JP5726266B2 - Control device and control device abnormality determination processing method - Google Patents

Description

  The present invention performs detection of an abnormality sign after the start of processing of a program, and when an abnormality sign is detected, a control apparatus and an abnormality determination processing method for the control apparatus that quickly execute an abnormality detection process and a subsequent abnormality handling process About.

  Currently, many electronic control devices are mounted on a vehicle, and each electronic control device has an arithmetic processing unit that operates based on a clock. These arithmetic processing units control a control target (for example, an engine, a brake, and a steering device) by processing a program stored in the control device in advance.

  On the other hand, in addition to the control program, these control devices also hold an abnormality determination processing program that determines whether or not an abnormality has occurred, and an abnormality processing program that is processed when it is determined that there is an abnormality.

  As one of the abnormality determination processes, there is a method of performing abnormality determination by timeout. This is to measure the number of clocks that have elapsed since the start of processing of the program for control, and determine whether there is an abnormality depending on whether the processing has been completed by the time when the predetermined number of clocks have elapsed. If not completed, it is determined as abnormal.

  However, the abnormality determination process based on such a timeout is performed after the abnormality is determined to be abnormal. Therefore, the response to the abnormality is delayed, and the process of the own control target and other control devices is affected.

  Under such circumstances, a time-out time setting device has been proposed that sets a time-out time that is a time for determining an abnormality based on the actually measured processing time (the time is calculated from the number of clocks and the clock unit time). (For example, refer to Patent Document 1).

  In this patent document 1, the timeout monitoring unit monitors the processing time and the number of occurrences of a timeout error (determined as abnormal due to timeout) of the process for which the timeout time is set, and the set timeout time is appropriate. It is determined whether or not. When the timeout monitoring unit determines that the timeout time is inappropriate, the timeout monitoring unit instructs the timeout time changing unit to change the timeout time.

  When the timeout time changing unit receives an instruction to change the timeout time from the timeout monitoring unit, the timeout time changing unit causes the timeout time calculating unit to calculate an optimum timeout time, and instructs the timeout time setting unit to set the calculated timeout time.

  The timeout time setting unit sets the timeout time calculated by the timeout time calculation unit. In this way, Patent Literature 1 can change to an appropriate timeout time when the set timeout time is too long or too short.

JP 2011-170605 A

However, the prior art has the following problems.
The time-out time setting device described in Patent Document 1 cannot change the time-out time, which is the time for determining an abnormality, even if a sign that may lead to an abnormality is detected during the process. For this reason, the response to the abnormality is delayed, which affects the control target and processing of other control devices.

  Further, in Patent Document 1, assuming that an abnormality sign is detected, the clock unit time used for calculation of the processing time is not changed even when the timeout time is changed. For this reason, the number of clocks determined to be abnormal is changed. On the other hand, the arithmetic processing unit of the control device operates based on the clock. For this reason, the number of clocks that can be processed is changed until it is determined to be abnormal, and there is a possibility that a process that is not abnormal is erroneously determined to be abnormal although there is a sign of abnormality.

  The present invention has been made in view of the above-described problems, and detects an abnormal sign and, when an abnormal sign is detected, does not affect the processing of its own control target or other control device. Another object of the present invention is to obtain a control device and a control device abnormality determination processing method capable of quickly executing the abnormality determination processing and the abnormality processing after determining the abnormality.

  A control device according to the present invention controls a control target by causing a control unit according to one or more control targets and a storage unit in which an abnormality processing program is stored and a control processing program stored in the storage unit to be executed. At the same time, the number of clocks that have elapsed since the start of the processing of the control processing program is measured, and if the processing of the control processing program does not end by the time when the predetermined number of clocks has elapsed, it is determined that there is an abnormality, And a control unit that executes the control, the control unit, when detecting a sign of abnormality before a predetermined number of clocks, the clock frequency used for measuring the number of clocks By speeding up, the clock unit time is set to be shortened, and the same predetermined number of clocks is adopted regardless of the presence or absence of abnormality signs, and abnormality determination is performed. Is Umono.

Further, the abnormality determination processing method for the control device according to the present invention executes a control processing program corresponding to one or more control objects, a storage unit storing the abnormality processing program, and a control processing program stored in the storage unit To control the controlled object and measure the number of clocks that have elapsed since the start of the processing of the control processing program. If the processing of the control processing program does not end by the time when the predetermined number of clocks have elapsed, it is determined as abnormal. An abnormality determination processing method for a control device applied to a control device including a control unit that executes an abnormality processing program by determining, wherein the control unit generates a clock having a clock frequency according to an external setting Control processing program and abnormality processing according to the clock generated step and the clock generated in the clock generating step An arithmetic processing step for executing a program, a processing clock measuring step for measuring the number of clocks elapsed from the start of processing of the control processing program by the arithmetic processing step, and a predetermined clock in which the measurement result of the processing clock measuring step becomes a predetermined number of clocks Even when the processing of the control processing program is not completed even when the number of times has elapsed, the abnormality determination step for determining an abnormality, and the abnormality of the control device before the elapse of a predetermined number of clocks for which the abnormality determination step determines an abnormality If an abnormal sign is detected by the abnormal sign detecting step while the abnormal sign detecting step and the arithmetic processing step are processing the control processing program, the clock generating step generates a clock frequency that is generated earlier. And determine the clock frequency to shorten the clock unit time. A clock frequency determination step, and when the abnormality sign detection step detects an abnormality sign, the processing clock measurement step uses the clock frequency determined by the clock frequency determination step and shortened by the clock unit time. Measure the number of elapsed clocks, and the abnormality determination step adopts a predetermined number of clocks regardless of the presence or absence of abnormality, and if the processing of the control processing program is not completed even when the predetermined number of clocks has elapsed The clock frequency determining step determines to return the clock frequency to the normal clock frequency when the abnormality determining step determines that the clock frequency is abnormal.

