JP5178878B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that controls an in-vehicle device.

  Conventionally, as an embedded software, an embedded controller, and an embedded software development tool, there is a method of automatically generating an interface program of a basic program in accordance with input information from a program creator (for example, see Patent Document 1).

  Conventionally, there is a method of automatically generating source code using control system design support software for creating embedded software, and according to a cited example, MATLAB and Simulink (for example, see Non-Patent Document 1).

JP 2002-229791 A (page 4, FIG. 1 (b))

Cybernet System Co., Ltd., “MATLAB Expo2002 Model-Based Control System Design Conference Material”, pages 103-126

  For example, in an electronic control device for a vehicle, an embedded controller development tool and a development process for improving the development efficiency of embedded controller software have been studied. In order to improve development efficiency, automatic generation of source code for embedded controller software and improvement of reusability are required.

  In the conventional embedded controller, the interface means is a part of the basic management means (for example, see Patent Document 1). Therefore, even when a part of a plurality of control arithmetic means is changed, it is necessary to change the whole interface means, and there is a problem that a part of the interface means that does not need to be changed is recreated. An object of the present invention is to solve the above problems and improve the reusability of an embedded controller.

  In addition, when a task synchronized with the input of an external signal that is an input value is executed, there is a problem that the simultaneity of the input value cannot be maintained. However, in the conventional electronic control device for a vehicle, special consideration is given. Not done. An object of the present invention is to solve the above-described problems and maintain the simultaneity of input values.

  In the present invention, the above-described object is achieved by providing an interface unit corresponding to each control arithmetic unit in the embedded controller.

  In order to solve the above problems, in the present invention, a signal input unit that takes in an input signal from the outside and converts it into data, and a control for processing the data input signal and controlling an in-vehicle device connected to the outside A vehicle control device comprising: a processor that calculates data; a signal output unit that outputs the control data as a control signal to the in-vehicle device; and a memory that stores embedded software for causing the processor to execute the calculation. The embedded software includes a plurality of software components that perform an operation based on control data that is a result of a control operation by the input signal or another software component, and the control between the software component and another software component. Interface software for managing data transfer and basic control software for managing the execution order of the plurality of software components And basic software for controlling activation of the application software and reading the input signal and outputting the control signal in response to a request from the application software. Provides a vehicle control device that performs an interrupt prohibition process for prohibiting execution of the software component in synchronization with the input signal.

  According to the present invention, the reusability of the embedded controller is improved by providing the interface means corresponding to each control arithmetic means in the embedded controller.

  Further, according to the present invention, the task execution synchronized with the external signal is prohibited, so that the simultaneity of the input values of the vehicle control device can be maintained.

FIG. The system diagram of the electronic control device for vehicles of an example. The system figure of the distributed embedded controller of an Example. Overview of embedded controller software. Overview of application software. The flowchart of task processing software. The block diagram of a torque base control application. C source code for control software components. C source code for interface software. Definition information for torque-based control framework. The flowchart of a torque base control framework. The system diagram of the input-output processing part in a distributed control system. Software development process diagram for embedded controller. Embedded software development means 1. Embedded software development means 2. Embedded software development means 3. Interface software automatic generation flowchart. 7 is a control software component information extraction flowchart. Interface software generation flowchart. Embedded software network distribution diagram. Embedded software network distribution service diagram.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a vehicle control controller is treated as an example of an embedded controller.

  First, FIG. 1 shows a basic structure of application software in which the present invention is implemented. 1A,..., 1B, 1C are control software components describing control variable update logic. This corresponds to the control calculation means in the present invention. 2A,..., 2B, 2C are interface software corresponding to control software components. This corresponds to the interface means in the present invention. Reference numeral 3 denotes control basic software describing basic logic executed by the application, for example, the update order of variables, that is, the execution order of control software components. This corresponds to the basic control processing means in the present invention. Reference numeral 4 denotes external input data. For example, the external information is obtained by measuring with a sensor of hardware or communicating with other applications and controllers. This corresponds to the external input processing means in the present invention. Reference numeral 5 denotes information output to the outside, which executes the external output by driving an actuator possessed by hardware or communicating with another application and controller. This corresponds to the external output processing means in the present invention. 6 represents an operation system that performs task control and interrupt management of embedded software. This corresponds to the basic management means in the present invention.

