JP5783132B2 - Electronic control device for vehicle - Google Patents

Description

  The present invention relates to a technique for detecting an abnormality in a control device for a vehicle.

  2. Description of the Related Art Conventionally, a vehicular electronic control device that includes a first microcomputer and a second microcomputer and in which the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer is well known. For example, this is the control computer disclosed in Patent Document 1. In the control computer of Patent Document 1, each of the first microcomputer and the second microcomputer includes a reception buffer for receiving the operation value of the counterpart microcomputer, Compare the calculated value of the other party. As a result of the comparison, when the calculated value of the other party is smaller than the minimum value of its own calculated value, or when the calculated value of the other party is larger than the maximum value of its own calculated value, It is determined that at least one of the second microcomputer is abnormal.

JP 2000-172521 A Japanese Patent Laid-Open No. 06-230994 Japanese Patent Laid-Open No. 11-103317

  FIG. 8 shows the possibility of erroneous determination of an abnormality in the electronic control device 710 in which two microcomputers, the first microcomputer 712 and the second microcomputer 714 mutually monitor the abnormality on the other side, as in the above-mentioned Patent Document 1. It is a schematic block diagram for demonstrating. In FIG. 8, the sensor detection signal from the sensor 716 is input to each of the first microcomputer 712 and the second microcomputer 714, and the first microcomputer 712 and the second microcomputer 714 can transmit and receive data to and from each other. Yes. In such a configuration, between the first microcomputer 712 and the second microcomputer 714, due to differences in processing timing at which the microcomputers 712, 714 process the sensor detection signals, differences in processing capabilities of the microcomputers 712, 714, and the like. The recognition difference of the said sensor detection signal which arose may arise (refer part a). In addition, data is transmitted and received between the first microcomputer 712 and the second microcomputer 714. Since the transmission / reception requires a communication time, the first microcomputer 712 and the second microcomputer 714 are mutually connected from the other side. The received information is recognized with a time delay (see part b). Further, due to a difference in processing capability and task assignment between the first microcomputer 712 and the second microcomputer 714, a difference in processing cycle may occur between the first microcomputer 712 and the second microcomputer 714 (c Section). It is considered that an erroneous determination of a microcomputer abnormality may occur due to such a difference in recognition of the sensor detection signal, a delay in recognition of information from the other party, and a difference in the processing cycle.

  Although Patent Document 1 discloses a method that does not cause the above-described erroneous determination of microcomputer abnormality, the control computer of Patent Document 1 performs abnormality determination after determining its own calculation value for three times. Since it takes a considerable calculation time to determine its own calculation value for three times, there is a possibility that the time required for the abnormality determination becomes long. Further, the microcomputer for determining the operation position of the vehicle shift operating device is not described at all in the cited reference 1, and if abnormality determination is performed after the shift position is determined three times, the abnormality determination is performed promptly. Therefore, it was considered that the abnormality determination method is not suitable for a microcomputer that determines the operation position of the shift operation device. Such a problem is not yet known.

  The present invention has been made against the background of the above circumstances, and an object of the present invention is to provide an electronic control device for a vehicle that can quickly determine abnormality of a microcomputer.

