JP4177801B2 - Control program - Google Patents

Description

  The present invention relates to a control program, and more specifically, for example, a control program including source code for controlling a vehicle (plant (control target)), and can use an automatically generated source code as it is. About.

  2. Description of the Related Art Conventionally, for example, an electronic control device that stores a control program for controlling a fuel injection device, an ignition device, a transmission, a differential, a brake, and the like of an internal combustion engine mounted on a vehicle has been adopted.

  When creating this control program, the programmer creates a flow chart based on the specifications requested by the designer, and codes the source code using the created flow chart. The coded source code is assembled and translated into a machine language, and a control program comprising the machine language is mounted on an electronic control unit to control the plant.

  In such a source code creation process, if a required specification is changed or a defect is found in the verification of the source code, the programmer has changed the source code manually. In recent years, with the progress of electronics, the amount of description of source code has increased rapidly. In such a situation, manual creation and modification of source code by a programmer not only increases man-hours, but also extends the development period and increases development costs.

Therefore, in Patent Document 1 described below, a development support technique for creating or changing a source code using an automatic generation device is proposed. According to the technique described in Patent Document 1, it is possible to reduce the man-hours for creating the source code and reduce human error due to manual work.
Japanese Patent No. 3363977

  By the way, in order to control the plant, the calculation is performed based on a plurality of input parameters that are sequentially updated, and the obtained calculation result is output to the plant. It is necessary to create a source code that considers time synchronization.

  That is, in order to control the plant, calculation is performed based on a plurality of input parameters that are sequentially updated. When there are a plurality of output parameters to be output to the plant, the calculation must be performed for each of the plurality of output parameters. . In this case, there is a disadvantage that the input parameter is acquired every time each output parameter is calculated. The same thing happens when outputting multiple output parameters to the plant.

  However, in the automatic generation of the source code proposed in Patent Document 1, since the source code is automatically generated based on a block model or the like, this point is not taken into account, and the source code is still described manually. It was necessary to analyze and code again. Therefore, there has been an inconvenience that the man-hours and development costs have not been significantly reduced.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a control program that solves the above-described problems and avoids manual work required for generation and correction of a control program including source code.

In order to achieve the above object, in claim 1, in a control program comprising source code describing a control algorithm of the plant generated by an automatic generation device through verification by simulation based on a block model of the plant, The control program sequentially updates the output of the plant as a plurality of input parameters and stores it in an input storage unit, an update prohibiting unit that prohibits updating of the plurality of input parameters, and the input storage unit From the input parameter delivery means for delivering the stored plurality of input parameters to the delivery storage unit as values at a plurality of time points, the update permission means for permitting the updating of the plurality of input parameters, and the values at the plurality of time points delivered Based on the input parameters A plurality of control data that is calculated in the calculation unit and stored in the calculation storage unit; and a plurality of output parameters obtained from the calculated plurality of control data are stored in the plurality of output parameters. Output prohibiting means for prohibiting output of output parameters, output parameter passing means for passing the plurality of output parameters to the output storage section, and output permission for permitting output of the plurality of output parameters from the output storage section Means.

  The control program according to claim 2 further includes an input conversion processing means for converting the input parameters composed of the plurality of time points delivered to the delivery storage unit into a plurality of computation data and storing them in the computation data storage unit. At the same time, the calculation processing means is configured to calculate the plurality of control data based on the plurality of stored calculation data.

In the control program according to claim 3, further provided with a output converting means for storing a plurality of control data the calculated the receiving pass storage unit into a plurality of output parameters, the output permission unit Is configured to permit output of the plurality of stored output parameters.

In the control program according to claim 1, an input storage unit that stores the output of the plant in the input storage unit while sequentially updating the output of the plant as a plurality of input parameters, an update prohibiting unit that prohibits updating of the plurality of input parameters, Input parameter delivery means for delivering a plurality of input parameters stored in the input storage section to the delivery storage section as values at a plurality of time points, update permission means for permitting updating of the plurality of input parameters, and Calculation processing means for calculating a plurality of control data in the calculation unit composed of the source code based on input parameters consisting of values and storing them in the calculation storage unit, and a plurality of output parameters obtained from the calculated plurality of control data Output prohibiting means for prohibiting the output of a plurality of output parameters from the output storage unit storing An output parameter transfer means for transferring the meter to the output storage section, and since the outputs of the plurality of output parameters from the output storage section and composed as an output permission unit for permitting, to synchronize the parameters as needed Since the control program including the automatically generated source code can be used as it is, manual correction is unnecessary, quick response to the required specifications can be achieved, man-hours can be reduced, and the control program Development time can be shortened. Along with this, development costs can be reduced.