  Software components and interface software are associated with each other as 1A and 2A, 1B and 2B, respectively. Therefore, for example, when the software component 1C is changed, only the interface software 2C needs to be changed, and the interface software 2A and 2B can be used without being changed. In other words, the configuration shown in FIG. 1 has the effect of improving the reusability of the embedded software having the interface software.

  Although FIG. 1 shows only one layer of the application, the present invention is not limited to one layer of embedded software, and can be implemented in any layer. For example, the software component 1A itself can have the configuration shown in FIG. This configuration is effective in a so-called layered embedded software structure.

  FIG. 2 shows a vehicle to which the present invention is applied. In this example, the vehicle 7 includes an engine 8, a control unit (ECU) 10 that controls the engine 8, for example, an automatic transmission (AT) 9, and a control unit (ECU) 20 that controls the automatic transmission 9. The accelerator pedal A is operated by a driver. Here, the control unit (ECU) 20 may be a control unit for throttle control, etc. in addition to the one related to the automatic transmission, and shows a control unit other than the unit for controlling the engine.

  FIG. 3 shows a basic configuration of the vehicle distributed control system.

  This vehicle distributed control system includes an analog input 41 for A / D converting and inputting inputs from a processor 13, a memory 12, an embedded software 11, a data receiving device 14, a data transmitting device 15, an airflow sensor, and the like. And a digital input 42 for inputting a pulse from a crank angle sensor, an analog output 51 for outputting a voltage for driving the peripheral device, and a digital output 52 for outputting a pulse for driving the peripheral device. The control unit (ECU) 10 and the control unit (ECU) 20 having the same configuration as the control unit (ECU) 10 are configured.

  FIG. 4 shows an example of the configuration of the embedded software 11. As shown in FIG. 4, the embedded software 11 includes application software 111 and basic software 112.

  The basic software 112 includes a real-time operation system (RTOS) 1121 and a basic input / output system (BIOS) 1122. The RTOS 1121 activates a time-period task or a task synchronized with an external input, and provides services such as interrupt prohibition processing and calling of other tasks to the application software 111. In response to a request from the application software 111, the BIOS 1122 reads the external input data 4 and outputs the external output data 5.

  With the configuration shown in FIG. 4, the hardware dependent part (BIOS) in the embedded software, real-time control functions such as interrupt signal processing and timer processing, and control such as transmission shift control and engine ignition control The application part depending on the target can be separated. For example, when the CPU changes, only the BIOS needs to be changed, and there is an advantage that the application can be used.

  FIG. 5 shows an example of the configuration of application software. The application software 111 is, for example, a task that is activated at a constant cycle such as a 10 [ms] periodic task 1111, a task that is activated in synchronization with an external signal such as an engine rotation synchronization task 1112, and a processor such as a background task 1113. And tasks that are executed when is in an idle state.

  Each task is composed of basic task processing software and a control application. For example, the 10 [ms] periodic task includes 10 [ms] task processing basic software, diagnostic control 11112, fuel correction control 11113, torque base control 11114, and other controls. "..." in the figure indicates that the control logic is not limited to the above three types.

  FIG. 6 shows the operation of 11111 of the 10 [ms] task processing basic software.

