JP2018055517A - Vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device capable of continuously executing a reception process even when a failure occurs in an arithmetic unit to disable reception of reception data.SOLUTION: The vehicle control device 100 includes a plurality of arithmetic units 110 to 112, a reception device 150, a reception monitoring unit 120, a reception abnormality determination unit 130, and a reception process reassignment unit 140. The reception device receives from the control device 200 reception data to which an identifier is assigned. The arithmetic units are assigned to read one of the reception data, and reads the reception data received by the reception device according to the assigned identifier, and performs various control computations. The reception monitoring unit monitors information on processing of the reception data in the reception device. The reception abnormality determination unit determines whether each reception process is abnormal based on the monitoring information of each reception data monitored by the reception monitoring unit. The reception process reassignment unit reassigns the reception process determined to be abnormal by the reception abnormality determination unit to one of the arithmetic units.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device.

  In a vehicle control device, it is widely known to use an arithmetic device to perform various vehicle controls such as air-fuel ratio control, fuel injection control, ignition control, and various diagnoses. At that time, in order to perform integrated control of the entire vehicle, control processing may be performed based on information from other than the own vehicle control device. In this case, information is transmitted / received using a communication standard represented by Controller Area Network (hereinafter referred to as CAN).

  The CAN communication reception / transmission processing in the vehicle control device includes a method of performing transmission and reception at an arbitrary timing by using a periodic processing and an interrupt processing. Here, when transmission / reception is performed using interrupt processing, transmission / reception may be performed based on information that increases or decreases according to the state of the vehicle, such as the number of revolutions of the engine or the vehicle speed. In this case, since the number of times of transmission / reception increases / decreases depending on the state of the vehicle, when a large number of reception / transmission interruptions occur, lower priority processing cannot be performed, and processing that should be performed may not be performed. .

  In order to suppress the occurrence of non-execution of processing as described above, a plurality of arithmetic devices are provided in the vehicle control device, and arithmetic processing is arranged for each arithmetic device, so that each arithmetic operation is compared with a single arithmetic device. A method is conceivable in which the number of processes to be performed by the apparatus is reduced and occurrence of a state in which the process is not performed is suppressed.

JP 2010-277171 A

  Patent Document 1 describes a technique for ensuring the possibility that a task can be executed even when a task with a high utilization rate of necessary arithmetic devices occurs and improving the real-time property as compared with the prior art. In this document, it is necessary for the task to satisfy the time constraint based on the time constraint imposed on the task and the required computation amount of the task source program. The necessary computing device usage rate is calculated, and the computing device is selected so that the computing device usage rate when the task is assigned is maximized.

In the technique described in Patent Document 1, the case where the arithmetic device fails is not taken into consideration.
Therefore, when a failure occurs in the arithmetic device, there is a possibility that a task is assigned even to an arithmetic device that cannot perform arithmetic processing, and the assigned task processing continues to be unexecuted.

  The present invention has been made in view of the problems as described above, and even when a failure occurs in the arithmetic device and reception of received data cannot be performed, an abnormality in reception processing is detected. It is an object of the present invention to provide a vehicle control device that can continuously execute reception processing of received data by reassigning reception processing to an arithmetic device.

  In the following embodiments, which will be described in detail, the vehicle control device of the present invention receives received data from other control devices using a plurality of arithmetic devices. The vehicle control device calculates a reception process assignment unit that assigns which reception data is received using which calculation device, and the reception data is calculated when the reception process of the reception data assigned by the assignment unit is performed. Obtained by a reception monitoring unit that monitors whether or not reception processing has been correctly performed by the device, a reception abnormality determination unit that determines abnormality in reception processing based on a result obtained by the previous period reception monitoring unit, and the reception abnormality determination unit A receiving process reassigning unit that reassigns the receiving process when the result is abnormal.

  The reception monitoring unit preferably stores the number of times reception data has been correctly received or the number of times reception data has not been correctly received for each identifier assigned to each reception data. The reception monitoring unit is preferably processed every time reception data is received. The reception monitoring unit is periodically processed at an arbitrary interval. The reception abnormality determination unit may determine that an abnormality has occurred when the number of times obtained by the reception monitoring unit reaches a predetermined threshold.