  According to the present invention, there is provided a processing configuration for shortening the unit time of the supplied clock without changing the number of clocks until abnormality determination is performed when an abnormality sign is detected. Thereby, the time required for the abnormality determination can be shortened by shortening the clock unit time, and the abnormality processing after the abnormality is determined can be started early. As a result, the abnormality sign detection is performed, and when an abnormality sign is detected, the abnormality determination process and the abnormality after the abnormality determination are performed so as not to affect the process of the control target and other control devices. It is possible to obtain a control device and an abnormality determination processing method for the control device that can quickly execute the abnormality processing.

It is a block diagram of the engine control apparatus in Embodiment 1 of this invention. It is a flowchart which shows the communication start process of the engine control apparatus in Embodiment 1 of this invention. It is a flowchart which shows a process when it determines with the engine control apparatus in Embodiment 1 of this invention having an abnormality sign. It is a flowchart which shows a process when it determines with the engine control apparatus in Embodiment 1 of this invention being abnormal. It is a timing chart which shows the transition of the communication state of the engine control apparatus in Embodiment 1 of this invention. It is a block diagram of the body integrated control apparatus in Embodiment 2 of this invention. It is a flowchart which shows the control processing of the body integrated control apparatus in Embodiment 2 of this invention. It is a flowchart which shows a process when it determines with the body integrated control apparatus in Embodiment 2 of this invention having an abnormality sign. It is a flowchart which shows a process when it determines with the body integrated control apparatus in Embodiment 2 of this invention being abnormal. It is a timing chart which shows the transition of the control state of the body integrated control apparatus in Embodiment 2 of this invention.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a control device and a control device abnormality determination processing method according to the invention will be described with reference to the drawings.

Embodiment 1 FIG.
In this Embodiment 1, the case where the control apparatus by this invention is applied to an engine control apparatus is demonstrated using FIGS. 1-5. Here, the engine control device performs processing related to engine control such as fuel injection, fuel ignition, and engine speed message transmission. In the first embodiment, a process for setting such an engine control device to a communication start state will be described as an example.

  FIG. 1 is a configuration diagram of an engine control apparatus according to Embodiment 1 of the present invention. In FIG. 1, the engine control apparatus 101 includes a ROM 102, a clock generation unit 105, a clock frequency determination unit 106, an arithmetic processing unit 107, a processing clock measurement unit 108, an abnormality determination unit 109, and an abnormal sign detection unit 110. ing.

  The ROM 102 in the first embodiment stores two programs, a communication start program 103 and a reset processing program 104. Here, the communication start program 103 is a program for setting the engine control apparatus 101 in a communication start state, and corresponds to a control processing program. The reset processing program 104 is a program that resets the engine control device 101 when the engine control device 101 is abnormal and causes the communication start program 103 to be processed again from the beginning, and corresponds to the abnormality processing program.

  The clock generation unit 105 generates a clock. The clock frequency determination unit 106 determines the clock frequency generated by the clock generation unit 105. The arithmetic processing unit 107 processes the communication start program 103 and the reset processing program 104 according to the clock. The processing clock measurement unit 108 measures the number of clocks that have elapsed since the arithmetic processing unit 107 started processing the communication start program 103.

  The abnormality determination unit 109 determines that an abnormality has occurred when the processing is not completed even if the measurement result of the processing clock measurement unit 108 reaches a predetermined number of clocks. The abnormality sign detection unit 110 determines that there is an abnormality sign when the processing status of the communication start program 103 does not match the predicted processing status. In the specific example of the first embodiment, the abnormality sign detection unit 110 is abnormal as “not consistent with the predicted processing status” when the communication start program 103 is started and the communication start state is not reached. It will be determined that there are signs.

  FIG. 2 is a flowchart showing communication start processing of the engine control apparatus 101 according to Embodiment 1 of the present invention. In step S201, the arithmetic processing unit 107 processes the communication start program 103 and puts the engine control apparatus 101 into a communication start state.

  Next, in step S <b> 202, the processing clock measurement unit 108 starts measuring the number of clocks that have elapsed since the communication start program 103 started processing. Next, in step S203, the arithmetic processing unit 107 determines whether or not the engine control apparatus 101 is in a communication start state. If the communication start state is entered, the process proceeds to step S208. If the communication start state is not established, the process proceeds to step S204.