  The RTOS 1121 performs activation processing of the 10 [ms] periodic task 1111 in S0. As a result, the process of the 10 [ms] task framework 11111 is executed. In S1, the BIOS 1122 is requested to perform external input processing, and the latest value of the sensor that updates the input value of the airflow sensor or the like is acquired. In S2, the diagnosis control 11112 is executed. Thereafter, several controls are executed, and fuel correction control 11113 is executed in S3. In S4, torque base control 11114 is executed. In S5, the BIOS 1122 is requested to output a signal to the outside, and the process ends. By configuring the application software as shown in FIGS. 5 and 6, the external input process S1, the control processes S2, S3, S4 for different purposes, and the external output process S5 are processed in the same task. It becomes possible to do.

  FIG. 7 shows the basic structure of the torque-based control application software in which the present invention is implemented. 1D is a control software component describing the update logic of the target torque, 1E of the variable A, and 1F of the control variable of the throttle opening. 2D,..., 2E, 2F are interface software corresponding to control software components of 2D,. Reference numeral 3A denotes torque-based control basic software describing the update order of variables in torque-based control, that is, the execution order of control software components. Reference numeral 4 denotes external input data obtained from the BIOS 1122, and the external information is obtained by, for example, measuring with hardware sensors or communicating with other applications and controllers. Reference numeral 5 denotes information output to the outside output by the BIOS 1122, which executes the external output by driving an actuator of hardware or communicating with another application and controller.

  With the configuration shown in FIG. 7, for example, when the software component 1D for calculating the target torque is changed, only the interface software 2D needs to be changed, and the interface software 2E and 2F can be used without being changed. . That is, the configuration shown in FIG. 7 has an effect of improving the reusability of the embedded software having the interface software.

  FIG. 8 shows an example of the control software component 1F shown in FIG. Here, C11 is a header file (TVO_Calculate.h) when the software component 1 for updating the throttle opening (hereinafter referred to as TVO) is described in C language. Similarly, C12 is a source file (TVO_Calculate.c) when the software component 1 for updating TVO is described in C language.

C11 makes a prototype declaration of a function that updates TVO. That is, it is an external declaration of the function (extern), the return type of the function (void), the function name (TVO_Calculate), the input value type of the function and the variable name (unsigned short TargetTorque, ..., unsigned short Variable_A) and the variable that the function updates, that is, the type of the output value of the software component and the variable name pointer (unsigned short TVO) are declared. Whether the function argument is an input variable or an output variable is determined by whether or not an identifier ( ^* ) indicating that it is a pointer argument is attached to the beginning of the variable name.

  The output variable corresponds to the control data calculated by the control calculation means in the embedded controller of the present invention.

C12 describes a function for updating TVO. That is, the return type of the function (void), the function name (TVO_CAlculate), the input value type and variable name (unsigned short TargetTorque, ..., unsigned short Variable_A) that is the function argument, and the variable that the function updates That is, the type of output value of the software component and the pointer (unsigned short TVO) of the variable name are defined, and the TVO update method ( ^* TVO = TargetTorque ^* Kt + Variable_A ^* Ka) is described. Note that TargetTorque and Variable_A are variables, and Kt and Ka are constants.

  FIG. 9 shows C source codes C21, C22, and C23 as an example of the interface software 2F shown in FIG. This corresponds to the control software component described in C11 and C12 of FIG. C21 is a C source file (TVO.c) that declares variables, C22 is a C header file (TVO.h) that defines variable reference instructions, and C23 is a C header file (TVO_Update.h) that defines variable update instructions. ).

  In C21, a variable declaration (unsigned short TVO) of TVO which is an output variable of the corresponding software components C11 and C12 is performed.

  In C22, in order to refer to the variable TVO declared in C21 by other interface software, the definition of the instruction referred to by the variable (#define TVO_Get () TVO) and the declaration of the variable type and name as the TVO external variable declaration (Extern unsigned short TVO). In C23, an instruction to be executed when the control basic software 3 requests an update of the variable TVO is defined. That is, a C header file in which an instruction for referring to an input variable is described is read (#include “TVO.h” to #include “variable_A”), and an instruction name for updating the variable is defined (# define TVO_Update () \), describe the function name of the control software component C12 that is actually called (TVO_Calculate ...), and call a command to reference the control variable that is the input of the function that updates TVO (TargetTorque_Get () ... variableA_Get ()) The address of the variable TVO is designated (& TVO) as the output of the function for updating TVO.

