JP2024018616A - vehicle control system - Google Patents

Abstract

To respond flexibly and quickly to vehicle functional evolution and functional changes.SOLUTION: A vehicle control system 1 includes a plurality of slave nodes 7, and a master node 2 that communicates with each slave node 7 via a communication network B. Each of the plurality of slave nodes 7 includes a plurality of ports P connected to on-vehicle devices. Then, prior to normal operation, the master node 2 sends initial configuration data to each slave node 7 via the communication network B, and each slave node 7 executes input/output settings for the ports P on the basis of the initial configuration data received from the master node 2.SELECTED DRAWING: Figure 8

Description

The technology disclosed herein belongs to the technical field related to vehicle control systems.

Patent Document 1 shows a configuration example of an in-vehicle network in which ECUs are connected to each other via an in-vehicle network, and devices such as sensors and actuators are connected to each ECU (see FIG. 1 of Patent Document 1). ).

JP2017-212725A

Incidentally, in recent years, with the evolution of application technology, the evolution and change in functions particularly regarding vehicle behavior has been accelerating.

In conventional vehicle development, in response to the evolution and changes in vehicle functionality, the approach has been to individually build in-vehicle devices that implement each function, and then install them on the vehicle as retrofits after completion. For example, when providing an additional function related to door opening/closing, the in-vehicle device unit (e.g., sensor, actuator, and ECU that controls them) related to the new function must be built separately and then installed in the vehicle. , and to replace existing in-vehicle devices. By dividing the system by function as in the conventional configuration, it is easier to adopt advanced functions as add-ons to the vehicle, and there are advantages in that it is easier to outsource the development of each function. This conventional configuration is very efficient when vehicle functionality evolves slowly.

However, as the speed at which vehicle behavior and end-of-vehicle functions evolve accelerates, the amount of development required to accommodate them inevitably increases. In other words, the conventional development style has the problem of not being able to respond flexibly and quickly to the rapid evolution and changes in vehicle functionality.

For example, even if a vehicle's behavior evolves even slightly, all sensors, actuators, and ECUs need to be updated. Furthermore, when the functions of sensors and actuators evolve or change, it is necessary to renew everything including the ECU. Furthermore, if the actuator supplier is changed, everything needs to be updated, including the control software inside the ECU.

The technology disclosed herein has been developed in view of the above, and aims to provide a vehicle control system that can respond flexibly and quickly to the evolution and changes in functionality of vehicles.

In order to solve the above problem, the technology disclosed herein targets a vehicle control system and includes a plurality of slave nodes, each having a plurality of general-purpose input/output ports connected to an in-vehicle device, and a configuration data and a master node that communicates with each of the slave nodes via a communication network, and the configuration data includes a connection relationship with an in-vehicle device connected to the general-purpose input/output port of each of the plurality of slave nodes. and initial configuration data indicating input/output settings of each of the general-purpose input/output ports in each of the slave nodes, and the master node transmits the initial configuration data to each of the slave nodes via the communication network. and each slave node executes input/output settings of the general-purpose input/output port based on the initial configuration data received from the master node, and inputs to the input port configured with the input/output settings. is transmitted as a detection signal to the master node via the communication network, and the master node obtains the detection signal via the input port based on the connection data and a change over time of the detection signal received from the slave node. At the same time, it generates an operation command signal that commands the output content of the output port set in the input/output settings, and transmits it to the one or more slave nodes via the communication network, and performs the operation. The one or more slave nodes that have received the command signal are configured to output an operation signal based on the operation command signal from the output port based on the operation command signal.

Thus, in the above aspect, initial configuration data is sent from the master node to each slave node via the communication network, and in each slave node, the general-purpose input/output port is configured based on the initial configuration data received from the master node. The input/output settings are executed. This input/output setting includes input port settings and output port settings.

This makes it possible to change the function of a vehicle application without changing the configuration of the slave node, that is, without affecting the slave node. Specifically, when there is a change in the functionality of a vehicle application, this can be done by changing the contents of the initial configuration data sent from the master node to the slave nodes. That is, there is no need to replace the hardware of the slave node. In other words, it becomes possible to absorb the evolution of application functionality by changing the master node application. This makes it possible to respond flexibly and quickly to functional evolution and functional changes in vehicle applications.