The gist of the first invention for achieving the above object is that (a) a shift operation position signal indicating the operation position of the shift operation device is input, and the shift operation position signal is the same operation position over a predetermined time. A first microcomputer and a second microcomputer that respectively determine a shift position corresponding to the shift operation position signal when indicated, and the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer. (B) a first shift determination in which the first microcomputer and the second microcomputer store the shift position determined using a predetermined first determination hold time as the predetermined time; Buffer and the second decision hold time which is longer than the first decision hold time and is determined as the predetermined time. A second shift determination buffer for storing the current position and a comparison buffer for storing the shift position determined by the counterpart microcomputer, (c) the first microcomputer and the second microcomputer Respectively, when the shift positions stored in the first and second shift determination buffers are all different from the shift positions determined by the counterpart microcomputer stored in the comparison buffer. (D) The first microcomputer and the second microcomputer respectively store all the shift positions stored in the first and second shift determination buffers in the comparison buffer. If it is different from the memorized shift position for more than the preset abnormal hold time, Icon is characterized by determined to be abnormal.
The gist of the second invention is that (a) when a shift operation position signal indicating the operation position of the shift operation device is input and the shift operation position signal indicates the same operation position for a predetermined time or more. A vehicle electronic control device comprising a first microcomputer and a second microcomputer for respectively determining a shift position corresponding to the shift operation position signal, wherein the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer. (B) the first microcomputer and the second microcomputer each include a first shift determination buffer that stores the shift position determined with a predetermined first determination hold time as the predetermined time; The shift position determined with a predetermined second determination hold time longer than the first determination hold time as the predetermined time is described. A second shift determination buffer and a comparison buffer for storing the shift position determined by the counterpart microcomputer, and (c) the first microcomputer and the second microcomputer each include If all of the shift positions stored in the first and second shift determination buffers are different from the shift positions determined by the counterpart microcomputer stored in the comparison buffer, the counterpart microcomputer is abnormal. (D) The shift position stored in the comparison buffer is a shift position determined by the counterpart microcomputer using the predetermined determination time as the predetermined time, and (e) The determination time is the same as the second determination hold time.
The gist of the third invention is (a) when a shift operation position signal indicating the operation position of the shift operation device is input and the shift operation position signal indicates the same operation position for a predetermined time or more. A vehicle electronic control device comprising a first microcomputer and a second microcomputer for respectively determining a shift position corresponding to the shift operation position signal, wherein the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer. (B) the first microcomputer and the second microcomputer each include a first shift determination buffer that stores the shift position determined with a predetermined first determination hold time as the predetermined time; The shift position determined with a predetermined second determination hold time longer than the first determination hold time as the predetermined time is described. A second shift determination buffer and a comparison buffer for storing the shift position determined by the counterpart microcomputer, and (c) the first microcomputer and the second microcomputer each include If all of the shift positions stored in the first and second shift determination buffers are different from the shift positions determined by the counterpart microcomputer stored in the comparison buffer, the counterpart microcomputer is abnormal. (D) the shift operation device is provided with a shift lever that is artificially operated and returns to a predetermined reference position when the artificial operation is released, and (e) the shift operation is performed The operation position of the apparatus is an operation position of the shift lever.

By the first invention lever, for example while preventing microcomputer abnormality misjudgment due to recognize differences or the like of the shift operation position signal due to the difference in the processing time of the second microcomputer and the first microcomputer, quickly microcomputer An abnormality determination can be performed. In addition, it is possible to more reliably prevent the first microcomputer or the second microcomputer from making an erroneous determination of abnormality of the microcomputer as compared with the case where it does not.

According to the second aspect of the present invention, for example, a microcomputer error can be quickly detected while preventing an erroneous determination of a microcomputer abnormality caused by a difference in recognition of the shift operation position signal due to a difference in processing timing between the first microcomputer and the second microcomputer. Abnormality determination can be performed. In addition, compared to the case where it does not, it is possible to reduce the types of parameters set as the predetermined time stored in the first microcomputer and the second microcomputer, respectively.

According to the third aspect of the present invention, for example, a microcomputer error can be quickly detected while preventing an erroneous determination of a microcomputer abnormality caused by a difference in recognition of the shift operation position signal due to a difference in processing timing between the first microcomputer and the second microcomputer. Abnormality determination can be performed. In addition, the shift when the artificial operation on the shift lever is released while appropriately preventing the first microcomputer and the second microcomputer from outputting the erroneous shift position due to the malfunction of the microcomputer. It is possible to realize a shift operation device in which the lever operation position does not correspond one-to-one with the shift position used for vehicle travel control.

  Here, preferably, the determination time is set in advance to a time longer than the first determination hold time and shorter than the second determination hold time.