  In FIG. 9, there is a feature in that only the TVO_Update () command is called to update the variables by the software components C11 and C12 corresponding to the interface software C21 to C23. That is, when a variable update is requested (TVO_Update ()), the interface software collects the input values necessary for calling the function that updates the variable (TargetTorque_Get () ... variableA_Get ()) and specifies the output variable (& TVO ), And then call a function that updates the variable (TVO_Calculate ()).

  With the configuration of FIG. 9, for example, when a variable update is requested from the control basic software, there is no need to be aware of the number and type of function input values and variable names described in the control software component, and a common instruction Variables can be updated in the format. In addition, operations such as declaration and update of input / output variables can be separated from the control software component, and the independence of the control software component is improved.

  FIG. 10 shows control basic software (hereinafter referred to as torque base control framework) C31 for torque base control for controlling engine output as an example of control basic software.

  In C31, a control software component executed in the torque-based control basic control unit 3A in FIG. 7 is defined in C311 and information defined by the corresponding interface software is read. In addition, the definition of a variable requiring simultaneity in the control basic software 3 is executed in C312. Furthermore, the execution order of input processing, output processing, OS service, and software components executed by the control basic software is defined in C313.

  FIG. 11 shows an execution process of the torque base control basic control unit 3A. The execution order of the control basic software 3 is defined in C313 of FIG. First, in S31, an interrupt prohibition process (OS service) is called to prohibit task execution in synchronization with an external signal so that input values can be kept in sync. In S32, the engine speed is read from the external input data 4. In S33, the accelerator opening is read from the external input data 4. In S34, an interrupt prohibition release process (OS service) is called. In S35, an update request for a variable indicating the target torque is made (software component execution). In S36, a request for updating a variable indicating the target throttle opening is made (software component execution). In S37, the target throttle opening is instructed to an external electronic control throttle (external output process), and the process is terminated.

  By configuring the control basic software as shown in FIGS. 10 and 11, there are the following advantages. In the embedded software, the variable calculation part, that is, the control software components 1D,..., 1E, 1F in FIG. 7 are frequently changed in order to cope with control logic debugging and adjustment of control characteristics such as time constants. Part. On the other hand, there is a part with relatively few changes, such as a part that determines the update order of variables, that is, a part of the control basic software shown in FIGS. By configuring the control basic software as shown in FIGS. 10 and 11, it is possible to separate a portion with a large change from a portion with a small change. Therefore, there is an advantage that the reusability of the control basic software part is improved.

  FIG. 12 shows an example of the configuration of the BIOS interface software. Reference numeral 11321 denotes a BIOS interface software corresponding to the airflow sensor input, reference numeral 11322 denotes a BIOS interface software corresponding to the crank angle input value, reference numeral 11323 denotes a BIOS interface software corresponding to the fuel injection amount, and reference numeral 11324 denotes a BIOS interface software corresponding to the target throttle opening. is there. The configuration of the BIOS interface software is the same as the configuration of the interface software shown in FIG. By configuring the BIOS interface software as shown in FIG. 12, for example, when an update of an external input value is requested from the control basic software, the number and types of input values of functions described in the BIOS and variable names are completely conscious. There is no need to update external input values in a common command format. The same applies to the external output. In addition, operations such as declaration and update of input / output variables can be separated from the BIOS, and the independence of the BIOS is improved.

  FIG. 13 shows an embedded software development process. The tools in FIG. 13 correspond to those including programs, software, and devices. A control model 62 is constructed by the control logic design tool 61. An embedded software source code 64 is created by an embedded software development tool 63 based on the control model 62. Further, a binary file 66 of embedded software is created using the source code compilation tool 65, and the embedded software is written into the control unit (ECU) 10 using the software writing tool 67.