  When the process proceeds to step S204, the abnormality sign detection unit 110 determines that the engine control apparatus 101 has an abnormality sign. Next, in step S205, the arithmetic processing unit 107 determines whether or not the engine control apparatus 101 is in a communication start state. If the communication start state is entered, the process proceeds to step S208. If the communication start state is not established, the process proceeds to step S206.

  When the process proceeds to step S206, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined number of clocks that are determined to be abnormal. If the predetermined number of clocks has been reached, the process proceeds to step S207. If not, the process returns to step S205. When the process proceeds to step S207, the abnormality determination unit 109 determines that the engine control apparatus 101 is abnormal.

  When the process proceeds from any of the previous steps S203, S205, and S207 to step S208, the processing clock measurement unit 108 stops measuring the number of clocks that have elapsed from the start of processing of the communication start program 103, and continues a series of steps. The process ends.

  FIG. 3 is a flowchart showing processing when the engine control apparatus 101 according to Embodiment 1 of the present invention determines that there is an abnormality sign. Specifically, this corresponds to the processing executed in step S204 of the flowchart shown in FIG.

  In step S301, the clock frequency determination unit 106 increases the clock frequency. In this way, the engine control apparatus 101 according to the first embodiment shortens the unit time of the supplied clock without changing the number of clocks until the abnormality determination is performed when an abnormality sign is detected. (That is, the clock frequency is increased).

  Next, FIG. 4 is a flowchart showing processing when it is determined that the engine control apparatus 101 according to Embodiment 1 of the present invention is abnormal. Specifically, this corresponds to the processing executed in step S207 of the flowchart shown in FIG. In step S <b> 401, the processing clock measurement unit 108 stops measuring the number of clocks that have elapsed since the communication start program 103 started processing.

  Next, in step S402, the clock frequency determination unit 106 restores the clock frequency. Next, in step S403, the arithmetic processing unit 107 processes the reset processing program 104, resets the engine control apparatus 101, and causes the communication start program 103 to be processed again from the beginning.

  In this way, the engine control apparatus 101 according to the first embodiment can shorten the time required for abnormality determination by increasing the clock frequency when an abnormality sign is detected, and the abnormality after the abnormality is determined. Processing can be started early.

  Next, the transition of the communication state of the engine control apparatus 101 according to the first embodiment having such a configuration will be described with reference to FIG. 5 together with the flowcharts of FIGS. FIG. 5 is a timing chart showing the transition of the communication state of the engine control apparatus according to Embodiment 1 of the present invention.

  The example of FIG. 5 shows a timing chart in the case where the engine control apparatus 101 does not enter the communication start state even when the arithmetic processing unit 107 processes the communication start program 103. The predetermined number of clocks for the abnormality determining unit 109 to determine that there is an abnormality is 1000 clocks. Accordingly, an example is shown in which the abnormality determination unit 109 determines that there is an abnormality when the processing is not completed even if the measurement result of the processing clock measurement unit 108 is 1000 clocks.

  At time T501, the arithmetic processing unit 107 starts processing of the communication start program 103, and puts the engine control apparatus 101 into a communication start state (step S201). Then, the processing clock measuring unit 108 starts measuring the number of clocks that have elapsed since the processing start of the communication start program 103 (step S202).

  The arithmetic processing unit 107 determines whether or not the engine control apparatus 101 is in a communication start state (step S203). In the example of FIG. 5, it is determined that the communication is not started. The abnormality sign detection unit 110 determines that the engine control apparatus 101 has an abnormality sign (step S204), and the engine control apparatus 101 starts processing when it is determined that there is an abnormality sign.

  Then, the clock frequency determination unit 106 increases the clock frequency (step S301). In the example of FIG. 5, the clock frequency is doubled. Since the clock frequency has doubled, the number of clocks determined to be abnormal does not change, but the time required to determine abnormal is halved.

  The arithmetic processing unit 107 determines whether or not the engine control apparatus 101 is in a communication start state after determining that there is an abnormality sign (step S205). In the example of FIG. 5, it is determined that the communication is not started. Then, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined number of clocks (1000 clocks) determined to be abnormal (step S206).

  At time T501, the abnormality determination unit 109 determines that the predetermined number of clocks has not been reached. Further, when the time further elapses, at time T502, the abnormality determination unit 109 determines that the measurement result of the processing clock measurement unit 108 has reached a predetermined number of clocks that are determined to be abnormal (step S206). Then, the abnormality determination unit 109 determines that the engine control apparatus 101 is abnormal (step S207), and starts processing when the engine control apparatus 101 is determined to be abnormal.

  The processing clock measurement unit 108 stops measuring the number of elapsed clocks from the start of processing of the communication start program 103 (step S401), and the clock frequency determination unit 106 restores the clock frequency (step S402). Then, the arithmetic processing unit 107 processes the reset processing program 104, resets the engine control apparatus 101, and causes the communication start program 103 to be processed again from the beginning (step S403).

  That is, at time T503, the arithmetic processing unit 107 processes the communication start program 103 again to place the engine control apparatus 101 in a communication start state (step S201). Then, the processing clock measuring unit 108 starts measuring the number of clocks that have elapsed since the processing start of the communication start program 103 (step S202).