  The reception abnormality determination unit preferably has a different weighting factor for the threshold value for each identifier assigned to each reception data. In addition, it is desirable that the reception abnormality determination unit preferentially performs the reception abnormality determination process as the reception process has a higher processing priority and the number of times obtained by the monitoring unit is larger. In addition, the reception process reassignment unit performs the reception process determined to be abnormal, the reception process having the lowest priority among the reception processes allocated to the arithmetic device and the number of times the reception process is determined to be abnormal. It is desirable to reassign to the computing device.

  The reception process reassignment unit stores the number of times the assigned reception process is determined to be abnormal for each identifier assigned to the arithmetic device, and the arithmetic device in which the number of times determined to be abnormal reaches a predetermined threshold. It is desirable to remove and reassign. Further, the reception process reassignment unit desirably limits the arithmetic device to which the process is reassigned based on the received data processing and the processing type assigned in advance to the arithmetic device.

  According to the vehicle control device of the present invention, information reception processing can be continuously performed even when some of the plurality of arithmetic devices fail.

1 is a system configuration diagram of a vehicle control device according to a first embodiment. It is a figure which shows the detailed structure of a receiver. It is a figure which shows the detailed structure of a reception monitoring part. It is a flowchart explaining a reception monitoring part. It is a flowchart explaining a reception abnormality determination part. It is a flowchart explaining a reception process reallocation part. In Example 2, it is a figure which shows the detailed structure of a reception process reallocation part. 12 is a flowchart for explaining a reallocation process only for an arithmetic device in which a failure state has not occurred in Reception Example 2. In Example 3, it is a figure which shows the detailed structure of a reception monitoring part. In Example 3, it is a figure which shows the detail of a reception process reallocation part. FIG. 10 is a flowchart for explaining reallocation processing for an arithmetic device capable of processing a group allocated to reception processing in the third embodiment.

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

  FIG. 1 is a system configuration diagram of the vehicle control device according to the first embodiment of the present invention. The vehicle control device 100 is a device that receives data from the control device 200, and includes a plurality of arithmetic devices (here, 110 to 112), a reception device 150, a reception monitoring unit 120, a reception abnormality determination unit 130, and a reception process reassignment unit. 140. The external device 200 is a device such as a motor control controller provided in a vehicle on which the vehicle control device 100 is mounted, for example. The receiving device 150 receives data received from the external device 200. Each of the arithmetic devices 110 to 112 is assigned to which one of the arithmetic devices reads any of the received data according to the identifier assigned to the received data, and the receiving device 150 is assigned according to the assigned identifier. The received data is read and various control calculations are performed on the vehicle control device 100. The reception monitoring unit 120 monitors reception data processing information of the reception device 150. The reception abnormality determination unit 130 determines whether each reception process is abnormal based on the monitoring information of each reception data monitored by the reception monitoring unit 120. The reception process reassignment unit 140 reassigns the reception process determined to be abnormal by the reception abnormality determination unit 130 to any one of the plurality of arithmetic devices 110 to 112.

  FIG. 2 is a diagram illustrating a detailed configuration of the receiving device 150. The receiving apparatus 150 includes an identifier (hereinafter referred to as a received data identifier) 1501 given to received data, a received data buffer 1502 for each received data identifier 1501, a received data reading state 1503, and a storage unit for received data weighting factors 1504. Prepare. The reception data buffer 1502, the reception data reading state 1503, and the weighting factor 1504 are updated when data is received from the control device 200. Here, the received data reading state 1503 may be a flag indicating whether or not the received data is overwritten before the plurality of arithmetic devices 110 to 112 read the information in the received data buffer 1502. In the example, the overwritten state is represented by 1 as abnormal, and the non-overwritten state is represented by 0 as normal.

