG switch. You may change the frequency. Even in such a case, the same effect can be obtained.

  (2) In the first and second embodiments, scheduling is performed for a task or VM that requires real-time performance. However, the present invention can achieve the same effect even when applied to a task that does not require real-time property or a task that does not require real-time property. Further, even when tasks and VMs are mixed as scheduling targets, the same effect can be obtained by applying the present invention.

  (3) In the first to third embodiments, by changing the operation time and priority within each TS or each task or VM, the frequency with which each task or the like operates according to the state of the vehicle is changed. It has changed. However, only the priority order of each task or the like may be changed, or only the operation time within 1 TS may be changed. Further, the priority of each task and the operation time within 1 TS may be changed without changing the TS. Even in such a case, the same effect can be obtained.

  (4) In the first to third embodiments, scheduling of tasks or VMs is performed by DS, but the scheduling method is not limited to this. Specifically, for example, the task is configured to voluntarily abandon the granted execution right, and the operation time within 1 TS of each task is set so that the sum is longer than TS, It may be configured to guarantee that the operation time within 1 TS is allocated in each TS only for a task that requires hard real-time property. Then, at least one of the priority order of each task and the operation time within one TS is changed according to the vehicle state such as the driving state, and each TS is assigned to each task in the order according to the priority order. The execution right may be given over the operation time within 1 TS. Even in such a case, the frequency with which each task operates can be changed according to the state of the vehicle, and similar effects can be obtained.

[Correspondence with Claims]
The correspondence between the terms used in the description of the above embodiment and the terms used in the description of the claims is shown.

  The OS in the first and third embodiments and the VM control management unit in the second embodiment correspond to a scheduling program, and the ECU in the first to third embodiments corresponds to an in-vehicle device.

Moreover, the driving | running state in 1st, 2nd embodiment and the operating state of the engine and motor of 3rd embodiment correspond to the state of the own vehicle.
The tasks in the first and third embodiments and the VM in the second embodiment correspond to tasks.

  Further, S305 of the state change detection process corresponds to a determination unit and a determination procedure, and S410 of the table switching process corresponds to a change unit and a change procedure.

  DESCRIPTION OF SYMBOLS 1 ... Control program, 10 ... OS, 11 ... Scheduling part, 11a ... Scheduler setting part, 11b ... Scheduler execution part, 12 ... Device control part, 20 ... Control system application, 21 ... A task, 22 ... B task, 30 ... Body application, 31 ... C task, 100 ... ECU, 110 ... CPU, 120 ... physical device, 200 ... power management ECU, 500 ... control program, 510 ... VM control management unit, 511 ... scheduling unit, 511a ... scheduler setting unit 511b: Scheduler execution unit, 512 ... Device control unit, 520 ... First VM, 521 ... Engine control system application, 521a ... A task, 521b ... B task, 522 ... OS, 523 ... Virtual device, 524 ... Virtual CPU, 530 ... Second VM, 531 ... Body app, 531a ... C Tas , 532 ... OS, 533 ... virtual device, 534 ... virtual CPU.

Claims (8)

It is an in-vehicle device that operates these tasks in parallel by giving execution rights to multiple tasks in sequence,
A discriminating means for discriminating the state of the host vehicle;
Changing means for changing the frequency of operating each of the tasks according to the state of the host vehicle determined by the determining means;
A vehicle-mounted device comprising: The in-vehicle device according to claim 1,
The state of the host vehicle is a state based on an operation of a switch for starting driving of the host vehicle,
In-vehicle device characterized by The in-vehicle device according to claim 1,
The host vehicle is configured as a hybrid vehicle equipped with an engine and a motor for obtaining driving force.
The state of the host vehicle is a state based on operating states of the engine and the motor;
In-vehicle device characterized by In the in-vehicle device according to any one of claims 1 to 3,
The in-vehicle device generates a timing that periodically arrives as a reference cycle, and in the time slice that is one cycle of the reference cycle, sequentially grants the execution right to the task,
Each of the tasks is set with an operation time within one cycle, which is the time during which the execution right is granted in the time slice, and a priority, which is the order in which the execution right is granted in the time slice. ,
The changing means changes the frequency of operating each of the tasks by changing at least one of the operation time within one cycle and the priority.
In-vehicle device characterized by In the in-vehicle device according to any one of claims 1 to 3,
Each of the tasks is set with an operation time which is a time for which the execution right is granted per unit time.
The change means changes the frequency of operating each task by changing the operation time set for the task,
In-vehicle device characterized by The in-vehicle device according to any one of claims 1 to 5,
The task is configured as a virtual machine which is a program for reproducing a function realized in a certain device;
In-vehicle device characterized by A scheduling program for in-vehicle devices that operates these tasks in parallel by sequentially granting execution rights to a plurality of tasks,
A determination procedure for determining the state of the host vehicle;
A change procedure for changing the frequency of operating each of the tasks according to the state of the host vehicle determined by the determination procedure;
A scheduling program for causing a computer to execute the program. A scheduling method in an in-vehicle device that operates these tasks in parallel by sequentially granting execution rights to a plurality of tasks,
A determination procedure for determining the state of the host vehicle;
A change procedure for changing the frequency of operating each of the tasks according to the state of the host vehicle determined by the determining means;
A scheduling method characterized by comprising:

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