JP5305239B2 - Vehicle communication control device - Google Patents

Description

  The present invention relates to a vehicle communication control device, and more particularly to a vehicle communication control device for an initialization function of failure information stored in an electronic control device mounted on a vehicle.

An electronic control device (vehicle-mounted electronic controller) mounted on a vehicle communicates with a failure diagnosis device (failure diagnosis tester) through a communication line, and outputs various information such as failure information and control information in the electronic control device, It is possible to rewrite the program in the electronic control unit. The electronic control device can also initialize and erase failure information such as DTC (Diagnostic Trouble 1 Code) stored in the electronic control device in response to a request from the failure diagnosis device.
Further, in recent years, there is a vehicle communication control device as a system in which a plurality of electronic control devices are connected via a communication line, and control is performed in cooperation while transmitting and receiving control information between the electronic control devices.
In a vehicle communication control device that performs such cooperative control, a failure or the like of various devices (sensors, actuators, etc.) to be controlled that generate control information that is transmitted and received between electronic control devices has occurred. When control information cannot be transmitted, cooperative control cannot be performed. In this case, failure information may be stored in a plurality of electronic control devices involved in cooperative control. This means that a failure of one electronic control unit in the vehicle causes a plurality of electronic control units to store the failure information. It is necessary to initialize the failure information stored in the electronic control device.
On the other hand, for initialization of failure information, there is a method in which a failure information initialization request is transmitted once from the failure diagnosis device so that a plurality of electronic control devices perform initialization simultaneously. As one example, there is Service $ 04 that simultaneously initializes the failure information of the exhaust gas-related electronic control device defined in ISO15031-5.

Here, as an example of the failure information initialization process of the vehicle communication control device, an example 1 when the ignition switch is on and the engine is stopped and an example 2 while the vehicle is running will be described as follows.
As shown in FIG. 7, when the ignition switch is on and the engine is stopped (Example 1), if both the plurality of first electronic control devices and the second electronic control devices are in the initialization permission state, the failure diagnosis device When the failure information initialization request is transmitted, both the first electronic control device and the second electronic control device that have received the failure information initialization request are in the initialization permission state. The process is executed, and an initialization execution response (acknowledgment) is transmitted to the failure diagnosis apparatus.
On the other hand, as shown in FIG. 8, when the first electronic control device is in the initialization-permitted state and the second electronic control device is in the initialization-inhibited state while the vehicle is traveling (example 2), the failure diagnosis device When the failure information initialization request is transmitted, the first electronic control unit that has received the failure information initialization request is in an initialization-permitted state. Although the execution response (acknowledgment) is transmitted to the failure diagnosis device, the second electronic control device that has received the failure information initialization request is in the initialization prohibited state. Is not executed, and an uninitialized response (negative response) is transmitted to the failure diagnosis apparatus.

  As failure information initialization processing of such a vehicle communication control device, a plurality of control means are connected to each other via communication means, and each control means stores failure information in a storage unit and is stored in each control means. Some failure information can be erased collectively.

JP 2005-58175 A

However, in the conventional vehicle communication control device, each electronic control device may have its own failure information initialization permission condition. Therefore, as shown in FIG. When a possible failure information initialization request is received from the failure diagnosis device, it is assumed that there are a first electronic control device that performs initialization and a second electronic control device that does not perform initialization. As a result, there is a concern that some of the electronic control devices may be forgotten to be initialized even though failure information stored in a plurality of electronic control devices needs to be initialized at the same time.
For this reason, when a failure information initialization request that can be recognized simultaneously by a plurality of electronic control devices is received, the target electronic control device is better to make a unified decision to initialize / not initialize. The service was considered favorable, and improvements were desired.

  Therefore, the present invention does not initialize failure information stored in a plurality of electronic control devices when conditions are not met. An object of the present invention is to realize a vehicle communication control device that can avoid a state where unfinished products are mixed as much as possible.