  FIG. 3 is a diagram illustrating a detailed configuration of the reception monitoring unit 120. The reception monitoring unit 120 includes a reception data identifier 1501 received from the reception device 150, a reception state counter 1201 that counts the state of the reception data reading state 1503, and an arithmetic device to which reception data reading processing for each reception data identifier 1501 is assigned. A storage unit is provided for storing identifiers 1202 of 110 to 112, a reception processing period 1202 from the external device 200 preset for each reception data identifier 1501, and a weight coefficient 1203 for each reception data identifier. The reception monitoring unit 120 is activated based on the timing of data reception from the control device 200, acquires information on the reception state counter 1201 and the reception data identifier 1501 from the reception monitoring unit 120, and whether or not the reception processing is abnormal for each identifier. Determine.

FIG. 4 is a flowchart for explaining the processing of the reception monitoring unit 120.
Hereinafter, each step of FIG. 4 will be described.
(FIG. 4: Steps S410 to S460)
The reception monitoring unit 120 is activated every time data is received from the external device 200 or at an arbitrary fixed period set in a timer or the like. When the reception monitoring process is started, the reception data identifier 1501 and the reception data reading state 1503 are read from the reception device as the reception state (S410). Then, for each reception data identifier 1501, it is determined whether or not the reading state of the reception data is normal (S420), and if not abnormal, the reception state counter 1201 is subtracted (S430). If it is abnormal, it is further determined whether or not the value of the reception state counter is less than the threshold value 1 (S440). If it is less than the threshold value 1, the value of the reception state counter 1201 is updated with the threshold value 1 (S450). Thereafter, the reception state counter 1201 is added (S460).

  Thus, by determining whether or not the reception data reading state is normal for each reception data identifier 1501, the arithmetic device 110 originally assigned to perform reception processing before reading the reception data received from the control device 200. Any one of -112 cannot detect normal reception processing due to failure, continuous high load, or the like, and can detect a state in which reception processing is delayed. In addition, by counting the cases where the received data reading process is not abnormal, it is possible to determine an arithmetic device that is likely to continue a low processing load on the arithmetic device. This is because the engine speed and vehicle speed often fluctuate slowly to avoid sudden acceleration and braking, and in the case of a vehicle system that receives a reception interrupt based on the engine speed or vehicle speed, This is because if the engine speed and the vehicle speed are low, there is a possibility that the load of the received data reading process based on the engine speed and the vehicle speed continues for a certain period of time. Further, by performing the reception monitoring process every time data is received from the external device 200, it is possible to sequentially perform the abnormality monitoring process even for irregular reception processes that occur due to an interrupt or the like. Alternatively, the abnormality monitoring process can be performed while suppressing the processing load of the arithmetic unit due to the abnormality monitoring process in a communication state in which the reception process occurs frequently by starting at an arbitrary periodic interval by a timer or the like.

FIG. 5 is a flowchart for explaining the processing of the reception abnormality determination unit 130.
Hereinafter, each step of FIG. 5 will be described.
(FIG. 5: Steps S510 to S530, S600)
The reception abnormality determination unit 130 reads the reception data identifier 1501, the value of the reception state counter 1201, and the weighting factor 1203 from the reception monitoring unit 120 (S510). A reception data identifier having the highest processing priority and a large calculation result of the reception state counter number and the weight coefficient 1203 is selected (S520). After that, the threshold 2 is compared with the reception status counter 1201 of the reception data identifier calculated in step S520 and the calculation result of the weighting coefficient 1203 (S530). And the reception process reallocation process is performed (S600). Details of the reception process reallocation process will be described later.

  In this way, by setting a threshold for abnormality determination, in the case of received data where the reception abnormality per one time does not affect the control so much, reception processing reassignment due to reception processing abnormality below threshold 2 is performed. By not doing, processing increase can be suppressed. Further, by including the weighting factor 1203 in the comparison with the threshold 2, for example, in the case of reception data that has a long reception cycle and reception abnormality per one time that tends to affect the control, the reception process is preferentially restarted after the next time. Allocation processing can be performed. In addition, it is possible to preferentially reassign the received data reading process of the received data identifier having a higher processing priority in the vehicle control device 100, and to prevent the received data important for control from being unread. Can do.

(FIG. 5: Step S540)
The reception abnormality determination unit 130 confirms whether the reception abnormality determination has been completed for all reception data identifiers 1501 stored in the reception monitoring unit 120. If not completed, the process returns to step S520 and the same processing is repeated. If completed, this flowchart is terminated.