  The control program according to claim 2 further includes input conversion processing means for converting input parameters composed of a plurality of time points delivered to the delivery storage unit into a plurality of computation data and storing them in the computation data storage unit, Since the calculation processing means is configured to calculate a plurality of control data based on a plurality of stored calculation data, it is possible to shorten a process of transferring a plurality of input parameters as input parameters composed of a plurality of time points. Therefore, by shortening the update prohibition time, the waiting time for interrupt prohibition when other control programs use these multiple input parameters can be shortened, and the influence on the calculation of other control programs can be reduced. it can.

  The control program according to claim 3 further includes output conversion means for converting the plurality of calculated control data into a plurality of output parameters and storing them in the delivery storage unit, and the output permission means is stored. In addition, since it is configured to permit the output of a plurality of output parameters, it is possible to shorten the output parameter transfer process, and to minimize the delay caused by the interrupt inhibition time.

  The best mode for carrying out a control program according to the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram showing the entire process from development to mass production of a control program according to the first embodiment of the present invention.

  As shown in the figure, a plant control algorithm created through verification by simulation based on the required specifications expressed by modeling by the plant block model 10 is generated by the designer. FIG. 2 shows the block model 10 in more detail.

  Next, source code describing a control algorithm according to this embodiment is generated by the automatic generation device 12. FIG. 2 shows the source code in detail (described later). The automatic generator 12 is composed of a microcomputer.

  The control program 14 including the generated source code is stored in an ECU (electronic control unit) 16, and its suitability is verified through simulation. That is, the ECU 16 is a so-called prototype, and is incorporated into a simulator such as HILS (Hardware In the Loop Simulation), and its suitability is verified before mass production.

  Next, when the verification is completed, the ECU 16 on which the control program including the source code is mounted is mass-produced, and the mass-produced ECU 16a is mounted on the vehicle (plant) 18 and executes control such as fuel injection.

  FIG. 3 is a block diagram functionally showing the configuration of the control program 14 including source code generated by the automatic generation device 12.

  As shown in the figure, the control program 14 is roughly composed of a control unit 14a and an arithmetic processing unit 14b. The control unit 14a includes an input storage unit 14a1, a delivery storage unit 14a2, an input / output processing unit 14a3, a delivery storage unit 14a4, and an output storage unit 14a5.

  The control unit 14a manages the input / output processing unit 14a3 and the arithmetic processing unit 14b. The input / output processing unit 14a3 performs data input / output processing between the control unit 14a and the arithmetic processing unit 14b. The arithmetic processing unit 14 b performs arithmetic operations for controlling the vehicle 18.

  Specifically, for example, the control unit 14a sequentially stores a plurality of input parameters based on various types of sensors that output signals corresponding to the operation state provided in the vehicle (plant) 18 or related plant information other than the vehicle. Unit 14a1, a delivery storage unit 14a2 that stores a plurality of input parameters at a certain point in time as values at a plurality of points, a plurality of input parameters, a plurality of input parameters calculated by an arithmetic processing unit 14b It manages the operation of a delivery storage unit 14a4 that receives and stores output parameters (control data) via the input / output processing unit 14a3, and an output storage unit 14a5 that stores these output parameters for output to the vehicle 18.

  Further, the input / output processing unit 14a3 includes an input conversion processing unit 14a31 and an output conversion processing unit 14a32, through which input parameters and a plurality of outputs are formed between the control unit 14a and the arithmetic processing unit 14b. Process receipt of parameter data.

  The calculation processing unit 14b includes a calculation data storage unit 14b1, a calculation unit 14b2, and a calculation storage unit 14b3. In the calculation unit 14b2, the source code generated by the automatic generation device 12 is translated into machine language and stored. That is, the calculation unit 14b2 is configured from source code.