Furthermore, the slave node executes the function of transmitting the input to the input port as a detection signal to the master node, and the function of outputting an operation signal based on the operation command signal from the output port based on the operation command signal received from the master node. I try to do that. In this way, the functions assigned to slave nodes are extremely simple, so a highly versatile and common slave node can be used regardless of the sensor connected to the slave node or the operation target. . In other words, some or all of the slave nodes can have the same configuration. This makes it possible to significantly reduce development man-hours and costs even when vehicle application functionality evolves or changes, or when sensors and operation targets differ depending on vehicle model or grade. can be reduced.

As explained above, according to the technology disclosed herein, the master node can absorb the evolution and changes in the functionality of applications, so it can respond flexibly and quickly to the evolution and changes in the functionality of vehicle applications. I can do it.

Block diagram showing a configuration example of a vehicle control system Block diagram showing an example configuration of a master node Block diagram showing an example configuration of a slave node Circuit block diagram showing an example of the configuration of the driver unit Diagram showing an example of the master configuration area Diagram showing an example of the slave configuration area Diagram showing another example of the slave configuration area Flowchart showing an example of the operation of the vehicle control system Flowchart showing an example of the operation of the vehicle control system Flowchart showing an example of the operation of the vehicle control system A diagram showing an example of configuration data transmitted and received in the operation of FIG. 10.

Hereinafter, exemplary embodiments will be described in detail with reference to the drawings. Identical or corresponding parts in the figures are denoted by the same reference numerals, and repeated explanation may be omitted. Furthermore, in the following embodiments, configurations that are highly relevant to the content of the present disclosure will be mainly described.

Note that the following embodiments are illustrative, and the content of the present disclosure is not intended to be limited at all by the presence or absence of descriptions, illustrated numerical values, etc.

In addition, in this disclosure, with respect to configurations indicated by the terms "system," "unit," "module," and "node," some or all of them may be application specific integrated circuits (ASICs) or programmable It can be realized with a dedicated circuit such as a logic array (PLA: Programmable logic array). Similarly, a "system," "unit," "module," or "node" executes computer-readable instructions (e.g., a program) to perform a particular function by performing predetermined processing steps. It can be realized with a processor circuit that allows

<Vehicle control system>
FIG. 1 shows an example of the configuration of a vehicle control system according to an embodiment.

As shown in FIG. 1, the vehicle control system 1 is mounted on a vehicle CA, and has a configuration in which a master node 2 and a plurality of slave units are connected via an on-vehicle communication network.

In the example of FIG. 1, the plurality of slave units include a combination switch unit 4, left and right side mirror units 5, a steering switch unit 6, a cluster switch unit 31, an overhead console unit 32, a left and right seat heater unit 33, and a left and right side mirror unit 5. A door latch unit 34 is illustrated. Each slave unit is equipped with a slave node 7 (see FIG. 4) having a common configuration. For convenience of explanation, the side mirror unit 5, the door latch unit 34, and the seat heater unit 33 will be described with the same reference numerals on the left and right sides, respectively.

Specifically, the master node 2 and multiple slave units (in this example, the combination switch unit 4, the steering switch unit 6, the cluster switch unit 31, the right side mirror unit 5, the right seat heater unit 33, and the right door latch) unit 34) is bus-connected via communication network B1. In addition, the master node 2 and a plurality of other slave units (in this example, the overhead console unit 32, the left side mirror unit 5, the left seat heater unit 33, and the left door latch unit 34) are connected via the communication network B2. Bus connected.

The communication networks B1 and B2 are, for example, communication lines compliant with CXPI (Clock Extension Peripheral Interface). Note that the communication method is not limited to CXPI, and other communication methods (whether wired or wireless) may be used. Further, the number of communication lines used in the communication network is not particularly limited. Furthermore, a HUB (not shown), an ECU (not shown), etc. for communication relay may be provided in the middle of the communication network B.

FIG. 2 is a block diagram showing an example of the configuration of the master node 2, and FIG. 3 is a block diagram showing an example of the configuration of the slave node 7.

-Master node-
The master node 2 illustrated in FIG. 2 includes a communication module 21, a recognition module 22, a judgment module 23, an operation module 24, and a memory 25.

The master node 2 includes, for example, one or more electronic control units (ECUs). The electronic control unit may be configured using a single IC (Integrated Circuit) or may be configured using a plurality of ICs. Additionally, an IC may include a single core or die, or multiple cooperating cores or dies.

[Communication module]
The communication module 21 has a function of receiving a reception signal from each slave node 7 and transmitting a transmission signal to each slave node 7 via the communication network B.