  The present invention relates to a plurality of electronic control devices connected to each other via a communication line. In a normal state, the plurality of electronic control devices control each control target while performing transmission and reception of data with each other, and a single electronic control device. While the failure information stored in the control device is also stored in other electronic control devices to share the failure information, a plurality of electronic devices that share the failure information by the failure diagnosis device connected externally via this communication line In the vehicle electronic control device capable of executing rewriting processing or failure diagnosis of a program of one or more electronic control devices of the control device, the failure diagnosis device itself is a failure of each electronic control device. Each information used as information initialization execution condition can be received, failure information is requested from all electronic control devices that are the reception target of failure information initialization request, One or more of the following conditions are met: Abnormal failure information is not available, and all electronic control devices that are the targets of receiving the failure information initialization request are able to perform some kind of failure diagnosis communication. After performing the first confirmation step for confirming that the plurality of electronic control devices that perform the initialization request step for requesting the initialization of the failure information to the plurality of electronic control devices, the plurality of electronic control devices that share the failure information In addition, after performing a common second confirmation step, an initialization execution step for initializing failure information held in each device is performed.

  In the vehicle communication control device of the present invention, when the conditions for performing failure information initialization are not met, a determination is made that priority is given to not initializing, so a plurality of electronic control devices are simultaneously initialized. While all the electronic control devices can be initialized simultaneously when initialization is possible, initialization is not performed when simultaneous initialization of a plurality of electronic control units is not possible, so that a state in which initialization is not completed can be avoided as much as possible.

It is a figure which shows the communication hardware structure in the electronic control apparatus of the communication control apparatus for vehicles. (Example) It is a system block diagram of the communication control apparatus for vehicles mounted in the vehicle. (Example) It is a flowchart of the failure information initialization process of a failure diagnosis apparatus. (Example) It is a flowchart of the failure information initialization process in an electronic control unit. (Example) It is a figure which shows description when the ignition switch in the failure information initialization process of an electronic control apparatus is ON and an engine stops (Example 1). (Example) It is a figure which shows description during driving | running | working of the vehicle in the failure information initialization process of an electronic controller (example 2). (Example) It is a figure which shows description when the ignition switch in the failure information initialization process of an electronic control apparatus is ON and an engine stops (Example 1). (Conventional example) It is a figure which shows description during driving | running | working of the vehicle in the failure information initialization process of an electronic controller (example 2). (Conventional example)

The present invention does not initialize failure information stored in a plurality of electronic control devices when conditions are not met, initializes all simultaneously when simultaneous initialization is possible, and a state in which uninitialized ones are mixed It is possible to avoid as much as possible.
Embodiments of the present invention will be described below with reference to the drawings.

1 to 6 show an embodiment of the present invention. In FIG. 2, 1 is a vehicle, 2 is an engine as a driving power source, and 3 is a vehicle communication control device. The vehicle communication control device 3 includes, for example, a first electronic control device 4A and a second electronic control device as a plurality of electronic control devices 4 for controlling various devices (actuators and the like) to be controlled mounted on the vehicle 1. 4B... The plurality of first electronic control devices 4A, second electronic control devices 4B,... Are connected via vehicle-side communication lines (CAN: CONTROLLER AREA NETWORK, etc.) 5 capable of serial communication and bidirectional data communication. They are connected to each other, and control objects are controlled while transmitting and receiving data to and from each other. A vehicle-side connector 6 is provided on the vehicle-side communication line 5.
In addition, the vehicle communication control device 3 includes a failure diagnosis device (failure diagnosis tester) 7 that can be externally connected to the vehicle-side communication line 5. The failure diagnosis device 7 includes a display 8 and also includes an out-of-vehicle communication line 10 that is a communication line provided with an out-of-vehicle connector 9 that can be connected to and disconnected from the vehicle-side connector 6. The failure diagnosis device 7 is connected to at least one of the plurality of first electronic control devices 4A, second electronic control devices 4B..., For example, the first electronic control device 4A, via the vehicle side communication line 5 and the outside communication line 10. Then, the rewriting process of the program of the connected first electronic control unit 4A or the fault diagnosis (OBD: On Board Diagnostic) is executed.