  In the above, in a general sense, the control unit 14a corresponds to the operating system, the input / output processing unit 14a3 corresponds to the application programming interface, and the arithmetic processing unit 14b corresponds to the application program logic.

  Next, the operation of the control program 14 shown in FIG. 3 will be described with reference to the flowchart of FIG.

  In the operation of the control program 14, first, the output (plant information) from the above-described sensor of the vehicle 18 is stored in the input storage unit 14a1 as a plurality of input parameters by the control unit 14a (S10). Since the driving state of the vehicle 18 changes from moment to moment, a plurality of input parameters for them are stored while being updated sequentially.

  Next, in order to obtain a plurality of input parameters for calculation in the calculation processing unit 14b, update interruption (input interrupt) is prohibited (S12), and an input parameter consisting of values at a plurality of time points is delivered and stored. It is stored in 14a2 (S14).

  After storing the input parameters composed of values at a plurality of points in time, the updating of the plurality of input parameters is again permitted, and the updating of the input parameters is performed sequentially (S16). In this way, an input parameter consisting of values at a plurality of points in time is obtained in a state where interruption is prohibited, so that the input parameter is not updated during the acquisition, and the input parameter can be obtained without a time lag.

  Next, the input parameters composed of values at a plurality of points stored in the delivery storage unit 14a2 are converted into a plurality of calculation data by the input conversion processing unit 14a31 of the input / output processing unit 14a3 and input to the calculation processing unit 14b. It is stored in the calculation data storage unit 14b1 (S18).

  The input conversion process in S18 will be described. The plurality of input parameters are configured by data obtained by A / D conversion of outputs such as voltages detected by various sensors, or data other than the vehicle 18 (related to the vehicle 18). . Since such data cannot be directly used for calculation, it is used for calculation after being converted into a physical value. The input conversion processing unit 14a31 performs such conversion processing.

  Next, the calculation processing unit 14b uses calculation data based on input parameters composed of values at a plurality of times, and the calculation unit 14b2 calculates a plurality of control data (described later). The calculated control data is stored in the calculation storage unit 14b3 (S20).

  The calculation data is sent again to the input / output processing unit 14a3, converted into a plurality of output parameters by the output conversion processing unit 14a32, and stored in the delivery storage unit 14a4 (S22).

  The output conversion process of S22 will be described. Since the calculation data is the calculated data itself, the vehicle 18 cannot be driven and controlled as it is. Therefore, it is necessary to convert the data into data for driving and controlling the vehicle 18. The output conversion processing unit 14a32 performs such processing.

  Next, an interrupt for outputting a plurality of output parameters in the output storage unit 14a5 is prohibited (S24), and a process of transferring (delivering) the plurality of output parameters from the delivery storage unit 14a4 to the output storage unit 14a5 is executed (S26). . After the delivery process is completed, an interrupt for outputting a plurality of output parameters in the output storage unit 14a5 is permitted (S28). Thereby, the output to the vehicle 18 is performed, and the operation of the vehicle 18 is controlled.

  As described above, by storing the output in the output storage unit 14a5 in a state in which the interruption is prohibited, the output storage unit 14a5 is not output to the vehicle 18 in the middle of delivering a plurality of output parameters, so that there is no time lag. A plurality of output parameters can be output.

  FIG. 5 is a flowchart showing a specific example of the process of S20 of FIG.

  As described above, the calculation is performed on the calculation data obtained by the input conversion process based on the plurality of input parameters. As the plurality of input parameters, that is, the calculation data, a steering angle sensor disposed on the vehicle 18, The driving state of the lateral G sensor, the yaw rate sensor, the vehicle speed sensor (all not shown), and related information can be listed. When there are such a plurality of input parameters, it is necessary to acquire a synchronized value without time lag depending on the control. The same applies to the output of a plurality of output parameters.

  Various devices such as an injector, an ignition device, a transmission, a differential, and a brake are mounted on the internal combustion engine mounted on the vehicle 18, but FIG. 5 shows an example in which the driving force distribution of the left and right wheels by the differential is controlled. explain.

  First, the driving force (L side torque amount) of the left wheel is calculated in S100, and the right side driving force (R side torque amount) is calculated in S102.