  Preferably, the vehicle electronic control device is provided in a vehicle including a transmission, and executes shift control of the transmission.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating schematic structure of the vehicle to which this invention is applied, and is a block diagram which illustrated the input / output signal of the electronic controller which controls a vehicle. It is a figure which shows an example of the shift operation apparatus provided in the vehicle of FIG. It is a functional block diagram for demonstrating the principal part of the control function with which each of the main microcomputer 62 and the submicrocomputer 64 included in the electronic controller of FIG. FIG. 4 is a flowchart for explaining a main part of the control operation of the sub-microcomputer of FIG. 3, that is, a control operation for determining an abnormality of the main microcomputer that is the counterpart microcomputer. FIG. 4 is a flowchart for explaining a main part of a control operation of the main microcomputer of FIG. 3, that is, a control operation for determining an abnormality of a sub microcomputer that is a counterpart microcomputer. Control in which the sub-icon determines an abnormality of the main microcomputer, taking as an example a case where the shift lever is operated from the M operation position to the D operation position by the driver when the shift position of the transmission of the vehicle of FIG. 1 is the P position. It is a time chart for demonstrating. FIG. 7 is a time chart for explaining control in which a sub-icon determines an abnormality of the main microcomputer, taking as an example a case where the dwell time of the shift lever at the D operation position is short with respect to FIG. It is a figure for demonstrating the subject which this invention tends to solve, Comprising: In two electronic microcomputers called a 1st microcomputer and a 2nd microcomputer mutually monitor the other party's abnormality, the misjudgment of the abnormality arises It is a schematic block diagram for demonstrating possibility.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram for explaining a schematic configuration of a vehicle 10 to which the present invention is applied, and is a block diagram illustrating input / output signals of an electronic control unit 60 that controls the vehicle 10. In FIG. 1, a vehicle 10 is an FF (front engine / front drive) type vehicle, and the vehicle 10 is an engine 12 that is a driving force source for traveling, and parking that mechanically prevents rotation of driving wheels 14 during parking. A lock device 16, a transmission 18, a shift operation device 30 and the like are provided, and a shift-by-wire (SBW) method is adopted in which the electronic control device 60 acquires the operation position Pope of the shift operation device 30 by an electrical signal. The transmission 18 is a stepped automatic transmission generally used in a vehicle, and includes, for example, a plurality of planetary gear devices and a plurality of hydraulic friction engagement devices. In the vehicle 10, the power of the engine 12, which is an internal combustion engine serving as a driving force source for traveling, is transmitted in pairs via a transmission 18, a differential gear device (differential gear) 26, a pair of axles (drive shafts) 28, and the like. Is transmitted to the drive wheel 14. The electronic control device 60 corresponds to the vehicle electronic control device of the present invention.

  The vehicle 10 is provided with an electronic control device 60 including a function as a vehicle shift control device that executes shift control of the transmission 18, for example. The electronic control device 60 is configured to include a so-called microcomputer provided with, for example, a CPU, a RAM, a ROM, an input / output interface, and the like. For example, the electronic control unit 60 performs signal processing in accordance with a program stored in advance in a ROM or the like, thereby controlling the output of the engine 12, the shift control of the transmission 18, the control related to the shift-by-wire system, and the operation of the parking lock device 16. Executes state switching control.

  The electronic control device 60 represents, for example, the operation position Pope of the shift operation device 30, specifically, the operation position Pope from the shift operation position sensor 36 which is a position sensor for detecting the operation position Pope of the shift lever 32. A shift operation position signal, a P switch signal indicating a switch operation in the P switch 34 for switching the shift position Psh of the transmission 18 from the non-P position other than the parking position (P position) to the P position, and the like are supplied.

  Further, from the electronic control device 60, for example, signals for controlling the engine 12 and the transmission 18 are output.

  FIG. 2 is a diagram illustrating an example of a shift operation device 30 as a switching device (operation device) that switches a plurality of types of shift positions Psh by an artificial operation. The shift operating device 30 is disposed, for example, in the vicinity of the driver's seat, and is automatically returned to the original position (initial position) when the momentary type operation element operated to any one of the plurality of operation positions Pope, that is, the operation force is solved. A shift lever 32 is provided as an automatic return type operator that returns. Further, the shift operation device 30 of this embodiment includes a P switch 34 that is operated when the driver selects a parking position (P position) as a separate switch in the vicinity of the shift lever 32.

  As shown in FIG. 2, the shift lever 32 has three operation positions Pope arranged in the front-rear direction or the up-down direction, that is, the vertical direction of the vehicle 10, an R operation position (corresponding to Psh = R position), an N operation position (Psh = N position), D operation position (Psh = corresponding to D position), M operation position and B operation position (corresponding to Psh = B position) arranged in parallel therewith, respectively. ing. In the shift operation device 30, when the shift lever 32 is operated to the R operation position by the driver, the R position is selected as the shift position Psh, and when the shift lever 32 is operated to the N operation position, the shift position Psh is set to N. When the position is selected and the shift lever 32 is operated to the D operation position, the D position is selected as the shift position Psh. When the shift lever 32 is operated to the B operation position, the B position is selected as the shift position Psh. The Then, the shift operation device 30 sequentially outputs an electrical signal (shift operation position signal) representing the operation position Pope of the shift operation device 30 from the shift operation position sensor 36 to the electronic control device 60. Specifically, the data is sequentially output to the main microcomputer 62 and the sub-microcomputer 64 included in the electronic control device 60. The shift lever 32 can be operated in the vertical direction between the R operation position, the N operation position, and the D operation position, and can be operated in the vertical direction between the M operation position and the B operation position. Furthermore, it is possible to operate the vehicle 10 in the lateral direction perpendicular to the longitudinal direction between the N operation position and the B operation position. The main microcomputer 62 corresponds to the first microcomputer of the present invention, and the sub-microcomputer 64 corresponds to the second microcomputer of the present invention.