The plurality of first electronic control devices 4A, second electronic control devices 4B,... Are configured as shown in FIG. Since the plurality of first electronic control devices 4A, fourth electronic control devices 4B,... Have the same structure, only the first electronic control device 4A will be described here as follows.
The first vehicle control device 4A includes various devices to be controlled, such as a body control module (BCM), an engine control module (ECM), a transmission (A / T) controller, an ABS (anti-lock brake system) controller, and an air bag. It is selected from a plurality of vehicle control devices (electric control unit (ECU)) such as a controller, and has a failure diagnosis function (self-diagnosis).
The first electronic control unit 4A inputs a signal from a communication port 11 which is a communication means connected to the vehicle-side communication line 5 and a sensor 12 mounted on the vehicle 1 through a sensor signal line 13 and performs waveform processing. An input processing device 14 that outputs to the communication port 11, communicates with the communication port 11, calculates an optimal control amount for a target control target based on a signal from the input processing device 13, and controls based on the calculation result A central processing unit (CPU) 15 that outputs a signal, a storage unit (ROM) 16 that includes a block-rewritable nonvolatile memory that stores a control program and data to be controlled, and a control unit for controlling the central processing unit 15 Data holding storage means 17 comprising an EEPROM for storing programs and data, and for the central processing unit 15 to perform calculations Storage means (RAM) 18 for storing not only its own failure information (DTC) but also failure information of other electronic control devices, and a control signal line in response to a control signal from the central processing unit 15 19 includes an output control device 21 that outputs to the communication port 11 so as to drive an actuator 20 (fuel injection valve or the like) 20 to be controlled mounted on the vehicle 1, and a power supply circuit 22.
The power supply circuit 22 is connected to a power supply 24 for supplying power through a power line 23 and connected to an ignition switch 26 for inputting an ignition switch signal through an ignition signal line 25. The power supply 24 connects the vehicle-side power line 27 and the vehicle-side ground line 28 to the vehicle-side connector 6.

On the other hand, in the failure diagnosis device 7, an external power line 29 and an external ground line 30 are connected to the external connector 9. When the vehicle exterior connector 9 is connected to the vehicle-side connector 6, the failure diagnosis device 7 is activated by being supplied with power from the power supply 24, and the storage means (RAM inside the first electronic control device 4A, second electronic control device 4B... ) The failure information, traveling state, etc. stored in 18 are read out and displayed on the display 8, and the programs of the plurality of first electronic control devices 4A, second electronic control devices 4B.
As described above, the vehicle communication control device 3 includes a plurality of first electronic control devices 4A, second electronic control devices 4B,... That are connected to each other via the vehicle-side communication line 5, and normally have a plurality of first control devices. The electronic control device 4A, the second electronic control device 4B,... Control each control target while performing transmission and reception of data with each other, and are stored in one electronic control device (for example, the first electronic control device 4A). The fault information stored in the other electronic control device (for example, the second electronic control device 4B) is shared and the fault information is shared by the fault diagnosis device 7 connected externally via the vehicle-side communication line 5. Rewrite processing or failure diagnosis of a program of one or more electronic control devices (for example, the first electronic control device 4A) among the plurality of first electronic control devices 4A, second electronic control devices 4B... Sharing the failure information. It is possible to row.

The failure diagnosis apparatus 7 includes an initialization condition confirmation unit 31 that performs a first confirmation step for initialization of failure information, and an initialization request unit that performs a failure information initialization request step after performing the first confirmation step. 32.
The initialization condition confirmation unit 31 includes:
(1) The failure diagnosis device 7 itself can receive each information that each electronic control device 4 uses as a failure information initialization execution condition,
(2) The failure information is requested to all the electronic control devices 4 that are the reception targets of the failure information initialization request, and there is no failure information indicating a communication abnormality.
(3) Carry out some kind of fault diagnosis communication with all the electronic control devices 4 that are the reception targets of the fault information initialization request, and be able to communicate.
A first confirmation step is performed to confirm that one or more of the above conditions are satisfied.
The initialization request means 32 confirms that the failure diagnosis apparatus itself can receive each piece of information used by each electronic control unit 4 as a failure information initialization execution condition by the initialization condition confirmation means 31. An initialization requesting step for requesting initialization of the failure information stored in the storage unit 18 is performed on the electronic control unit 4 of the above.
As a result, the failure diagnosis device 7 confirms that all the electronic control devices 4 that are the reception target of the failure information initialization request can perform the initialization of the failure information, and then the initialization-target electronic control device 4. An initialization request for requesting initialization of failure information is made.