〔memory〕
The memory 25 includes a master configuration area 27 (see FIG. 5) in which configuration data (hereinafter referred to as "master configuration data") corresponding to each slave node 7 is stored.

The master configuration data includes initial configuration data set in each slave node 7 and connection data. In other words, the master node 2 holds the initial configuration data set in each slave node 7.

The connection data is data indicating the connection relationship between each port P of the slave node 7 and the device port of the in-vehicle device. In other words, the connection data is data indicating which function of the device port of the in-vehicle device is connected to each port P of the slave node 7.

Of the master configuration data, FIG. 5 shows master configuration data MC of the combination switch unit 4 (upper row of FIG. 5: also referred to as "first master configuration data MC1") and master configuration data MC of the side mirror unit 5 ( Lower part of FIG. 5: An example of the data (also referred to as "second master configuration data MC2") is shown.

The first master configuration data MC1 includes (1) connection data indicating the connection relationship between each port P1 to P12 of the combination switch unit 4 and each device port of the wiper switch 41, light switch 42, and turn switch 43; , (2) initial configuration data SC of the combination switch unit 4.

More specifically, the port P1 of the combination switch unit 4 is connected to a device port that outputs the ON/OFF operation signal of the wiper switch 41, so the connection relationship is the connection of the first master configuration data MC1. Saved as data.

Similarly, ports P2 to P4 of the combination switch unit 4 are connected to a device port to which a speed setting signal of the wiper switch 41 is output, and port P5 is connected to a device port to which a light OFF setting signal of the light switch 42 is output. Since the ports are connected, each connection relationship is saved as connection data of the first master configuration data MC1. The same applies to the other ports P5 to P12 and each port P1 to P12 of the right side mirror unit 5.

Note that the memory 25 may be an internal memory built into an IC constituting the ECU, or an external memory externally attached to the IC. Furthermore, the memory may store, for example, a program for operating the CPU installed in the IC, or may store information such as processing results by the CPU.

In addition, for convenience of explanation, the initial configuration data SC of the first master configuration data MC1 is designated with the symbol "SC1", and the initial configuration data SC of the second master configuration data MC2 is designated with the symbol "SC2". They may be explained separately.

[Cognitive module]
The recognition module 22 performs recognition processing to recognize information acquired by a sensor mounted on an in-vehicle device based on the master configuration data MC stored in the memory 25 and changes over time in the detection signal received from the slave node 7. Execute. Here, information recognized in cognitive processing is referred to as "cognitive information." The recognition module 22 includes a decoding module 221 that decodes the detection signal received from the slave node 7, and an informationization module 222 that performs informationization processing on the decoded detection signal and recognizes the specific content of the detection information. include. The detection signal will be specifically explained later.

In addition, in this disclosure, the term "sensor" refers to sensors that measure and detect various physical quantities such as temperature, voltage, and current, as well as switches that accept various operations, cameras that capture images inside and outside the vehicle, and sensors that measure and detect various physical quantities such as temperature, voltage, and current. It is used as a concept that broadly includes radars that recognize targets, etc., and those that output mechanical and electrical conversion signals. Sensors include vehicle behavior information, occupant operation information, information on current flowing through actuators and applied voltage, vehicle failure status information, occupant status information, and/or external environment information (hereinafter collectively referred to as "detection information"). information).

[Judgment module]
The judgment module 23 executes judgment processing to determine the behavior of the vehicle CA based on the recognition information recognized by the recognition module 22. The determination module 23 includes a purpose determination module 231 that determines the purpose of the behavior of the vehicle CA, an action plan module 232 that sets an action plan to achieve the determined purpose, and a , a behavior determination module 233 that determines an action to be actually executed, and a response determination module 234 that selects a means for realizing the determined action.

[Operation module]
The operation module 24 identifies an operation device corresponding to the vehicle behavior determined in the judgment process, generates an operation command signal for instructing the operation of the identified operation device, and sends the operation command signal to the slave node connected to the operation device. Execute the operation process to send. The operation module 24 includes an operation determination module 241 that determines an operation target and its operation amount for realizing a determined action, and an instruction generation module 242 that generates an operation command signal and transmits it to a slave node.

Here, the operation target broadly includes objects that are operated to realize an action or response, and includes, for example, a lighting device and an actuator. Lighting devices include various LEDs and light bulbs used in headlights, indicators, turn lamps, and the like. The actuator includes body-related devices such as wiper and mirror drive motors, and power-related devices used for engines, brakes, and the like.