  The arithmetic processing unit 107 determines whether or not the engine control apparatus 101 is in a communication start state (step S203). In FIG. 5, it is determined that a communication start state is reached after time T503. Then, the processing clock measurement unit 108 stops measuring the number of clocks that have elapsed since the processing start of the communication start program 103 (step S208).

  As described above, according to the first embodiment, when the communication control program is processed and the engine control device is set in the communication start state, but the communication start state is not set, the clock frequency is set. It is early. By performing such processing, although the predetermined number of clocks determined to be abnormal does not change, it is possible to shorten the time required to determine abnormal.

  As a result, the reset processing program can be processed early, the communication start program can be reprocessed early, and the time until the engine control device enters the communication start state can be shortened.

  In normal processing where no sign of abnormality is detected, control processing is executed without increasing the clock frequency more than necessary, and once a sign of abnormality is detected, the clock frequency is increased. The abnormality detection process and the process after the abnormality detection can be quickly executed without changing the predetermined number of clocks that are determined to be abnormal.

Embodiment 2. FIG.
In the first embodiment, the case where the control device according to the present invention is applied to the process of setting the engine control device to the communication start state has been described. On the other hand, in the second embodiment, a case will be described in which the control device according to the present invention is applied to a body integrated control device that performs lighting control of a vehicle light, operation control of a wiper, and seat heater control.

  FIG. 6 is a configuration diagram of the body integrated control device according to Embodiment 2 of the present invention. 6, the body integrated control device 601 includes a ROM 102, a clock generation unit 105, a clock frequency determination unit 106, an arithmetic processing unit 107, a processing clock measurement unit 108, an abnormality determination unit 109, and an abnormality sign detection unit 110. ing.

  The ROM 102 according to the second embodiment stores four programs: a write control program 602, a wiper control program 603, a sheet control program 604, and a partial control processing stop program 605. Here, the light control program 602 is a program related to light control, the wiper control program 603 is a program related to wiper control, and the sheet control program 604 is a program related to sheet control. These are control processes. It corresponds to a program.

  The partial control process stop program 605 is a program for stopping at least one of the processes of the light control program 602, the wiper control program 603, and the sheet control program 604 when the body integrated control device 601 is abnormal. It corresponds to a program.

  The clock generation unit 105 generates a clock. The clock frequency determination unit 106 determines the clock frequency generated by the clock generation unit 105. The arithmetic processing unit 107 processes the write control program 602, the wiper control program 603, the sheet control program 604, and the partial control processing stop program 605 according to the clock.

  The processing clock measurement unit 108 measures the number of clocks that have elapsed from the start of processing of any of the write control program 602, the wiper control program 603, and the sheet control program 604 by the arithmetic processing unit 107.

  The abnormality determination unit 109 determines that an abnormality has occurred when the measurement result of the processing clock measurement unit 108 reaches the predetermined first clock number and the processing has not ended. In addition, the abnormality sign detection unit 110 matches the processing status of the light control program 602, the wiper control program 603, and the sheet control program 604 with the predicted processing status, but the measurement result of the processing clock measurement unit 108 is predetermined. When the second clock number is reached, it is determined that there is an abnormality sign.

  FIG. 7 is a flowchart showing a control process of the body integrated control apparatus 601 according to the second embodiment of the present invention. Note that steps S701 to S710 are a series of processes related to light control, steps S711 to S720 are a series of processes related to wiper control, and steps S721 to S730 are a series of processes related to sheet control.

  First, when performing write control, in step S701, the arithmetic processing unit 107 determines whether or not write control processing is permitted. If the process is permitted, the process proceeds to step S702. If the process is not permitted, the process proceeds to step S711.

  When the processing proceeds to step S702, the arithmetic processing unit 107 processes the write control program 602 and starts write control. Next, in step S703, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing. If it has been started, the process proceeds to step S705. If it has not been started, the process proceeds to step S704.

  When the process proceeds to step S704, the processing clock measurement unit 108 starts measuring the number of clocks that have elapsed since the start of the process, and then proceeds to step S705. Next, in step S705, the arithmetic processing unit 107 determines whether or not the processing of the write control program 602 has ended. If completed, the process proceeds to step S711. If not completed, the process proceeds to step S706.

  If the process proceeds to step S706, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second number of clocks for determining that there is an abnormality sign. If the predetermined second clock number is reached, the process proceeds to step S707, and if not, the process returns to step S705.

  If the process proceeds to step S707, the abnormality sign detection unit 110 determines that the body integrated control device 601 has an abnormality sign. Next, in step S708, the arithmetic processing unit 107 determines whether or not the processing of the write control program 602 has ended. If completed, the process proceeds to step S711, and if not completed, the process proceeds to step S709.

  When the process proceeds to step S709, the abnormality determination unit 109 determines whether the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that are determined to be abnormal. If the predetermined first clock number is reached, the process proceeds to step S710, and if not, the process returns to step S708. When the process proceeds to step S710, the abnormality determination unit 109 determines that the body integrated control device 601 is abnormal.