  At this time, assuming that the input interrupt prohibition process is not performed in S12 of FIG. 4, the input parameters are input while being sequentially updated in the input storage unit 14a1, and therefore, the process at S100 and the process of S102 are performed at the same time. Multiple input parameters cannot be obtained. Therefore, there is a risk that the behavior of the vehicle may be affected by performing control in which a time shift occurs between the left and right wheels.

  However, in this embodiment, by performing the processing up to S12 and S14 in the flow chart of FIG. 4, when calculating the output parameter between the left and right wheels, it is calculated based on a plurality of time point input parameters at the same time point. Since the process can be performed, there is no time lag between the left and right wheels, and the behavior of the vehicle 18 is not disturbed.

  A plurality of control data is calculated in S100 and S102, and a plurality of output parameters are stored in the output storage unit 14a5 based on the calculated data. At this time, assuming that the processing from S24 to S28 in the flowchart of FIG. 4 is not performed, if an interrupt processing for outputting a plurality of output parameters is entered during the delivery processing to the output storage unit 14a5, the calculation result includes Since the updated output parameter and the output parameter before being updated (previously calculated) are mixed, as described above, control is performed in which a time lag occurs between the left and right wheels. 18 behavior may be adversely affected.

  However, in this embodiment, by performing the processing from S24 to S28, a plurality of output parameters are updated based on the operation data calculated from the input parameters at the same time between the left and right wheels. Specifically, the output storage unit Since the output interruption is permitted after storing in 14a5, the behavior of the vehicle 18 is not disturbed.

  FIG. 6 is a flowchart showing another specific example of the process of S20. In the case of this example, a case where fuel injection is controlled by, for example, a fuel injection device in the control of the vehicle 18 is taken as an example.

  In the following description, the base value of the fuel injection amount is calculated from a plurality of input parameters (a plurality of calculation data) in S200, the fuel injection amount correction coefficient for the base value of the fuel injection amount is calculated in S202, and then calculated in S204. The fuel injection amount is calculated from the base value of the fuel injection amount and the fuel injection amount correction coefficient.

  At this time, if it is assumed that the input interrupt prohibition process of S12 in the flowchart of FIG. 4 is not performed, the input parameter is sequentially updated in the input storage unit 14a1, and therefore, it is used in the base value calculation of the fuel injection amount in S200. The input parameters used in the calculation of the fuel injection amount correction coefficient in S202 are different at the time of input, in other words, at the sample time, and when calculating the fuel injection amount in S204, the base value of the fuel injection amount Since the fuel injection amount correction coefficient is not calculated from the input parameters at the same time, a desired fuel injection amount cannot be obtained.

  However, by performing the processing of S12 and S14, the desired fuel injection is performed in S204 without causing a time lag between the input points of the parameters used for calculating the base value of the fuel injection amount and the fuel injection amount correction coefficient. The amount can be calculated.

In this embodiment, as described above, the control algorithm of the plant generated by the automatic generator 12 through verification by simulation based on the block model 10 of the vehicle 18 (plant, more precisely, its differential, fuel injector) is described. In the control program 14 including the source code to be processed, the control program 14 stores the output of the plant in the input storage unit 14a1 while sequentially updating the output of the plant as a plurality of input parameters, and the plurality of inputs Update prohibiting means (S12) for prohibiting update of parameters, input parameter passing means (S14) for passing a plurality of input parameters stored in the input storage section to the passing storage section 14a2 as values at a plurality of time points, Updates that allow update of input parameters for Based on the permitted means (S16) and the input parameters made up of the delivered time points, the calculation unit 14b2 composed of the source code calculates a plurality of control data and stores them in the calculation storage unit 14b3. Processing means (S20), output prohibiting means (S24) for prohibiting output of the plurality of output parameters from the output storage unit 14a5 in which a plurality of output parameters obtained from the plurality of calculated control data are stored; An output parameter transfer unit (S26) for transferring the plurality of output parameters to the output storage unit, and an output permission unit (S28) for permitting the output of the plurality of output parameters from the output storage unit. did.

  As described above, since the control unit 14a manages the interrupt process and performs the input or output process to the calculation unit 14b2 for the plurality of input parameters used for the calculation process and the plurality of output parameters calculated by the calculation process. Since the arithmetic processing does not need to be coded in consideration of the influence of the interrupt processing when acquiring a plurality of input parameters or outputting a plurality of output parameters, the source code generated by the automatic generation device 12 is corrected. It can be used as it is.