On the other hand, the plurality of electronic control devices 4 sharing the failure information include an initialization execution confirmation unit 33 that performs a second confirmation of failure information initialization when receiving a failure information initialization request from the failure diagnosis device 7. And an initialization execution means 34 for performing an initialization execution step for initializing failure information after performing the second confirmation step.
The initialization execution confirmation unit 33 includes:
(1) The ignition switch 26 is ON and the engine 2 as a driving power source is in a stopped state.
(2) The vehicle 1 is stopped.
(3) The engine 2 has not started and the vehicle 1 has not traveled since the ignition switch 26 was switched from OFF to ON.
A common second confirmation step is performed to confirm that one or more of the above conditions are satisfied.
When the initialization execution confirmation unit 33 confirms that the failure information can be initialized, the initialization execution unit 34 performs an initialization execution step for initializing the failure information.
As a result, the plurality of electronic control devices 4 sharing the failure information receive the failure information initialization request and confirm that the failure information initialization execution condition is satisfied. Perform initialization to initialize.

Next, the operation of this embodiment will be described.
As shown in FIG. 3, when the program starts in the failure information initialization process in the failure diagnosis device 7 connected to the vehicle-side communication line 5 (A01), the vehicle communication control device 3 is the initialization target electronic control device. 4 determines whether it is possible to determine whether or not the failure information initialization process can be performed (A02).
In this determination (A02), the initialization condition confirmation unit 31
(1) The failure diagnosis device itself can receive each information that each first electronic control unit 4 uses as a failure information initialization execution condition,
(2) The failure information is requested to all the electronic control devices 4 that are the reception targets of the failure information initialization request, and there is no failure information indicating a communication abnormality.
(3) Carry out some kind of fault diagnosis communication with all the electronic control devices 4 that are the reception targets of the fault information initialization request, and be able to communicate.
Confirm that one or more of the above conditions are met.
If the determination (A02) is YES, a failure information initialization request is executed (A03), and the program is ended (A04). On the other hand, if this determination (A02) is NO, nothing is done and the program is ended (A04).
In the execution of the failure information initialization request (A03), the initialization request means 32 transmits a request to initialize the failure information stored in the electronic control device 4 to be initialized to the vehicle-side communication line 5. To do. The failure information initialization request is received by the electronic control unit 4 to be initialized.

Further, as shown in FIG. 4, the vehicle communication control device 3 performs all the failure information initialization processes in the initialization target electronic control device 4 that has received the failure information initialization request from the failure diagnosis device 7. It is determined whether the electronic control unit 4 is activated (B02).
If this determination (B02) is NO, the program is ended (B03). When this determination (B02) is YES, it is determined whether or not the failure information initialization process execution condition unified among all the electronic control devices 4 to be initialized is satisfied (B04).
In this determination (B04), the electronic control unit 4 sharing the failure information by the initialization execution confirmation unit 33 is commonly used.
(1) The ignition switch 26 is ON and the engine 2 is stopped.
(2) The vehicle 1 is stopped.
(3) The engine 2 has not started and the vehicle 1 has not traveled since the ignition switch 26 was switched from OFF to ON.
Confirm that one or more of the above conditions are met.
If the determination (B04) is YES, the initialization execution unit 34 initializes the failure information, transmits an affirmative response as an initialization execution response (B05), and returns to the determination (B02).
On the other hand, if the determination (B04) is NO, initialization is not performed, a negative response that is an uninitialized response is transmitted (B06), and the process returns to determination (B02).

As an example of the failure information initialization process in the electronic control device 4 to be initialized, as shown in FIGS. 5 and 6, Example 1 when the ignition switch 26 is on and the engine 2 is stopped, while the vehicle 1 is running An example 2 in FIG.
As shown in FIG. 5, when the ignition switch 26 is on and the engine 2 is stopped (Example 1), when the failure diagnosis device 7 transmits a failure information initialization request, the first electronic control that has received the failure information initialization request The device 4A and the second electronic control device 4B have a failure information initialization process execution condition that is unified among all electronic control devices 4 to be initialized. The initialization processing response (acknowledgment) is transmitted to the failure diagnosis device 7.
On the other hand, as shown in FIG. 6, when the failure diagnosis device 7 transmits a failure information initialization request while the vehicle 1 is traveling (example 2), the first electronic control device 4A and the first electronic control device 4A that have received the failure information initialization request 2 Since the failure information initialization process execution condition unified among all the electronic control apparatuses 4 to be initialized is not established, the electronic control apparatus 4B determines that the initialization is permitted by the initialization permission determination and performs the initialization process. Without executing, a failure to execute initialization (negative response) is transmitted to the failure diagnosis device 7.