  Next, in performing the wiper control, in step S711, the arithmetic processing unit 107 determines whether or not the wiper control process is permitted. If the process is permitted, the process proceeds to step S712. If the process is not permitted, the process proceeds to step S721.

  If the processing proceeds to step S712, the arithmetic processing unit 107 processes the wiper control program 603 and starts wiper control. Next, in step S713, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing. If it has been started, the process proceeds to step S715. If it has not been started, the process proceeds to step S714.

  When the process proceeds to step S714, the processing clock measurement unit 108 starts measuring the number of clocks that have elapsed since the start of the process, and then proceeds to step S715. Next, in step S715, the arithmetic processing unit 107 determines whether or not the processing of the wiper control program 603 has ended. If completed, the process proceeds to step S721, and if not completed, the process proceeds to step S716.

  When the process proceeds to step S716, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign. If the predetermined second clock number is reached, the process proceeds to step S717, and if not, the process returns to step S715.

  When the process proceeds to step S717, the abnormality sign detection unit 110 determines that the body integrated control device 601 has an abnormality sign. Next, in step S718, the arithmetic processing unit 107 determines whether or not the processing of the wiper control program 603 has ended. If completed, the process proceeds to step S721, and if not completed, the process proceeds to step S719.

  When the process proceeds to step S719, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that are determined to be abnormal. If the predetermined first clock number is reached, the process proceeds to step S720, and if not, the process returns to step S718. When the process proceeds to step S720, the abnormality determination unit 109 determines that the body integrated control device 601 is abnormal.

  Next, when performing sheet control, in step S721, the arithmetic processing unit 107 determines whether or not sheet control processing is permitted. If the process is permitted, the process proceeds to step S722. If the process is not permitted, the process proceeds to step S731.

  If the processing proceeds to step S722, the arithmetic processing unit 107 processes the sheet control program 604 and starts sheet control. Next, in step S723, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing. If it has been started, the process proceeds to step S725. If it has not been started, the process proceeds to step S724.

  When the process proceeds to step S724, the processing clock measurement unit 108 starts measuring the number of clocks that have elapsed since the start of the process, and then proceeds to step S725. Next, in step S725, the arithmetic processing unit 107 determines whether or not the processing of the sheet control program 604 has ended. If completed, the process proceeds to step S731, and if not completed, the process proceeds to step S726.

  When the process proceeds to step S726, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second number of clocks for determining that there is an abnormality sign. If the predetermined second clock number is reached, the process proceeds to step S727. If not, the process returns to step S725.

  If the process proceeds to step S727, the abnormality sign detection unit 110 determines that the body integrated control device 601 has an abnormality sign. Next, in step S728, the arithmetic processing unit 107 determines whether or not the processing of the sheet control program 604 has ended. If completed, the process proceeds to step S731, and if not completed, the process proceeds to step S729.

  When the process proceeds to step S729, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that are determined to be abnormal. If the predetermined first clock number is reached, the process proceeds to step S730, and if not, the process returns to step S728. When the process proceeds to step S730, the abnormality determination unit 109 determines that the body integrated control device 601 is abnormal.

  When the process proceeds to step S731 from any of the previous steps S710, S720, S721, S725, and S730, the processing clock measurement unit 108 stops measuring the number of clocks that have elapsed since the start of the process. In step S732, the clock frequency determination unit 106 restores the clock frequency and ends the series of processes.

  FIG. 8 is a flowchart showing processing when the body integrated control apparatus 601 according to Embodiment 2 of the present invention determines that there is an abnormality sign. Specifically, this corresponds to the processing executed in steps S707, S717, and S727 of the flowchart shown in FIG.

  In step S801, the arithmetic processing unit 107 determines whether or not the clock frequency determining unit 106 has been changed to increase the clock frequency. If it has been changed, the process ends. If it has not been changed, the process proceeds to step S802. If the process proceeds to step S802, the clock frequency determination unit 106 increases the clock frequency.

  In this way, the body integrated control device 601 according to the second embodiment determines the number of clocks until the abnormality determination is performed when an abnormality sign of at least one of the light control, the wiper control, and the sheet control is detected. A configuration is provided in which the unit time of the supplied clock is shortened (that is, the clock frequency is increased) without being changed.

  Next, FIG. 9 is a flowchart showing processing when it is determined that the body integrated control device 601 according to Embodiment 2 of the present invention is abnormal. Specifically, this corresponds to the processing executed in steps S710, S720, and S730 of the flowchart shown in FIG. Since it is determined that the body integrated control device 601 is abnormal, the arithmetic processing unit 107 processes the partial control processing stop program 605.

  In step S901, the arithmetic processing unit 107 stops the control process being processed. Next, in step S902, the arithmetic processing unit 107 disallows the stopped control process and ends a series of processes.

  In this way, the body integrated control apparatus 601 in the second embodiment can shorten the time required for abnormality determination by increasing the clock frequency when an abnormality sign is detected by any of a plurality of control programs. The abnormality process after being determined as abnormal can be started early.

  Next, transition of each control state of the body integrated control apparatus 601 according to the second embodiment having such a configuration will be described with reference to FIG. 10 together with the relationship with the flowcharts of FIGS. FIG. 10 is a timing chart showing the transition of the control state of the body integrated control apparatus 601 according to the second embodiment of the present invention.