  Hereinafter, examples of the software development tool 63 are shown in FIGS.

  FIG. 14 shows an embedded software development tool 63A as an example of the embedded software development tool 63. The software component 1 is generated from the control model 62 by the software component generation tool 631A. The interface software generation tool 632A generates the corresponding interface software 2 with reference to the generated software component 1.

  FIG. 15 shows an embedded software development tool 63B as an example of the embedded software development tool 63. The software component 1 is generated from the control model 62 by the software component generation tool 631B. The interface software generation tool 632B receives information necessary for interface software generation from the software component generation tool 631B, and generates interface software 2 corresponding to the software component 1.

  FIG. 16 shows an embedded software development tool 63C as an example of the embedded software development tool 63. The software component 1 is generated from the control model 62 by the software component generation tool 631A. The interface software generation tool 632A refers to the control model 62 and generates the corresponding interface software 2.

  By taking the configuration of the embedded software development tool shown in FIGS. 14, 15, and 16, it is possible to automatically generate software components and interface software for the embedded software from the control model. This eliminates the need for coding and further reduces coding errors, thereby reducing debugging work and improving software development efficiency.

  Next, specific procedures for automatic generation of interface software are shown in FIGS.

  FIG. 17 shows the processing of the interface software generation means 632. In step S41, control software component information is extracted, and in step S42, interface software is generated. The detailed contents of S41 are shown in FIG. 18, and the detailed contents of S42 are shown in FIG.

  FIG. 18 shows details of the control software component information extraction processing S41 by taking the control software component shown in FIG. 8 as an example. First, in S411, a file name is extracted. That is, the file names “TVO_Calculate.c” and “TVO_Calculate.h” of C11 and C12 shown in FIG. 8 are extracted. Next, a function name is extracted in S412. That is, the function name “TVO_Calculate” described in C11 shown in FIG. 8 is extracted. In S413, the number of input / output variables is extracted. That is, the input / output variables of the function “TVO_Calculate” of C12 shown in FIG. 8 are counted. In S414, input / output variable names are extracted based on the number of variables counted in S413. That is, “TargetTorque” and “variable_A” in C12 shown in FIG. 8 are extracted as input variables, and “TVO” is extracted as an output variable. The output variable is identified by “&” indicating that it is a pointer argument at the beginning of the variable name. In S415, the input / output variable type is extracted. That is, the variable type “unsigned short” of “TargetTorque” in C12 shown in FIG.

  The input variable corresponds to reference data in the embedded controller development tool of the present invention. The output variable corresponds to control data in the embedded controller development tool of the present invention.

  FIG. 15 shows details of the interface software generation process S42. The generation of the interface software shown in FIG. 9 will be described as an example. In step S421, an interface software file is generated from the software component file name extracted in step S411. That is, the software component name “TVO” is obtained from “TVO_Calculate.c” and “TVO_Calculate.h” by deleting characters after “_” which are significant in the embedded controller as delimiters. Then, as the interface software corresponding to the software component, “extracted interface software name” + “. C” file, “extracted interface software name” + “. H” file, and “extracted interface software name” Generate a file named "Software name" + "_Update.h". That is, “TVO.c”, “TVO.h”, and “TVO_Update.h” shown in FIG. Next, in S422, the name of the output variable of the software component extracted in S414 and the declaration part of the variable that becomes the output of the software component having the type information of the output variable of the software component extracted in S415 are “name of the extracted interface software”. + Created in a file called “.c”. In other words, an instruction for allocating a variable with the extracted output variable type and the variable name of the extracted output variable is output to the source file. This is “unsigned shortTVO;” in C21 shown in FIG. In this case, the “unsigned Short” part is the type of the output variable, and the “TVO” part is the variable name of the output variable. Based on the name of the output variable of the software component extracted in S414, a reference instruction for the output variable of the software component is generated in S423. That is, “#define TVO_Get () TVO” in C22 shown in FIG. This is defined as a macro named “variable name of output variable” + “_ Get ()”, and its substance becomes an output variable name. For this reason, when the source code is converted using the preprocessor by describing the macro in the source code, the reference macro is replaced with a reference destination variable in the source code. In S424, an output variable update command is generated based on the names of the input / output variables of the software component extracted in S414 and the type information of the input variables of the software component extracted in S415. That is, it is C23 shown in FIG. A macro “output variable name” + “_ Update ()” is defined as an output variable update instruction. The macro entity is assigned to the operation function “TVO_Calculate” of the output variable extracted in S412, and the reference command “TargetTorque_Get ()” or “reference variable” of the input variable “Target Torque” or “variable_A” extracted in S414 is used as the function argument. variableA_Get () "and a pointer" & TVO "indicating the address of the output variable" TVO "are allocated.