-Slave unit-
FIG. 3 shows a configuration example of the combination switch unit 4 and the right side mirror unit 5 (hereinafter referred to as "right side mirror unit 5") among the slave units illustrated in FIG. 1.

As shown in FIG. 3, the combination switch unit 4 and the right side mirror unit 5 are each provided with a common slave node 7. Each slave node 7 is provided with 12 general-purpose input/output ports P (hereinafter simply referred to as "ports P") for connecting in-vehicle devices. The slave node 7 is realized by, for example, an IC (Integrated Circuit).

In this example, in the combination switch unit 4, a wiper switch 41 that accepts a wiper operation is connected to ports P1 to P4, a light switch 42 that accepts a light operation is connected to ports P5 to P9, and a turn lamp is connected to ports P10 and P11. A turn switch 43 that accepts operations is connected. P12 is a reserve port P. The wiper switch 41, the light switch 42, and the turn switch 43 are examples of in-vehicle devices that include sensors.

Similarly, in the right side mirror unit 5, a turn lamp LED 51 (hereinafter referred to as "turn LED 51") is connected to ports P1 and P2, an indicator LED 52 is connected to ports P3 to P6, and an indicator LED 52 is connected to ports P7 to P12. A motor 53 for storing the mirror is connected to. Here, the turn LED 51, the LED 52, and the motor 53 are an example of an in-vehicle device including a sensor and an operation target. In other words, the turn LED 51, the LED 52, and the motor 53 have the function of receiving the sensor output and outputting a detection signal to the master node, and transmitting the operation signal based on the operation command signal received from the master node from the port P based on the operation command signal. This is an example of a slave node that has an output function.

[Slave node]
Each slave node 7 includes a communication module 71, a register 72, a selector 73, and a driver group 74.

[Communication module]
The communication module 71 is connected to the communication module 21 of the master node 2 via the communication network B, and is configured to be able to perform bidirectional communication with the communication module 21 in accordance with CXPI. The communication module 71 includes, for example, an input/output circuit connected to the communication network B, an encoder and a decoder connected to the input/output circuit, and the like. Note that as for the specific circuit configuration of the communication module 71, a previously known configuration can be applied, so detailed explanation thereof will be omitted here.

[Driver group]
The driver group 74 includes a plurality of driver units 740 connected to each port P on a one-to-one basis. For example, if the slave node 7 is provided with 12 ports P, the driver group 74 is provided with 12 driver units 740.

The driver unit 740 is an IO circuit that can use port P as an input port or output port depending on external settings. As the driver unit 740, for example, a conventionally known general purpose input/output circuit (GPIO: General Purpose Input/Output) can be applied. FIG. 7 shows a configuration example of the driver unit 740.

The driver unit 740 illustrated in FIG. 7 includes an output circuit 743 connected to port P, and a driver circuit 741 that drives the output circuit 743 based on output setting data of an output register 742. The output setting data of the output register 742 can be rewritten by a setting signal input from the OUT terminal.

The driver unit 740 includes an input circuit 745 that receives input to port P, and a receiver circuit 746 that converts the input received by the input circuit 745 into a detection signal. Receiver circuit 746 includes an AD converter 747 and a comparator 748. When the attribute of port P is analog input, AD converter 747 performs analog-to-digital conversion on the input of port P and outputs it from the AI terminal. When the attribute of port P is digital input, comparator 748 outputs the input of port P as a digital signal from the DI terminal.

The driver unit 740 is capable of changing the settings of each component based on a configuration signal based on an operation command signal. For example, the filter constant of the digital filter of the receiver circuit 746 can be changed based on the configuration signal.

〔selector〕
The selector 73 determines which terminal to enable among the terminals (OUT terminal, AI terminal, DI terminal) of each driver unit 740 based on the attribute data of each port P set in the slave configuration area 77, which will be described later. It has the function to select the

When the AI terminal is enabled, an analog input signal is input from port P. In this case, the analog input signal is converted into a digital signal by the input circuit 745 and the AD converter 747, output from the AI terminal, and written into the detection signal area of the register 72 via the selector 73. In FIGS. 6 and 7, which will be described later, the column labeled "detection signal" corresponds to the detection signal area. The detection signal area may or may not be included in the slave configuration area 77.

When the DI terminal is enabled, a digital input signal is input from port P. In this case, the digital input signal is output from the DI terminal via the input circuit 745 and the comparator 748, and is written into the detection signal area of the register 72 via the selector 73.