  In the example of FIG. 10, the processing of the write control program 602, wiper control program 603, and sheet control program 604 of the body integrated control device 601 is caused by a change in processing content, an increase in processing data amount, other interrupt processing, and the like. Although the processing status matches the predicted processing status, a timing chart in the case of stretching is shown.

  In the second embodiment, the body integrated control device 601 performs processing in the order of the light control program 602, the wiper control program 603, and the sheet control program 604, and the processing is performed periodically. In the initial state, it is assumed that each control process is permitted.

  Further, in the second embodiment, the predetermined second clock number used for determining that there is an abnormality sign is 700 clocks, and the predetermined first clock number used for determining that there is an abnormality is 1000 clocks. An example is shown.

  At time T1001, the arithmetic processing unit 107 determines whether or not the write control process is permitted (step S701). In the example of FIG. 10, it is determined that processing is permitted. The arithmetic processing unit 107 then processes the write control program 602 and starts write control (step S702).

  Next, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing (step S703). Here, it is determined that the process has not been started, and the processing clock measurement unit 108 starts measuring the number of clocks that have elapsed since the start of the process (step S704).

  Next, the arithmetic processing unit 107 determines whether or not the processing of the write control program 602 has been completed (step S705). At time T1001, the arithmetic processing unit 107 determines that the processing of the write control program 602 has not ended. Next, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign (step S706). At time T1001, the abnormality sign detection unit 110 determines that the predetermined second clock number has not been reached.

  Further, when the time further elapses, at time T1002, the arithmetic processing unit 107 determines that the processing of the write control program 602 has ended (step S705), and the arithmetic processing unit 107 has permission to perform wiper control processing. It is determined whether or not (step S711). In the example of FIG. 10, it is determined that processing is permitted. Then, the arithmetic processing unit 107 processes the wiper control program 603 and starts wiper control (step S712).

  Next, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing (step S713). Here, it determines with having started.

  Next, the arithmetic processing unit 107 determines whether or not the processing of the wiper control program 603 has been completed (step S715). At time T1002, the arithmetic processing unit 107 determines that the process of the wiper control program 603 has not ended. Next, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign (step S716). At time T1002, the abnormality sign detection unit 110 determines that the predetermined second clock number has not been reached.

  Further, when further time elapses, at time T1003, the abnormality sign detection unit 110 determines that the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign ( Step S716). Then, the abnormality sign detection unit 110 determines that the body integrated control apparatus 601 has an abnormality sign (step S717), and starts processing when the body integrated control apparatus 601 determines that there is an abnormality sign.

  The arithmetic processing unit 107 determines whether or not the clock frequency determination unit 106 has been changed so as to increase the clock frequency (step S801). In the example of FIG. 10, it is determined that the clock frequency has not been changed, and the clock frequency determination unit 106 increases the clock frequency (step S802). Here, the clock frequency is doubled. Since the clock frequency has doubled, the number of clocks that are determined to be abnormal does not change, but the clock unit time is halved, and the time until it is determined to be abnormal is halved.

  Next, the arithmetic processing unit 107 determines whether or not the processing of the wiper control program 603 has been completed (step S718). At time T1003, the arithmetic processing unit 107 determines that the process of the wiper control program 603 has not ended. Next, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that are determined to be abnormal (step S719). At time T1003, the abnormality determination unit 109 determines that the predetermined first clock number is not reached.

  Further, when the time further elapses, at time T1004, the arithmetic processing unit 107 determines that the process of the wiper control program 603 has been completed (step S718), and the arithmetic processing unit 107 has permission to process the sheet control. It is determined whether or not (step S721). In the example of FIG. 10, it is determined that processing is permitted. Then, the arithmetic processing unit 107 processes the sheet control program 604 and starts sheet control (step S722).

  Next, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing (step S723). Here, it determines with having started.

  Next, the arithmetic processing unit 107 determines whether or not the processing of the sheet control program 604 has been completed (step S725). At time T1004, the arithmetic processing unit 107 determines that the processing has not ended. Next, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign (step S726). At time T1004, the abnormality sign detection unit 110 determines that the predetermined second clock number has been reached.

  Therefore, the abnormality sign detection unit 110 determines that the body integrated control apparatus 601 has an abnormality sign (step S727), and starts processing when the body integrated control apparatus 601 determines that there is an abnormality sign.

  The arithmetic processing unit 107 determines whether or not the clock frequency determination unit 106 has been changed so as to increase the clock frequency (step S801). Here, it determines with having changed and complete | finishes a process.

  Next, the arithmetic processing unit 107 determines whether or not the processing of the sheet control program 604 has been completed (step S728). At time T1004, the arithmetic processing unit 107 determines that the processing of the sheet control program 604 has not ended. Next, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that are determined to be abnormal (step S729). At time T1004, the abnormality determination unit 109 determines that the predetermined first clock number is not reached.

  Further, when the time further elapses, at time T1005, the abnormality determination unit 109 determines that the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that is determined to be abnormal (step S729). . Then, the abnormality determination unit 109 determines that the body integrated control device 601 is abnormal (step S730), and starts processing when the body integrated control device 601 is determined to be abnormal.