That is, when the vehicle communication control device 3 receives from the failure diagnosis device 7 a plurality of first electronic control devices 4A, second electronic control devices 4B... The electronic control unit 4A, the second electronic control unit 4B,... Unify the initialization / not execute the initialization.
The vehicle communication control device 3 determines in advance a failure information initialization execution condition that is unified by all the electronic control devices 4 that are the reception targets of the failure information initialization request, and receives a failure information initialization request from the failure diagnosis device 7. Each electronic control unit 4 carries out initialization only when the condition is satisfied when the signal is received.
The failure information initialization execution condition of the judgment performed by each electronic control device 4 to be received is the above-mentioned three conditions alone or in combination, and all the electronic control devices 4 that are the reception targets of the failure information initialization request However, since it is necessary to recognize by performing a 2nd confirmation step, it shall transmit / receive by communication.
As for the condition “(1) the ignition switch 26 is ON and the engine 2 is stopped”, vehicle control (executed by an electronic control unit) is performed in the case of an idle stop vehicle, HEV (Hybrid Electric Vehicle), or the like. The intentional control of the ignition switch 26 by the control to be on / off includes a state including the stop state of the engine 2 and a state not including these states.
Further, regarding the condition “(3) that the engine 2 has not started and the vehicle 1 has not traveled since the ignition switch 26 has been turned from OFF to ON”, a motor without the engine 2 is used as a driving power source. In the case of the vehicle 1, the start condition of the engine 2 is excluded.
In this case, the plurality of electronic control devices 4 sharing the failure information are respectively initialized by the initialization execution confirmation unit 33.
(1) The ignition switch 26 is ON and the motor as a driving power source is in a stopped state.
(2) The vehicle 1 is stopped.
(3) The vehicle 1 has not experienced running since the ignition switch 26 is turned from OFF to ON.
After performing a common second verification step to verify that one or more of the conditions in
An initialization execution step is performed for initializing failure information held in each of them.

Further, the vehicle communication control device 3 has an electronic control device 4 that cannot receive each information (status of the vehicle 1, the engine 2, the ignition switch 26, etc.) that is used as a failure information initialization execution condition due to a communication abnormality or the like. As a result, it is assumed that it is impossible to determine whether all electronic control units 4 perform initialization in a unified manner / not to perform initialization.
In order to prevent this, the vehicle communication control device 3 causes the failure diagnosis device 5 to perform failure information initializing by a first confirmation step in which the above three conditions are used alone or in combination before the failure information initialization request is executed. It is confirmed that all the electronic control devices 4 that are the reception targets of the activation request can receive each information used as the failure information initialization execution condition.
Accordingly, the vehicle communication control device 3 further improves the accuracy with which all the electronic control devices 4 that are the reception targets of the failure information initialization request uniformly determine whether to perform initialization or not to perform initialization. It becomes possible.