  The P switch 34 is, for example, a momentary push button switch, and outputs a P switch signal to the electronic control device 60 every time a push operation is performed by a user (driver). For example, when a parking lock that mechanically prevents rotation of the drive wheels 14 is not executed by the parking lock device 16 and the driver performs a push operation of the P switch 34 when a predetermined condition is satisfied. Upon receiving the P switch signal, the electronic control unit 60 switches the shift position Psh of the transmission 18 to the P position. The P position is a parking position (parking position) in which the power transmission path in the transmission 18 is interrupted and the parking lock is executed by the parking lock device 16.

  The M operation position of the shift operation device 30 is an operation position Pope when the shift lever 32 is not operated, that is, a predetermined reference position of the shift lever 32. Specifically, even if the shift operating device 30 is operated by a lever to an operation position Pope (R, N, D, B operation position) other than the M operation position, if the driver releases the shift lever 32, that is, When the external force acting on the shift lever 32 disappears, the shift lever 32 returns to the M operation position by a mechanical mechanism such as a spring. When each shift position Psh is selected by the shift operation device 30, the electronic control device 60 controls the transmission 18, the parking lock device 16 and the like corresponding to the selected shift position Psh.

  The shift position Psh will be described. The R position is a travel position where the driving force for moving the vehicle 10 backward is transmitted to the drive wheels 14, that is, the reverse travel position. Further, the N position (neutral position) is a neutral position in which the power transmission path in the transmission 18 is blocked, and in other words, the power transmission to the drive wheels 14 is blocked and the rotation of the drive wheels 14 is performed. This is a neutral position that allows Further, the D position is a traveling position where the driving force for moving the vehicle 10 forward is transmitted to the drive wheels 14, that is, the forward traveling position. For example, when the parking lock is executed by the parking lock device 16 and the R position, the N position, or the D position is selected by the shift operation device 30, the brake pedal is depressed. If the predetermined condition is satisfied, the electronic control unit 60 releases the parking lock.

  The B position is a traveling position where the vehicle 10 exerts an engine braking effect in the D position and decelerates the rotation of the drive wheels 14, that is, a decelerating forward traveling position (engine brake range).

  In the shift operation device 30 of the present embodiment, when the external force acting on the shift lever 32 is lost, the shift operation device 30 is returned to the M operation position, so that the shift position Psh being selected can be recognized only by visually recognizing the operation position Pope of the shift lever 32. I can't. For this reason, a shift position display device 46 for displaying the currently selected shift position Psh is provided at a position that is easy for the driver to see in the passenger compartment.

  In the present embodiment, since the shift-by-wire (SBW) method is adopted, the main microcomputer 62 and the sub-microcomputer 64 included in the electronic control device 60 are not sensitive to each other's abnormality in the control for determining the shift position Psh. Monitoring. That is, the main microcomputer 62 functions as a monitoring microcomputer that monitors the abnormality of the sub microcomputer 64, and the sub microcomputer 64 functions as a monitoring microcomputer that monitors the abnormality of the main microcomputer 62. The main part of the control function for monitoring each other for such abnormality will be described below with reference to FIG.

  FIG. 3 is a functional block diagram for explaining the main part of the control function provided in each of the main microcomputer 62 and the sub-microcomputer 64. As shown in FIG. 3, the main microcomputer 62 functionally includes a first shift position determination unit 70m, a second shift position determination unit 72m, a control shift determination unit 74m, and an abnormality determination unit 76m, and a shift position Psh. Are stored as a first shift determination buffer 80m, a second shift determination buffer 82m, and a comparison buffer 84m. The sub-microcomputer 64 functionally includes a first shift position determination unit 70s, a second shift position determination unit 72s, a control shift determination unit 74s, and an abnormality determination unit 76s, and the first shift as the storage unit. A determination buffer 80s, a second shift determination buffer 82s, and a comparison buffer 84s are provided. As can be seen from FIG. 3, the main microcomputer 62 and the sub-microcomputer 64 have the same functional configuration. Therefore, the control function for the sub-microcomputer 64 to determine abnormality of the main microcomputer 62 will be described below. A description of the control function for the main microcomputer 62 to determine abnormality of the sub-microcomputer 64 is omitted. Note that, between the main microcomputer 62 and the sub-microcomputer 64, the first shift position determination unit 70m and the first shift position determination unit 70s correspond to each other, and the second shift position determination unit 72m and the second shift position determination unit 72s. Correspond to each other, the control shift determination unit 74m and the control shift determination unit 74s correspond to each other, the abnormality determination unit 76m and the abnormality determination unit 76s correspond to each other, and the first shift determination buffer 80m and the first shift determination The buffer 80s corresponds to each other, the second shift determination buffer 82m and the second shift determination buffer 82s correspond to each other, and the comparison buffer 84m and the comparison buffer 84s correspond to each other.