When the OUT terminal is enabled, output setting data based on the operation command signal is reflected in the output register 742 of the driver circuit 741. The driver circuit 741 drives the output circuit 743 to output from port P an operation signal (either a digital signal, an analog signal, or a PWM signal) based on the output setting data of the output register 742.

Here, the output setting data is generated, for example, based on the operation command signal received from the master node 2, using a logic circuit (not shown) in the selector 73, or using the value of the register 72. . In other words, the output setting based on the operation command signal is made to the output register 742 of the driver circuit 741 connected to the port P based on the operation command signal. Then, the output circuit 743 outputs an operation signal based on the operation command signal via the port P based on the output setting data. The operation command signal is, for example, a signal including identification data of the port P to which the operation target is connected, and output settings of each port P linked to the identification data.

Note that as for the specific circuit configuration of the selector, a conventionally known configuration can be used, so detailed explanation thereof will be omitted here.

〔register〕
The register 72 is provided with a slave configuration area 77 in which configuration data set for each slave node 7 (hereinafter referred to as "slave configuration data") is stored.

The slave configuration data includes, for example, (1) attribute data for each port P, (2) filter constants for a port P whose attribute is input (hereinafter simply referred to as "input port P"), and (3) information for input port P. It includes WakeUp setting data based on an input signal, and (4) output setting data of a port P whose attribute is output (hereinafter simply referred to as "output port P"). In this disclosure, the initial setting information of the slave configuration data is referred to as "initial configuration data." The initial configuration data setting flow will be explained later.

The slave configuration area 77 stores the aforementioned detection signal in addition to the slave configuration data. Note that the detection signal may be stored in a storage area other than the slave configuration area 77.

FIG. 6 shows an example of the slave configuration area 77 of the slave node 7 connected to the combination switch unit 4. Further, FIG. 7 shows an example of the slave configuration area 77 of the slave node 7 of the right side mirror unit 5. In the following description, for convenience, the slave config area 77 in FIG. 6 may be referred to as a combination config area 771, and the slave config area 77 in FIG. 7 may be referred to as a side config area 772.

In FIGS. 6 and 7, the attribute data of each port P is described in the I/O attribute column. DI indicates that port P is a digital input. Further, DO indicates that port P is a digital output, AI indicates that port P is an analog input, AO indicates that port P is an analog output (not shown), and PWM indicates that port P is a PWM output. In other words, DI and AI indicate that port P is set as an input port, and DO, AO, and PWM indicate that port P is set as an output port.

For example, in the initial configuration data (t=T11) of the combination configuration area 771 shown in FIG. 6, ports P1 to P11 are digital inputs, that is, input ports. Further, the filter constants of ports P1 to P11 are Qs1 to Qs11, respectively.

Then, in the combination switch unit 4, the configuration signal sets the value of the digital filter of the driver unit 740 connected to the port P1 to Qs1. The same applies to ports P2 to P11.

Further, the selector 73 of the combination switch unit 4 enables the DI terminals of the driver unit 740 connected to the respective ports P1 to P11. As a result, the digital input signals from the ports P1 to P11 are written into the detection signal area of the register 72 via the selector 73, as described above.

-Vehicle control system operation-
8 to 10 are flowcharts showing an example of the operation of the vehicle control system.

[Step S1]
In the vehicle control system 1, when the master node 2 and slave node 7 are powered on, an initial configuration process in step S1 is executed. In the example of FIG. 8, the initial configuration process (step S1) is comprised of steps S11 to S13.

In step S11, the master node 2 transmits initial configuration data corresponding to the slave node 7 to the slave node 7. In the example of FIG. 9, the master node 2 first refers to the first master configuration data MC1 and transmits the initial configuration data SC1 to the slave node 7 of the combination switch unit 4.

In step S12, the slave node 7 that has received the initial configuration data SC from the master node 2 via the communication network B executes input/output settings for the port P based on the received initial configuration data SC. In the example of FIG. 9, the slave node 7 of the combination switch unit 4 receives the initial configuration data SC1, and stores the received initial configuration data SC1 in the combination configuration area 771 (see t=T11 in FIG. 6). Then, by the action of the selector 73, input/output settings for each port of the driver unit 740 of the combination switch unit 4 are executed. The input/output settings include, for example, settings for input/output attributes of the port P, settings for filter constants for the input port P, and the above-mentioned WakeUp settings.