  Then, the arithmetic processing unit 107 processes the partial control process stop program 605, stops the sheet control process, which is the control process being processed (step S901), and disables the sheet control process (step S902).

  Then, the processing clock measurement unit 108 stops measuring the number of clocks that have elapsed since the start of the processing (step S731), the clock frequency determination unit 106 restores the clock frequency (step S732), and ends the series of treatments.

  Next, at time T1006, the arithmetic processing unit 107 determines whether or not write control processing is permitted (step S701). In the example of FIG. 10, it is determined that processing is permitted. The arithmetic processing unit 107 then processes the write control program 602 and starts write control (step S702).

  Next, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing (step S703). Here, it is determined that the process has not been started, and the processing clock measurement unit 108 starts measuring the number of clocks that have elapsed since the start of the process (step S704).

  Next, the arithmetic processing unit 107 determines whether or not the processing of the write control program 602 has been completed (step S705). At time T1006, the arithmetic processing unit 107 determines that the processing of the write control program 602 has not ended. Next, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign (step S706). At time T1006, the abnormality sign detection unit 110 determines that the predetermined second clock number has not been reached.

  Further, when time elapses and at time T1007, the arithmetic processing unit 107 determines that the processing of the write control program 602 has ended (step S705), and the arithmetic processing unit 107 has permission to perform wiper control processing. It is determined whether or not (step S711). In the example of FIG. 10, it is determined that processing is permitted. Then, the arithmetic processing unit 107 processes the wiper control program 603 and starts wiper control (step S712).

  Next, the arithmetic processing unit 107 determines whether or not the processing clock measurement unit 108 has started measuring the number of clocks that have elapsed since the start of processing (step S713). Here, it determines with having started.

  Next, the arithmetic processing unit 107 determines whether or not the processing of the wiper control program 603 has been completed (step S715). At time T1007, the arithmetic processing unit 107 determines that the process of the wiper control program 603 has not ended. Next, the abnormality sign detection unit 110 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign (step S716). At time T1007, the abnormality sign detection unit 110 determines that the predetermined second clock number has not been reached.

  Further, when further time elapses, at time T1008, the abnormality sign detection unit 110 determines that the measurement result of the processing clock measurement unit 108 has reached a predetermined second clock number for determining that there is an abnormality sign ( Step S716). Then, the abnormality sign detection unit 110 determines that the body integrated control apparatus 601 has an abnormality sign (step S717), and starts processing when the body integrated control apparatus 601 determines that there is an abnormality sign.

  The arithmetic processing unit 107 determines whether or not the clock frequency determination unit 106 has been changed so as to increase the clock frequency (step S801). In the example of FIG. 10, it is determined that the clock frequency has not been changed, and the clock frequency determination unit 106 increases the clock frequency (step S802). Here, the clock frequency is doubled. Since the clock frequency has doubled, the number of clocks that are determined to be abnormal does not change, but the clock unit time is halved, and the time until it is determined to be abnormal is halved.

  Next, the arithmetic processing unit 107 determines whether or not the processing of the wiper control program 603 has been completed (step S718). At time T1008, the arithmetic processing unit 107 determines that the process of the wiper control program 603 has not ended. Next, the abnormality determination unit 109 determines whether or not the measurement result of the processing clock measurement unit 108 has reached a predetermined first number of clocks that are determined to be abnormal (step S719). At time T1008, the abnormality determination unit 109 determines that the predetermined first clock number is not reached.

  Further, when the time further elapses, at time T1009, the arithmetic processing unit 107 determines that the process of the wiper control program 603 has ended (step S718), and the arithmetic processing unit 107 has permission to process the sheet control. Whether or not (step S721). In the example of FIG. 10, it is determined that there is no processing permission. Then, the processing clock measurement unit 108 stops measuring the number of clocks that have elapsed since the start of the processing (step S731), the clock frequency determination unit 106 restores the clock frequency (step S732), and ends the series of treatments.

  As described above, according to the second embodiment, the processing status of a plurality of control programs of the body integrated control device is predicted due to a change in processing content, an increase in processing data amount, other interrupt processing, and the like. However, if the measurement result of the processing clock measurement unit reaches a predetermined second clock number when it is extended, it is determined that there is an abnormality sign and the clock frequency is advanced. By performing such processing, even when a plurality of control programs are processed, the number of clocks determined to be abnormal does not change, but the time required to determine abnormal can be shortened.

  As a result, the partial control process stop program can be started early, and the partial control process stop program can be reliably processed before the next cycle of the plurality of control programs.

  In normal processing where no sign of abnormality is detected, control processing is executed without increasing the clock frequency more than necessary, and once a sign of abnormality is detected, the clock frequency is increased. The abnormality detection process and the process after the abnormality detection can be quickly executed without changing the predetermined number of clocks that are determined to be abnormal.