Although the embodiments of the present invention have been described above, the configuration of the above-described embodiments will be described for each claim.
In the invention according to claim 1,
The failure diagnosis apparatus 7 uses the initialization condition confirmation unit 31 to
(1) The failure diagnosis device 7 itself can receive each information that each electronic control device 4 uses as a failure information initialization execution condition,
(2) The failure information is requested to all the electronic control devices 4 that are the reception targets of the failure information initialization request, and there is no failure information indicating a communication abnormality.
(3) Carry out some kind of fault diagnosis communication with all the electronic control devices 4 that are the reception targets of the fault information initialization request, and be able to communicate.
After performing the first confirmation step for confirming that one or more of the above conditions are satisfied, the initialization request means 32 requests the plurality of electronic control devices 4 to initialize the failure information. While performing the initialization request step to
Each of the plurality of electronic control devices 4 sharing the failure information
After performing the common second confirmation step by the initialization execution confirmation means 33, the initialization execution means 34 performs an initialization execution step for initializing the failure information held in itself.
As a result, the vehicle communication control device 3 makes a determination giving priority to the one not to be initialized when the conditions for performing the initialization of the failure information are not met. When simultaneous initialization is possible, all of them can be simultaneously initialized. On the other hand, when a plurality of electronic control units 4 cannot be initialized at the same time, initialization is not performed. Can do.
In the invention according to claim 2,
The plurality of electronic control devices 4 sharing the failure information are respectively initialized by the initialization execution confirmation means 33.
(1) The ignition switch 26 is ON and the engine 2 as a driving power source is in a stopped state.
(2) The vehicle 1 is stopped.
(3) The engine 2 has not started and the vehicle 1 has not traveled since the ignition switch 26 was switched from OFF to ON.
After performing a common second verification step to verify that one or more of the conditions in
The initialization execution means 34 performs an initialization execution step for initializing failure information held in itself.
Thus, the vehicle communication control device 3 sets the ignition switch 26, the engine 2 as the driving power source, and the state of the vehicle 1 as specific examples of the failure information initialization execution condition. It is possible to set unified failure information initialization conditions without depending on functions.
Furthermore, in the invention according to claim 3,
The plurality of electronic control devices 4 sharing the failure information are respectively initialized by the initialization execution confirmation means 33.
(1) The ignition switch 26 is ON and the motor as a driving power source is in a stopped state.
(2) The vehicle 1 is stopped.
(3) The vehicle 1 has not experienced running since the ignition switch 26 is turned from OFF to ON.
After performing a common second verification step to verify that one or more of the conditions in
The initialization execution means 34 performs an initialization execution step for initializing failure information held in itself.
As a result, the vehicle communication control device 3 includes an ignition switch 26, a motor as a driving power source, a vehicle as a specific example of failure information initialization execution conditions specialized for a vehicle whose driving power source is not the engine 2, such as an electric vehicle. Even in a vehicle in which the state 1 is set and the driving power source is not the engine 2, it is possible to set the unified failure information initialization execution condition without depending on the main function of the electronic control device 4.

  In the present invention, failure information stored in a plurality of electronic control devices is not initialized when conditions are not met, and is initialized all at once when simultaneous initialization is possible. It can also be applied to control.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Engine 3 Vehicle communication control apparatus 4 Electronic control apparatus 4A 1st electronic control apparatus 4B 2nd electronic control apparatus 5 Vehicle side communication line 7 Failure diagnosis apparatus 10 Out-of-vehicle communication line 11 Communication port 15 Central processing unit 18 Storage means 26 Ignition switch 31 Condition initialization condition confirmation means 32 Initialization request means 33 Initialization execution confirmation means 34 Initialization execution means

Claims (3)

A plurality of electronic control devices that are connected to each other via a communication line. In a normal state, a plurality of electronic control devices control each control target while performing transmission and reception of data with each other, and are stored in one electronic control device. While storing the failure information that is also stored in other electronic control devices and sharing the failure information,
Electronic control for a vehicle capable of executing rewriting processing or fault diagnosis of a program of one or more electronic control devices among a plurality of electronic control devices sharing the fault information by a fault diagnosis device connected externally via the communication line In the device
The fault diagnosis apparatus is
The failure diagnosis device itself can receive each information used as a failure information initialization execution condition by each electronic control device,
Request failure information for all electronic control devices that are the target of receiving failure information initialization request, and there is no failure information of communication abnormality,
Carry out some kind of fault diagnosis communication with all electronic control devices that are the target of receiving the fault information initialization request, and be able to communicate.
After performing a first confirmation step for confirming that one or more of the above conditions are satisfied, an initialization request step for requesting initialization of failure information to a plurality of electronic control devices is performed. ,
Each of the plurality of electronic control devices sharing the failure information
A vehicle communication control apparatus, wherein after performing a common second confirmation step, an initialization execution step is performed to initialize failure information held in each of them. Each of the plurality of electronic control devices sharing the failure information
The ignition switch is ON and the drive power source is in a stopped state,
The vehicle is stationary,
The start of the drive power source and the vehicle have not experienced running since the ignition switch is turned from OFF to ON;
After performing a common second verification step to verify that one or more of the conditions in
The vehicle communication control device according to claim 1, wherein an initialization execution step for initializing failure information held by each device is performed. Each of the plurality of electronic control devices sharing the failure information
The ignition switch is ON and the drive power source is in a stopped state,
The vehicle is stationary,
The vehicle has not traveled since the ignition switch was switched from OFF to ON;
After performing a common second verification step to verify that one or more of the conditions in
2. The vehicle communication control device according to claim 1, wherein an initialization execution step for initializing failure information held by each device is performed.

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