The slave node 7 of the combination switch unit 4 returns an acknowledgment to the master node 2 when input/output settings for each port of the driver unit 740 are completed. At this time, in response to a request from the master node 2, the detection data in the initial state stored in the detection signal area may be returned along with the acknowledgment. The master node 2 stores the detection data received from the combination switch unit 4 in the memory 25 (see column "S1 (reception)" in the upper table of FIG. 11).

In the next step S13, the master node 2 determines whether the initial configuration process is completed based on the acknowledgment returned from the slave node 7. If the initial configuration process is not completed, the flow returns to step S11, and the processes of steps S11 and S12 are repeated.

For example, as shown in FIG. 9, when the acknowledgment from the combination switch unit 4 is OK, the initial configuration process of the next slave node 7 (for example, the right side mirror unit 5) is executed. For example, the slave node 7 of the right side mirror unit 5 stores the initial configuration data SC2 received from the master node 2 in the side configuration area 772 (see t=T11 in FIG. 7). As in the case of the combination switch unit 4, input/output settings for each port of the driver unit 740 of the right side mirror unit 5 are executed by the action of the selector 73. Further, the right side mirror unit 5 returns an acknowledge RC to the master node 2, and returns detection data in an initial state as a detection signal, for example. The master node 2 stores the detection data received from the combination switch unit 4 in the memory 25 (see column "S1 (reception)" in the lower table of FIG. 11).

When the initial configuration processing for all slave nodes 7 is completed, a YES determination is made in step S13, and the flow advances to the next step S3.

On the other hand, for example, in the above example, if the acknowledgment received from the combination switch unit 4 is NG, the master node 2 re-executes the initial configuration process for the slave node 7 of the combination switch unit 4. That is, the master node 2 resends the initial configuration data to the slave node 7 of the combination switch unit 4. Note that the number of times the initial configuration process is re-executed is not particularly limited and can be set arbitrarily.

Note that in the process of executing the initial configuration process, when the initial configuration process is completed, the slave node 7 becomes capable of normal operation. That is, in a certain slave node 7, the input from the input port P changes during the initial configuration process of another slave node 7, and a change in the detection signal area may be detected. In such a case, priority is given to the initial configuration processing of other slave nodes 7.

In other words, in the communication network B, the initial configuration transmitted from the master node 2 to the slave node 7 and the acknowledgment transmitted from the slave node 7 to the master node 2 are communication (for example, transmission and reception of detection signals and operation command signals).

Note that the master node 2 may be able to arbitrarily set which communication on the communication network B should be prioritized.

[Step S3]
In step S3, normal operation is performed. For example, each slave node 7 transmits an input to the input port P or a change in the input as a detection signal to the master node. Upon receiving the detection signal, the master node 2 executes the above-described recognition process, judgment process, and operation process. Then, in the operation process, the master node 2 generates an operation command signal that commands the output content of the output port P set as output in the input/output settings, and sends the command signal to one or more slaves to be operated via the communication network B. Send to node. One or more slave nodes that have received the operation command signal output an operation signal based on the operation command signal from the output port P based on the operation command signal.

In this example, as shown in FIG. 10, a process will be described when the turn switch 43 is operated by the driver to turn to the right during normal operation.

[Step S31]
When the turn switch 43 is operated to the right turn side, an ON setting signal is input from the digital output port DOR of the turn switch 43 to the input port P10 of the driver group 74. For example, a digital signal that changes from "0" to "1" is input to the input port P10. This change in digital signal is written into the detection signal area of the combination config area 771 via the driver group 74 and selector 73 (see t=T12 in FIG. 6).

[Step S32]
The slave node 7 transmits an event notification to the master node 2 when a change in the detection signal area is detected. In the event notification, the details of changes in the detection signal area are notified.

In this example, the value of the input port P10 in the detection signal area changes from "0" to "1" by the operation of the turn switch 43 described above (see FIG. 6), so the combination switch unit 4 changes the value of the detection signal area. The master node 2 is notified of the change. Specifically, for example, the combination switch unit 4 transmits to the master node 2, as a detection signal, detection data D4 of the entire detection signal area in which a change in the input port P10 is reflected. In this way, the detection data D4 of the entire detection signal area may be transmitted to the master node 2, or only the detection data of the input port P whose value has changed may be transmitted to the master node 2.

[Steps S33, S34]
In the next step S33, the master node 2 executes processing (also referred to as "event processing") according to the content of the event notification. In the event processing, the above-mentioned recognition processing, judgment processing, and operation processing are executed.

In this example, as the recognition process, the master node 2 executes information processing based on the difference data between the detection data received in step S1 and the detection data D4 received this time. Specifically, the master node 2 recognizes that the turn switch 43 has been operated to the right turn side based on the change in the port P10 of the combination switch unit 4 and the connection data.