  The interface software 2 can be automatically generated from the control software component 1 and the control model 62 by adopting the configuration shown in FIGS. 17, 18 and 19, so that it is not necessary to code manually. Furthermore, since coding errors are reduced, debugging work can be reduced and software development efficiency is improved.

  FIG. 20 shows a schematic diagram of network distribution of embedded software. FIG. 20 shows an example of software component distribution. A software component server 73 is connected to the network 71. The software component server 73 is connected to the client PC 72 via the network 71 and transmits the software component 1 in response to a request from the client PC 72. The client PC 72 can write the received software component 1 in the electronic control unit (ECU) 10B. In addition, by providing the ECU 10A itself with a network connection function, it is possible to connect to the software component server 73 via the network 71 and update the software component.

  By distributing the embedded software shown in this embodiment over the network, there are the following advantages. In the embedded software of the present invention, when the control software component 1 is changed, only the corresponding interface software 2 needs to be changed, and basic parts such as the control basic software and the task processing basic software need not be changed. Therefore, there is an advantage that it becomes easy to change the software in the service factory. In addition, there is an advantage that the amount of data to be transmitted is smaller when only the software component is transmitted than when the entire data is transmitted.

  FIG. 21 shows an outline of an example of the embedded software distribution service. The client PC 72 is connected to the control software component sales home page 74 via the network 71. After selecting the control software component 1 to be downloaded on the control software component sales homepage 74, it connects to the fee settlement system 75 and settles the purchase fee. Thereafter, the control software component 1 is downloaded from the control software component server 73 and written into the control unit (ECU) 10.

  The configuration shown in FIG. 21 has the following advantages. By performing authentication with the billing system and the homepage, not only the service factory but also general users can write embedded software. That is, there is an advantage that a built-in controller of his / her preference can be created by purchasing a vehicle running mode, a shift pattern of an automatic transmission, and a built-in software of a built-in controller of home appliances via a network.

  If the control arithmetic means is allowed to perform operations such as declaration of variables used in the embedded controller, input processing, and update, functions other than arithmetic logic are mixed in the control arithmetic means. For example, a process for assigning a variable for outputting / storing the operation result to a specific address in the memory of the embedded controller, a process for referring to a variable that is an output result of another control operation means when performing an operation, or a control basic means For example, the generation of an execution interface for executing the process, the reference process of the variable that outputs the operation result, and the like. This means that functional changes other than the arithmetic logic and verification are required along with the change of the arithmetic logic, and there is a problem that man-hours associated with software development for the embedded controller increase. In the present invention, in the embedded controller, the above-mentioned problem is solved by providing the interface means with an output variable reference function for referring to the output variable of the interface means by other interface means. In the present invention, in the embedded controller, the input variable used when the control arithmetic unit corresponding to the interface unit performs calculation is collected by using another interface unit or an output variable reference function of its own. By providing a variable collection function in the interface means, the above problem is solved. In the present invention, in the built-in controller, when the control calculation means performs calculation according to an instruction from the control basic processing means or the like, the control calculation means refers to the input variable collected by the input variable collection function by the interface means. The interface means is provided with an output variable update function that designates an output variable in which the calculation result of the control arithmetic means is stored and commands the execution of arithmetic processing of the control arithmetic means. Solve.