  This eliminates the need for manual correction and enables quick response to the required specifications, reduces man-hours, and shortens the development period of the control program. Along with this, development costs can be reduced.

  Furthermore, an input conversion processing means (S18, input conversion processing unit 14a31) for converting the input parameters composed of the plurality of time points delivered to the delivery storage unit 14a2 into a plurality of computation data and storing them in the computation data storage unit 14b1. In addition, since the calculation processing means is configured to calculate the plurality of control data based on the plurality of stored calculation data, a plurality of input parameters are set as values at a plurality of points in time (input parameters consisting of). It is possible to shorten the delivery process. Therefore, by shortening the update prohibition time, it is possible to shorten the waiting time for interrupt prohibition when other control programs use these multiple input parameters. The influence on the calculation of can be reduced.

Furthermore, the calculated the plurality of output conversion means control data is stored in the plurality of receiving passing the storage unit 14a4 by converting the output parameter (S22, output conversion processing section 14A32) provided with a, the output permission unit, Since the output of the plurality of stored output parameters is permitted, the output parameter delivery process can be shortened, and the delay due to the interrupt inhibition time can be minimized.

  In the above description, the case of controlling the vehicle 18 as a plant, more specifically, the driving force distribution of the left and right wheels, or the fuel injection has been described as an example, but the present invention is not limited thereto. That is, a control program of a plant automatically generated through verification by simulation based on a required specification expressed by modeling by the plant block model 10 by a designer, and including a source code describing the control algorithm Applies to any plant, if any.

It is the schematic which shows from development to mass production of the control program based on 1st Example of this invention generally. It is explanatory drawing of the block model and source code which are shown in FIG. It is a block diagram which shows functionally the structure of the control program produced | generated by the production | generation apparatus shown in FIG. It is a flowchart which shows operation | movement of the control program shown in FIG. 4 is a flow chart showing a specific example of the arithmetic processing in S20 of the flow chart. Similarly, it is a flow chart which shows another specific example of the arithmetic processing of S20 of the flow chart of FIG.

Explanation of symbols

10 block model 12 automatic generation device 14 control program 14a control unit 14a1 input storage unit 14a2 delivery storage unit 14a3 input / output processing unit 14a31 input conversion processing unit 14a32 output conversion processing unit 14a4 delivery storage unit 14a5 output storage unit 14b arithmetic processing unit 14b1 arithmetic Data storage unit 14b2 Calculation unit 14b3 Calculation storage unit 16, 16a ECU
18 Vehicle (plant)

Claims (3)

In a control program comprising source code describing a control algorithm of the plant generated by an automatic generation device through verification by simulation based on a block model of the plant, the control program comprises:
a. Input storage means for storing the output of the plant in the input storage unit while sequentially updating the output as a plurality of input parameters;
b. Update prohibiting means for prohibiting updating of the plurality of input parameters;
c. Input parameter delivery means for delivering a plurality of input parameters stored in the input storage unit to a delivery storage unit as values at a plurality of time points;
d. Update permission means for permitting update of the plurality of input parameters;
e. An arithmetic processing means for calculating a plurality of control data in the arithmetic unit constituted by the source code and storing the calculation data in the arithmetic storage unit based on the input parameters composed of the values of the plurality of time points delivered,
f. Output prohibiting means for prohibiting output of the plurality of output parameters from an output storage unit in which a plurality of output parameters obtained from the plurality of calculated control data are stored;
g. Output parameter delivery means for delivering the plurality of output parameters to the output storage unit;
And h. Output permission means for permitting the output of the plurality of output parameters from the output storage unit;
A control program comprising: further,
i. Input conversion processing means for converting the input parameters composed of the plurality of time points delivered to the delivery storage unit into a plurality of computation data and storing them in the computation data storage unit;
The control program according to claim 1, further comprising: causing the calculation processing unit to calculate the plurality of control data based on the plurality of stored calculation data. further,
j. Output conversion means for storing a plurality of control data the calculated the receiving pass storage unit into a plurality of output parameters,
The control program according to claim 1, wherein the output permission unit permits the output of the plurality of stored output parameters.

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