FIG. 6 is a flowchart for explaining the process of the reception process reallocation unit 140.
Hereinafter, each step of FIG. 6 will be described.
(FIG. 6: Step S610)
The reception process reassignment unit 140 reads the reception data identifier 1501, the reception state counter 1201, and the reception data reading process execution arithmetic device identifier 1202 that have been determined that the reception process is abnormal from the reception abnormality determination unit 130, and has the highest priority. The processing of receiving the target received data identifier 1501 is applied to the arithmetic device to which the reception processing of the identifier having the smallest counter value is assigned other than the arithmetic device to which the received data reading processing determined to be abnormal is low. Reassign (S610).

  As a result, the received data processing assigned to any of the arithmetic devices 110 to 112 in which a failure or the like has occurred can be reassigned to another arithmetic device with a low processing load due to the received data reading processing. In communication protocols such as CAN, the received data identifier 1501 also has a meaning of processing priority between received data processes. Therefore, when a plurality of received data reading processes are assigned in one arithmetic device, the load of the entire received data reading process assigned to the arithmetic device is read by reading the reception status of the identifier having the lowest processing priority. Can be determined.

  In the second embodiment of the present invention, a second specific example of the reception process reallocation unit 140 and the reception process reallocation process (S600) described in the first embodiment will be described. Since the other configuration is substantially the same as that of the first embodiment, the detailed configuration of the reception processing reallocation unit 140 and the specific example of step S600 will be mainly described below.

  FIG. 7 is a diagram illustrating a detailed configuration of the reception process reallocation unit 140 in the second embodiment. The reception processing reassignment unit 140 includes an identifier (hereinafter referred to as “arithmetic device identifier”) 1401 assigned to the arithmetic device and a cumulative value of the number of times that the reception processing generated in each arithmetic device identifier 1401 is determined to be abnormal (hereinafter referred to as abnormal occurrence). And a storage unit for storing a failure state determination result (hereinafter, failure state) 1403 of each arithmetic device identifier. Here, the arithmetic device identifier 1401 is the same as the received data reading processing execution arithmetic device identifier 1202 of FIG. The reception process reassigning unit 140 updates the abnormality occurrence count cumulative value 1402 from the reception process abnormality determination result read from the reception abnormality determination unit 130, and determines the failure state 1403 based on the abnormality occurrence cumulative count 1402.

(FIG. 8: Steps S600 and S611)
When the reception process reassignment unit 140 starts the reception process reassignment process (S600), it reads the reception data identifier 1501 in which the reception process is determined to be abnormal from the reception abnormality determination unit 130, and the reception data stored in the reception monitoring unit 120 After obtaining the arithmetic device identifier 1401 subjected to the received data reading process from the identifier 1501 and the received data reading processing execution arithmetic device identifier 1202, the information of the corresponding abnormality occurrence cumulative number 1402 is updated (S611).

(FIG. 8: Steps S621 to S641)
The reception process reallocation unit 140 determines whether or not the value of the cumulative number of occurrences of abnormality 1402 has reached a predetermined threshold 3 (S621). If the value has reached the threshold 3, the failure state 1403 of the corresponding arithmetic device. Is updated (S631). Thereafter, except for the arithmetic device having an abnormal failure state 1403, the reception process of the corresponding identifier is reassigned to the operator to which the reception process of the identifier having the smallest reception state counter 1201 is assigned. As a result, it is possible to detect an arithmetic device in which abnormalities frequently appear in the reception process, and thus it is possible to suppress unread reception data in the reallocation destination arithmetic device. Further, if the threshold value 3 is a failure determination value, it is possible to specify the arithmetic device in which the failure has occurred.

  In the third embodiment of the present invention, a third specific example of the reception monitoring unit 120, the processing reallocation unit 140, and the reception processing reallocation processing (S600) described in the first embodiment will be described. Since other configurations are generally the same as those in the first embodiment, the detailed configuration of the reception monitoring unit 120 and the reception process reallocation unit 140 and a specific example of step S600 will be mainly described below.

  FIG. 9 is a diagram illustrating a detailed configuration of the reception monitoring unit 120 in the third embodiment. The reception monitoring unit 120 stores a processing group 1205 representing the processing type of each reception data identifier 1501 in addition to the information stored in the reception monitoring unit of the first embodiment.