  The first shift position determination unit 70s of the sub-microcomputer 64 sequentially acquires the shift operation position signal from the shift operation position sensor 36, and determines the shift position Psh based on the operation position Pope represented by the shift operation position signal. Specifically, the shift position Psh corresponding to the shift operation position signal is determined when the shift operation position signal represents the same operation position Pope for a predetermined first determination hold time TIME1 or more. When the first shift position determining unit 70s determines the shift position Psh, the first shift position determining unit 70s stores the determined shift position Psh in the first shift determination buffer 80s. The shift position Psh stored in the first shift determination buffer 80s is not used for shift control of the transmission 18, but is used exclusively for determining an abnormality of the counterpart microcomputer (main microcomputer 62). .

  Similarly to the first shift position determination unit 70s, the second shift position determination unit 72s sequentially acquires the shift operation position signal from the shift operation position sensor 36, and based on the operation position Pope represented by the shift operation position signal. To determine the shift position Psh. However, the second shift position determination unit 72s does not use the first determination hold time TIME1 to determine the shift position Psh, but the second shift position determination unit 72s has a predetermined second time longer than the first determination hold time TIME1. Use the decision hold time TIME2. Specifically, the second shift position determination unit 72s responds to the shift operation position signal when the shift operation position signal represents the same operation position Pope over a predetermined second determination hold time TIME2. The shifted shift position Psh is determined. When the second shift position determination unit 72s determines the shift position Psh, the second shift position determination unit 72s stores the determined shift position Psh in the second shift determination buffer 82s. The shift position Psh stored in the second shift determination buffer 82s is not used for shift control of the transmission 18, but is used exclusively for determining an abnormality of the counterpart microcomputer (main microcomputer 62). .

  Similarly to the first shift position determination unit 70s, the control shift determination unit 74s sequentially acquires the shift operation position signal from the shift operation position sensor 36, and shifts based on the operation position Pope represented by the shift operation position signal. Position Psh is determined. However, the control shift determination unit 74s does not use the first determination hold time TIME1 to determine the shift position Psh, but uses a predetermined determination time TIMEx. Specifically, the control shift determination unit 74s determines the shift position Psh corresponding to the shift operation position signal when the shift operation position signal represents the same operation position Pope for a predetermined determination time TIMEx or more. decide. Then, the control shift determination unit 74s outputs the determined shift position Psh as an output value for controlling the transmission 18. This output value is called a control shift. The control shift determined by the control shift determining unit 74 s is received by the main microcomputer 62, which is the counterpart microcomputer with respect to the sub-microcomputer 64, and stored in the comparison buffer 84 m of the main microcomputer 62. Conversely, the control shift determined by the control shift determination unit 74 m of the main microcomputer 62 is received by the sub-microcomputer 64 and stored in the comparison buffer 84 s of the sub-microcomputer 64. As described above, the control shift is output from each of the main microcomputer 62 and the sub-microcomputer 64, and the electronic control unit 60 may employ any control shift for controlling the transmission 18, but for example, The control shift determined by the control shift determination unit 74m of the sub-microcomputer 64 is exceptionally adopted such as when the control shift determined by the control shift determination unit 74m of the main microcomputer 62 is exclusively employed and the main microcomputer 62 is determined to be abnormal. Is adopted. Then, the electronic control unit 60 performs shift control of the transmission 18 based on the adopted control shift (shift position Psh). The determination time TIMEx is experimentally set in advance so that the shift position Psh in line with the driver's intention can be accurately determined from the shift operation position signal. The first determination hold time TIME1 and the second determination hold time TIME2 are experimentally set in advance according to the determination time TIMEx so as to avoid erroneous determination of the abnormality determination units 76s and 76m. For example, in the present embodiment, the second determination hold time TIME2 is set to a time having the same length as the determination time TIMEx, the second determination hold time TIME2 and the determination time TIMEx are set to 104 ms, and the first determination hold time TIME1 is set to 88ms.