Next, in the determination process, the master node 2 executes a determination process by the purpose determination module 231, action planning module 232, action determination module 233, and response determination module 234. In this example, the action of "turning on the right turn lamp of the vehicle CA (including the right turn lamp of the right side mirror unit 5)" is determined as the action to be executed by the vehicle CA.

Next, as an operation process, the master node 2 determines that the slave node 7 to which the right turn lamp is connected is to be operated, and that the operation content is to blink the right turn lamp. Then, the master node 2 generates an operation command signal C5 that instructs the right turn lamp to blink, and sends it to one or more slave nodes 7 (including the right side mirror unit 5) to which the right turn lamp is connected. Transmit (step S34). Specifically, the operation command signal sent to the right side mirror unit 5 is, for example, a signal instructing the output port P2 to output an ON operation signal (for example, a blinking operation signal).

[Steps S35, S36]
The slave node 7 of the right side mirror unit 5 receives the operation command signal (step S35), and outputs an operation signal based on the operation command signal from the port based on the operation command signal C5. Specifically, the slave node 7 of the right side mirror unit 5 outputs a digital operation signal instructing on-control from the port P2 based on the operation command signal C5 (step S36).

[Steps S37, S38]
In step S37, the master node 2 requests an acknowledgment from the slave node 7 that sent the operation command signal to confirm whether the output setting based on the operation command signal C5 has been made. Then, in the next step S38, the slave node 7 that has received the acknowledge request returns an acknowledge to the master node 2 indicating the status of the output setting based on the operation command signal.

In this example, acknowledgments are transmitted and received between the master node 2 and the slave node 7 of the right side mirror unit 5.

As described above, each time the detection signal changes, an event notification is sent from the slave node 7 to the master node 2, event processing is executed based on the event notification, and an operation target is operated based on the event processing.

[Step S4]
Returning to FIG. 8, in parallel with the normal operation, the master node 2 executes a periodic request process for checking the settings of the slave configuration area 77 of each slave node 7 at predetermined intervals.

Specifically, as shown in FIG. 9, the master node 2 sends a request instructing each slave node 7 (for example, the combination switch unit 4) to transmit the settings of the slave configuration area 77. Send. The slave node that has received the request returns an acknowledge RC that includes the settings in the slave configuration area 77. The master node 2 confirms the received acknowledgement RC, and if there is no problem with the settings in the slave configuration area 77, the master node 2 proceeds to the next slave node 7 (for example, the right side mirror unit 5). In this way, the master node 2 periodically checks whether the slave configuration areas 77 of all slave nodes 7 are maintained in a normal state.

As shown in step S41 of FIG. 8, if the acknowledgments of all slave nodes 7 are OK, the process returns to the normal operation of step S3.

On the other hand, the function of the slave node 7 may stop due to the power supply to the slave node 7 becoming temporarily unstable or the power supply being stopped. In such a case, the slave node 7 performs a so-called recovery operation in which the settings and the like are reset and restarted (step S6).

For example, if the register 72 is a volatile storage area, the settings in the slave configuration area 77 may also be reset, or the settings may be rewritten to unintended values. Then, as shown in step S42 in FIG. 8, in the periodic request process, the acknowledgment of the slave node 7 that performed the return operation becomes NG.

[Step S7]
If the master node 2 determines that there is an abnormality in the input/output settings of the slave node based on the contents of the acknowledge RC, it re-executes the initial configuration process. The initial configuration process (step S7) at this time consists of steps S71 to S73, and is the same process as steps S11 to S13 described above.

Specifically, in step S71, the master node 2 retransmits the initial configuration data corresponding to the slave node 7 determined to be abnormal.

In step S72, the slave node 7 that has received the initial configuration data SC from the master node 2 via the communication network B re-executes the input/output settings of the port P based on the received initial configuration data SC. When the input/output settings for each port P are completed, the slave node 7 returns an acknowledge RC to the master node 2.

In the next step S73, the master node 2 determines whether the initial configuration process is completed based on the acknowledgment RC returned from the slave node 7. If the initial configuration process is not completed, the flow returns to step S71 and the processes of steps S71 and S72 are repeated.

When re-execution of the initial configuration process for all slave nodes 7 determined to be abnormal is completed, a YES determination is made in step S73, and the flow returns to step S3.