  DESCRIPTION OF SYMBOLS 101 Engine control apparatus, 102 ROM (memory | storage part), 103 Communication start program, 104 Reset process program, 105 Clock generation part, 106 Clock frequency determination part, 107 Operation processing part, 108 Processing clock measurement part, 109 Abnormality determination part, 110 Abnormal sign detection unit, 601 body integrated control device, 602 light control program, 603 wiper control program, 604 sheet control program, 605 partial control processing stop program.

Claims (7)

A storage unit storing a control processing program and an abnormality processing program according to one or more control targets;
The control target is controlled by executing the control processing program stored in the storage unit, and the number of clocks elapsed from the start of processing of the control processing program is measured, and the control processing is performed until a predetermined number of clocks have elapsed. A control device comprising: a control unit that determines that an abnormality occurs when the processing of the program does not end, and executes the abnormality processing program by determining the abnormality;
The control unit is configured to shorten the clock unit time by increasing the clock frequency used to measure the number of elapsed clocks when an abnormality is detected before the predetermined clock number has elapsed. And a control device that employs the same predetermined number of clocks to perform abnormality determination regardless of the presence or absence of the abnormality sign. The control device according to claim 1,
The controller is
A clock generator for generating a clock having a clock frequency according to an external setting;
An arithmetic processing unit that executes the control processing program and the abnormality processing program according to the clock generated by the clock generation unit;
A processing clock measurement unit that measures the number of clocks that have elapsed from the start of processing of the control processing program by the arithmetic processing unit;
An abnormality determination unit that determines an abnormality when the processing of the control processing program has not ended even at the time when the predetermined clock number has elapsed when the measurement result of the processing clock measurement unit has reached a predetermined number of clocks;
An abnormality sign detection unit that detects an abnormality sign of the control device before the predetermined clock number elapses when the abnormality determination unit determines the abnormality;
When an abnormality sign is detected by the abnormality sign detection unit while the arithmetic processing unit is processing the control processing program, the clock unit time is shortened by shortening the clock frequency generated by the clock generation unit. A clock frequency determining unit that determines the clock frequency to include:
In the case where an abnormality sign is detected by the abnormality sign detection unit, the processing clock measurement unit uses the clock frequency determined by the clock frequency determination unit to shorten the clock unit time, and uses the elapsed clock number. Measure
The abnormality determination unit adopts the predetermined number of clocks regardless of the presence or absence of the abnormality sign, and determines that there is an abnormality when the processing of the control processing program has not ended even when the predetermined number of clocks has elapsed. ,
The said clock frequency determination part determines to return the said clock frequency to a normal clock frequency, when it determines with the said abnormality by the said abnormality determination part. The control device according to claim 2 ,
The abnormality sign detection unit determines that there is an abnormality sign when detecting a case where a processing state of the control processing program does not match a predicted processing state. The control device according to claim 2 ,
The abnormality sign detection unit is configured to use the predetermined clock used to determine that the measurement result of the processing clock measurement unit is abnormal although the processing status of the control processing program matches the predicted processing status. A control device that determines that there is an abnormality sign when it is detected that the second predetermined number of clocks set as a value smaller than the number is reached. In the control device according to any one of claims 2 to 4,
The said arithmetic processing part performs the execution process of the said abnormality process program, and restarts the execution process of the said control process program from the beginning of a process. In the control device according to any one of claims 2 to 4,
The arithmetic processing unit stops processing of the control processing program by executing the abnormality processing program. A storage unit storing a control processing program and an abnormality processing program according to one or more control targets;
The control target is controlled by executing the control processing program stored in the storage unit, and the number of clocks elapsed from the start of processing of the control processing program is measured, and the control processing is performed until a predetermined number of clocks have elapsed. An abnormality determination processing method for a control device applied to a control device including: a control unit that determines that an abnormality occurs when the processing of the program does not end, and executes the abnormality processing program by determining the abnormality. ,
In the control unit,
A clock generation step for generating a clock having a clock frequency according to an external setting;
An arithmetic processing step for executing the control processing program and the abnormality processing program according to the clock generated in the clock generation step;
A processing clock measuring step for measuring the number of clocks elapsed from the start of processing of the control processing program by the arithmetic processing step;
An abnormality determination step for determining an abnormality when the processing of the control processing program has not ended even at the time when the predetermined clock number has elapsed when the measurement result of the processing clock measurement step has reached a predetermined number of clocks;
An abnormality sign detection step of detecting an abnormality sign of the control device before the predetermined clock number elapses when the abnormality determination step determines the abnormality;
When an abnormality sign is detected by the abnormality sign detection step while the arithmetic processing step is processing the control processing program, the clock unit time is shortened by increasing the clock frequency generated by the clock generation step. And determining a clock frequency to determine the clock frequency,
In the processing clock measurement step, when an abnormality sign is detected by the abnormality sign detection step, the elapsed clock number is determined by using the clock frequency determined by the clock frequency determination step and shortening the clock unit time. Measure
The abnormality determination step adopts the predetermined number of clocks regardless of the presence or absence of the abnormality sign, and determines that an abnormality occurs when the processing of the control processing program has not ended even when the predetermined number of clocks has elapsed. ,
The abnormality determination processing method of the control device, wherein the clock frequency determination step determines to return the clock frequency to a normal clock frequency when the abnormality determination step determines that the abnormality is present.

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