  The abnormality determination unit 76s determines whether the main microcomputer 62 is abnormal based on the shift position Psh stored in each of the first shift determination buffer 80s, the second shift determination buffer 82s, and the comparison buffer 84s. Determine whether. For this purpose, first, the abnormality determination unit 76s sequentially determines whether or not the shift position Psh stored in the comparison buffer 84s and the shift position Psh stored in the first shift determination buffer 80s match each other. At the same time, it is sequentially determined whether or not the shift position Psh stored in the comparison buffer 84s matches the shift position Psh stored in the second shift determination buffer 82s. Then, the abnormality determination unit 76s sequentially increases a predetermined mismatch determination continuation time TIMEng (initial value is zero, unit is ms, for example) as time elapses in a period in which all of these determinations are denied, and continues the mismatch determination. When the time TIMEng is equal to or longer than a predetermined abnormality holding time TIME1ng, it is determined that the main microcomputer 62 which is the counterpart microcomputer is abnormal. Specifically, if the discrepancy determination duration TIMEng is less than the abnormal hold time TIME1ng, the predetermined fault determination flag FLGng is set to zero, and if the discrepancy determination duration TIMEng is equal to or greater than the fault hold time TIME1ng, the fault determination flag Set FLGng to 1. In short, the abnormality determination unit 76s stores all of the shift position Psh stored in the first shift determination buffer 80s and the shift position Psh stored in the second shift determination buffer 82s in the comparison buffer 84s. If the shift position Psh is different from the shift position Psh, the main microcomputer 62 determines that the main microcomputer 62 is abnormal when the abnormal hold time TIME1 ng continues. However, the abnormality determination unit 76s determines the shift position Psh stored in the first shift determination buffer 80s and the shift position Psh stored in the second shift determination buffer 82s in the measurement of the mismatch determination continuation time TIMEng. In a period in which at least one of these coincides with the shift position Psh stored in the comparison buffer 84s, the mismatch determination continuation time TIMEng is successively decreased as time elapses. Further, the minimum value of the mismatch determination duration TIMEng is zero, and the abnormality determination unit 76s does not set the mismatch determination duration TIMEng to a negative value. Note that the abnormal hold time TIME1ng is experimental in advance so that the abnormality determination unit 76s does not perform erroneous microcomputer abnormality determination in consideration of a communication delay between the main microcomputer 62 and the sub-microcomputer 64, a difference in processing capability, and the like. Is set to

  For example, the abnormality determination unit 76s replaces the mismatch determination duration time TIMEng with a mismatch determination counter value CTng (initial value is zero) set at a very short predetermined measurement cycle to determine whether or not the main microcomputer 62 is abnormal. Can be determined. If so replaced, the abnormal hold time TIME1ng is replaced with the corresponding mismatch determination counter threshold value CT1ng. The abnormality determination unit 76s stores all of the shift position Psh stored in the first shift determination buffer 80s and the shift position Psh stored in the second shift determination buffer 82s in the comparison buffer 84s. If the shift position is different from the shift position Psh, the mismatch determination counter value CTng is incremented by 1 for each measurement cycle. On the other hand, at least one of the shift position Psh stored in the first shift determination buffer 80s and the shift position Psh stored in the second shift determination buffer 82s is stored in the comparison buffer 84s. When the position coincides with the position Psh, the mismatch determination counter value CTng is decreased by 1 for each measurement cycle with zero as a lower limit. As a result of increasing or decreasing the mismatch determination counter value CTng as described above, the abnormality determination unit 76s determines whether or not the mismatch determination counter value CTng is greater than or equal to the mismatch determination counter threshold value CT1ng for each measurement period, and determines the mismatch. If the counter value CTng is less than the mismatch determination counter threshold CT1ng, the abnormality determination flag FLGng is set to zero, and if the mismatch determination counter value CTng is greater than or equal to the mismatch determination counter threshold CT1ng, the abnormality determination flag FLGng is set to 1.

  As described above, the sub-microcomputer 64 determines the abnormality of the main microcomputer 62, and when the electronic control unit 60 determines that the main microcomputer 62 is abnormal by the abnormality determination unit 76s, specifically, the abnormality determination flag. When FLGng is set to 1 by the abnormality determination unit 76s, a predetermined process is performed so as to be executed when the main microcomputer 62 is abnormal. For example, a warning display that warns the driver of abnormality of the main microcomputer 62 is displayed on a display device near the driver, and a preset restriction is applied to the shift control of the transmission 18.