As described above, the vehicle control system of this embodiment is configured to include a plurality of slave nodes 7 and a master node 2 that communicates with each slave node 7 via the communication network B. Each of the plurality of slave nodes 7 includes a plurality of ports P (general-purpose input/output ports P) connected to in-vehicle devices. Then, prior to normal operation, the master node 2 transmits initial configuration data to each slave node 7 via the communication network B, and each slave node 7 configures the initial configuration data based on the initial configuration data received from the master node 2. Initial configuration processing for executing port P input/output settings is executed.

As described above, in the present disclosure, by having a configuration that executes the initial configuration processing, the master node can absorb the evolution and change in the functions of the application of the vehicle CA. Can respond flexibly and quickly to changes in functionality.

Specifically, the evolution and change in the functionality of applications can be roughly divided into: (1) cases in which functions and behavior evolve or change, (2) cases in which end hardware evolves or changes, and (3) cases in which the above-mentioned cases occur. Both (1) and (2) may evolve and change.

As an example of the functional evolution/change in function (1) above, it is assumed that, for example, the sensor connected to port P is changed from an ON/OFF switch to a non-contact sensor using a Hall element. In this embodiment, this can be handled by transmitting configuration data from the master node 2 to the slave node 7 to change the port P to which the sensor is connected from DI to AI. In other words, functional evolution and functional changes can be absorbed by the master node.

As an example of the functional evolution/change described in (2) above, it is assumed that, for example, the layout position of a switch is changed and the connected port P is changed. In this case, this embodiment can handle this by transmitting configuration data from the master node 2 to the slave node 7 based on connection data indicating what is connected to each port P. In other words, functional evolution and functional changes can be absorbed by the master node.

As described above, when there is a change in the function of the vehicle CA application, it can be handled by changing the contents of the initial configuration data SC transmitted in the initial configuration process or the configuration data transmitted thereafter. This eliminates the need to replace the hardware of the slave node 7 in response to functional evolution and functional changes of the vehicle. Thereby, it is possible to respond flexibly and quickly to functional evolution and functional changes of vehicle CA applications.

Furthermore, since the functions assigned to the slave node 7 are very simple, a common and highly versatile slave node 7 can be used regardless of the sensor connected to the slave node 7 or the operation target. I can do it. This makes it possible to significantly reduce development man-hours and costs even when the functionality of vehicle CA applications evolves or changes, or when sensors and operation targets differ for each vehicle model. be able to.

The vehicle control system disclosed herein is useful because it can respond flexibly and quickly to evolution and changes in vehicle functionality.

1 Vehicle control system
2 Master node 7 Slave node B Communication network C5 Operation command signal MC Configuration data SC1 Initial configuration data P Port (general-purpose input/output port)

Claims (4)

A vehicle control system,
a plurality of slave nodes, each having a plurality of general-purpose input/output ports connected to an in-vehicle device;
a master node having configuration data and communicating with each of the slave nodes via a communication network;
The configuration data includes connection data indicating connection relationships with in-vehicle devices connected to the general-purpose input/output ports of each of the plurality of slave nodes, and input/output settings of each of the general-purpose input/output ports in each of the slave nodes. Contains initial configuration data indicating
the master node transmits the initial configuration data to each of the slave nodes via the communication network;
Each of the slave nodes executes input/output settings of the general-purpose input/output port based on the initial configuration data received from the master node, and receives input to the input port set in the input/output settings as a detection signal. transmitting to the master node via the communication network;
The master node recognizes the information obtained through the input port based on the connection data and the change over time of the detection signal received from the slave node, and the output port configured in the input/output settings. generating an operation command signal for commanding the output content of and transmitting it to one or more of the slave nodes via the communication network;
The one or more slave nodes that have received the operation command signal output an operation signal based on the operation command signal from the output port based on the operation command signal. The slave node shall return an acknowledgment indicating the status of the input/output setting after executing the input/output setting of the general-purpose input/output port,
When the master node determines that there is an abnormality in the input/output settings of the slave node based on the contents of the acknowledgement, the master node transmits the initial configuration data to the slave node determined to have the abnormality via the communication network. resend,
The vehicle control system according to claim 1, wherein the slave node resets the input/output settings of the general-purpose input/output port based on the initial configuration data received from the master node. 3. The vehicle control system according to claim 2, wherein in the communication network, communication of the initial configuration data and the acknowledgement is given priority over communication of the detection signal and the operation command signal. The vehicle control system according to claim 1, wherein some or all of the plurality of slave nodes have the same configuration.