  Embedded controller software can be classified into parts that change frequently and parts that are reused semi-permanently. For example, there are a part that is often changed like the operation logic of a variable and a part that is rarely changed like the update order of variables. If this is an integrated program, there is a problem that even though it is a change in the arithmetic logic of variables in the embedded controller software, it is necessary to change to the part of the variable update order that does not need to be changed . In the present invention, in the built-in controller, the control basic processing means includes the type of the control arithmetic means for instructing execution, the execution order of the control arithmetic means, the external input processing means, the external output processing means, and the basic management means. And the control basic processing means commands the execution of the external input processing means, the control calculation means, the external output processing means, and the basic management means to solve the above-mentioned problem.

  When one control calculation means calculates a plurality of variables, in order to change the calculation method of a certain variable, it is necessary to change the corresponding control calculation means. For this reason, there is a problem that the control calculation means for performing the calculation is changed even for a variable whose calculation means is not changed. In the present invention, in the built-in controller, the above-mentioned problem can be solved by setting one variable for each control calculation means to be referred to by other control calculation means or external output means, which is a calculation result of the control calculation means. Solve.

  When the software of the embedded controller is changed, it is necessary to distribute the entire software on a recording medium such as a CD-ROM, even though the software is partially upgraded. For this reason, there is a problem that it takes time to distribute software and a problem that a waste increases because a medium such as a CD is required. In the present invention, in the embedded controller distribution service, the control calculation means server means for storing and transmitting the control calculation means and the control calculation means sales means for selling the control calculation means are connected by a network to solve the above problem. To do.

  With regard to vehicle control, the control software for embedded controllers has become highly functional and large in size against the backdrop of legal regulations such as exhaust regulations and OBD regulations, and electronic control systems represented by X-by-Wire and hybrid systems. Progressing. In addition, there is a problem that it is necessary to efficiently design and create control software that is highly functional and large. In the present invention, the above-described problem is solved by mounting the built-in controller in a vehicle and controlling the engine, the transmission, and the like.

  DESCRIPTION OF SYMBOLS 1 ... Control software component, 1A ... Software component A, 1B ... Software component B, 1C ... Software component C, 1D ... Software component D which calculates the variable which shows target torque, 1E ... Software component E, 1F which calculates the variable A ... software component F for calculating a variable indicating throttle opening, 2 ... interface software, 2A ... interface software corresponding to software component A, 2B ... interface software corresponding to software component B, 2C ... interface corresponding to software component C Software, 2D ... Interface software corresponding to software component D, 2E ... Interface software corresponding to software component E, 2F ... Interface software corresponding to software component F, 3 ... Control basic software, 3A ... Basic control unit for torque base control 4 ... External input data, 5 ... External output data, 6 ... Embedded control La operating system, 7 ... vehicle, 8 ... engine, 9 ... automatic transmission, A ... accelerator pedal, 10, 20 ... control unit (ECU).

Claims (1)

A signal input unit that takes in an input signal from the outside and converts it into data;
A processor that processes the data-converted input signal and calculates control data for controlling an in-vehicle device connected to the outside;
A signal output unit for outputting the control data as a control signal to the in-vehicle device;
A vehicle control device comprising: a memory for storing embedded software for causing the processor to execute the calculation;
The embedded software includes a plurality of software components that perform an operation based on control data that is a result of a control operation by the input signal or another software component, and transfer of the control data between the software component and another software component. Application software having interface software for managing the control software and basic control software for managing the execution order of the plurality of software components;
Basic software for controlling the activation of the application software, reading the input signal and outputting the control signal in response to a request from the application software,
The vehicle control apparatus according to claim 1, wherein the control basic software performs an interrupt prohibition process for prohibiting execution of the software component in synchronization with the input signal.

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