  FIG. 4 is a flowchart for explaining a main part of the control operation of the sub-microcomputer 64, that is, a control operation for determining an abnormality of the main microcomputer 62, and is repeatedly executed at the same cycle as the measurement cycle, for example. The repetition cycle of this flowchart is 8 ms, for example. This flowchart is executed alone or in parallel with other control operations.

  First, in step (hereinafter, “step” is omitted) SA1, the shift position Psh determined based on the shift operation position signal using the first determination hold time TIME1 is stored in the first shift determination buffer 80s. Stored (stored). After SA1, the process proceeds to SA2. SA1 corresponds to the first shift position determination unit 70s.

  In SA2 corresponding to the second shift position determination unit 72s, the shift position Psh determined based on the shift operation position signal using the second determination hold time TIME2 is stored (stored) in the second shift determination buffer 82s. ) After SA2, the process proceeds to SA3.

  In SA3, the control shift determined by the main microcomputer 62, which is the counterpart microcomputer, is received from the main microcomputer 62, and the received control shift is stored (stored) in the comparison buffer 84s of the sub-microcomputer 64. . The control shift stored in the comparison buffer 84s is determined by the control shift determination unit 74m of the main microcomputer 62 using the determination time TIMEx. After SA3, the process proceeds to SA4.

  In SA4, it is determined whether or not the shift position Psh stored in the first shift determination buffer 80s matches the shift position Psh stored in the comparison buffer 84s. If the determination of SA4 is affirmative, that is, if the shift position Psh stored in the first shift determination buffer 80s and the shift position Psh stored in the comparison buffer 84s match each other, SA6 Move on. On the other hand, when the determination of SA4 is negative, the process proceeds to SA5.

  In SA5, it is determined whether or not the shift position Psh stored in the second shift determination buffer 82s matches the shift position Psh stored in the comparison buffer 84s. If the determination of SA5 is affirmative, that is, if the shift position Psh stored in the second shift determination buffer 82s and the shift position Psh stored in the comparison buffer 84s match each other, SA6 Move on. On the other hand, when the determination of SA5 is negative, the process proceeds to SA7.

  In SA6, the mismatch determination counter value CTng is decreased by 1 with CT being the lower limit (CTng = CTng−1). After SA6, the process proceeds to SA8.

  In SA7, the mismatch determination counter value CTng is increased by 1 (CTng = CTng + 1). After SA7, the process proceeds to SA9.

  In SA8, it is determined whether or not the mismatch determination counter value CTng is greater than or equal to the mismatch determination counter threshold value CT1ng. The mismatch determination counter threshold value CT1ng is set in advance to 10, for example. If the determination of SA8 is affirmative, that is, if the mismatch determination counter value CTng is greater than or equal to the mismatch determination counter threshold value CT1ng, the process proceeds to SA11. On the other hand, if the determination of SA8 is negative, the process proceeds to SA10.

  In SA9, as in SA8, it is determined whether or not the mismatch determination counter value CTng is greater than or equal to the mismatch determination counter threshold value CT1ng. When the determination of SA9 is affirmed, the process proceeds to SA11. On the other hand, when the determination of SA9 is negative, the process proceeds to SA10.

  In SA10, it is determined that the main microcomputer 62 is normal. That is, the main microcomputer is judged normal. Specifically, the abnormality determination flag FLGng is set to zero.

  In SA11, it is determined that the main microcomputer 62 is abnormal. That is, the main microcomputer abnormality determination is made. Specifically, the abnormality determination flag FLGng is set to 1. SA4 to SA11 correspond to the abnormality determination unit 76s.

  Although the main part of the control operation of the sub-microcomputer 64 is as described above, the main microcomputer 62 repeatedly executes the same control operation as the control operation of the sub-microcomputer 64 in parallel with this control operation. FIG. 5 shows a flowchart for explaining a main part of the control operation of the main microcomputer 62, that is, a control operation for determining an abnormality of the sub-microcomputer 64. The flowchart of FIG. 5 is repeatedly executed at the same cycle as the flowchart of FIG. The contents of the flowchart of FIG. 5 are the same as those of the flowchart of FIG. 5 corresponds to SA1 in FIG. 4, SB2 corresponds to SA2, SB3 corresponds to SA3, SB4 corresponds to SA4, SB5 corresponds to SA5, SB6 corresponds to SA6, SB7 corresponds to SA7, SB8 corresponds to SA8, SB9 corresponds to SA9, SB10 corresponds to SA10, and SB11 corresponds to SA11. Further, SB1 in FIG. 5 corresponds to the first shift position determination unit 70m, SB2 corresponds to the second shift position determination unit 72m, and SB4 to SB11 correspond to the abnormality determination unit 76m.