  FIG. 10 is a diagram illustrating a detailed configuration of the reception process reallocation unit 140 in the third embodiment. In addition to the information stored in the reception process reallocation unit of the first embodiment, the reception process reallocation unit 140 stores an allocatable process group 1404 that represents a process type that can be processed by the arithmetic device identifier 1401.

(FIG. 11: Step S612)
When the reception process reassignment unit 140 starts the reception process reassignment process (S600), the reception abnormality determination unit 130 determines that the reception process identifier is abnormal, the reception data identifier 1501, the reception state counter 1201, and the reception data reading. The processing execution arithmetic unit identifier 1202 is read. In addition, the processing group 1205 of the reception data identifier 1501 in which the reception processing is determined to be abnormal is read from the reception processing reassignment unit 140. Then, out of the assignable groups 1404 stored in the reception processing reassignment unit, the operation identifier 1401 that can be processed by the processing group of the reception data identifier 1501 in which the reception processing is determined to be abnormal is extracted, and the highest priority among them is extracted. The receiving process of the target received data identifier 1501 is reassigned to the arithmetic unit to which the receiving process of the identifier with the lowest counter value and the smallest counter value is assigned (S612). As a result, even when there is a restriction on the arithmetic device capable of performing each received data reading process due to the application of functional safety ISO 26262 or the like, the restriction can be made by selecting the arithmetic device and the processing type of the reception process to be compatible. Re-assignment of satisfied processing is possible.

DESCRIPTION OF SYMBOLS 100: Vehicle control apparatus, 110: Arithmetic apparatus 1, 111: Arithmetic apparatus 2, 112: Arithmetic apparatus n, 120: Reception monitoring part, 130: Reception abnormality determination part, 140: Reception process reallocation part, 150: Reception apparatus, 200: Control device.

Claims (10)

A vehicle control device that receives received data from other control devices using a plurality of arithmetic devices,
The vehicle control device includes:
A reception processing assigning unit that assigns which received data is received using which computing device;
A reception monitoring unit that monitors whether or not the reception data has been correctly received and processed by the arithmetic device when performing the reception process of the reception data allocated by the allocation unit;
A reception abnormality determination unit that determines an abnormality in reception processing based on a result obtained by the previous period reception monitoring unit;
A vehicle control device comprising: a reception process reassignment unit that reassigns the reception process when the result obtained by the reception abnormality determination unit is abnormal.   2. The vehicle control according to claim 1, wherein the reception monitoring unit stores the number of times reception data is correctly received or the number of times reception data is not correctly received for each identifier assigned to each reception data. apparatus.   The vehicle control apparatus according to claim 1, wherein the reception monitoring unit is processed for each reception process of reception data.   The vehicle control device according to claim 1, wherein the reception monitoring unit is subjected to a periodic process at an arbitrary interval.   The vehicle control device according to claim 2, wherein the reception abnormality determination unit determines that there is an abnormality when the number of times obtained by the reception monitoring unit reaches a predetermined threshold.   The vehicle control device according to claim 5, wherein the reception abnormality determination unit has a different weighting factor for the threshold value for each identifier assigned to each reception data.   The reception abnormality determination unit preferentially performs the reception abnormality determination process as the reception process has a higher processing priority and the number of times obtained by the monitoring unit is higher. The vehicle control device described.   The reception process reassignment unit performs an operation for performing a reception process that has been determined to be abnormal, the reception process having the lowest priority among the reception processes allocated to the arithmetic device and the number of times that the reception process is determined to be abnormal. The vehicle control device according to claim 7, wherein the vehicle control device is reassigned to the device.   The reception process reassignment unit stores the number of times the assigned reception process is determined to be abnormal for each identifier assigned to the arithmetic device, except for the arithmetic device in which the number of times determined to be abnormal reaches a predetermined threshold. The vehicle control device according to claim 1, wherein the vehicle control device is reassigned.   The vehicle control device according to claim 1, wherein the reception process reassignment unit limits a calculation device that reassigns a process based on a reception data process and a processing type previously assigned to the calculation device.

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