  FIG. 6 shows an example in which the shift lever 32 is operated from the M operation position to the D operation position (M → N → D) by the driver when the shift position Psh is the P position. It is a time chart for demonstrating the control which determines abnormality of this. In the example of FIG. 6, the shift lever 32 is held at the D operation position for a time sufficiently longer than the determination time TIMEx, and then the lever operation to the D operation position is released. In FIG. 6, in order from the top, [M1] is the operation position Pope (sensor value) represented by the shift operation position signal acquired by the main microcomputer 62, and [M2] is the control shift determination unit from the operation position Pope of [M1]. The shift position Psh determined by 74m, [M3] is the control shift determined by the control shift determination unit 74m from the shift position Psh of [M2], and [S1] is the value of [M3] received from the main microcomputer 62 by the sub-microcomputer 64 Control shift, that is, the shift position Psh and [S2] stored in the comparison buffer 84s are the operation position Pope (sensor value) represented by the shift operation position signal acquired by the sub-microcomputer 64, and [S3] is for the second shift determination. The shift position Psh, [S4] stored in the buffer 82s is increased or decreased by the abnormality determination unit 76s, the shift position Psh, [S5] stored in the first shift determination buffer 80s. That mismatch determination counter value CTng, shows [S6] is an abnormality determination flag FLGng set by the abnormality determination unit 76s respectively. The horizontal axis in FIG. 6 represents the elapsed time, and one scale on the horizontal axis is the same as the repetition cycle (= 8 ms) in the flowchart in FIG. Further, as can be seen from FIG. 6, the sensor value of [M1] and the sensor value of [S2] are the same value from beginning to end if they are compared at the same time.

  In FIG. 6, the operation position Pope of [M1] and [S2] indicated by the shift operation position signal is switched from the N operation position to the D operation position at time tA1, and the elapsed time from time tA1 is time tA2. The first decision hold time TIME1 is reached at t2, and the second decision hold time TIME2 (= determination time TIMEx) is reached at time tA3. The operation position Pope of [M1] and [S2] is continuously held at the D operation position from the time tA1 to the time tA5, and switches from the D operation position to the N operation position at the time tA5. ing.

  In the main microcomputer 62, since the duration time during which the operation position Pope of [M1] is held at the D operation position has reached the determination time TIMEx at time tA3, the shift position Psh of [M2] is at time tA3. The D position corresponding to the D operation position is confirmed and the P position is switched to the D position. Then, at time tA4 delayed by one scale, the control shift of [M3] is switched from the P position to the D position.

  In the sub-microcomputer 64, because the control shift of [M3] is delayed in time and stored in the comparison buffer 84s due to the communication delay from the main microcomputer 62 to the sub-microcomputer 64, the shift position Psh of [S1] is At time tA6, which is delayed by 3 divisions from time tA4, the P position is switched to the D position. Further, at time tA2, since the duration during which the operation position Pope of [S2] is held at the D operation position has reached the first determination hold time TIME1, the shift position Psh of [S4] is at the time tA2. The D position corresponding to the D operation position is confirmed and the P position is switched to the D position. On the other hand, the shift position Psh of [S3] is determined as the D position at the time tA3 when the duration time held at the D operation position reaches the second determination hold time TIME2, and is switched from the P position to the D position. ing.

  Then, the abnormality determination unit 76s determines whether or not the shift position Psh of [S1] and the shift position Psh of [S4] match each other (hereinafter referred to as a first determination), and It is sequentially determined whether or not the shift position Psh and the shift position Psh of [S3] match each other (hereinafter referred to as a second determination). Between the time tA2 and the time tA3, the first determination is denied while the second determination is affirmed, that is, all the shift positions Psh of [S3] and [S4] are [S1]. Therefore, the mismatch determination counter value CTng in [S5] remains zero. However, between the time point tA3 and the time point tA6, both the first determination and the second determination are negative, that is, the shift positions Psh of [S3] and [S4] are all in [S1]. Since it is different from the shift position Psh, the mismatch determination counter value CTng of [S5] is incremented by 1 every time one scale has elapsed. Further, between the time tA6 and the time tA7, both the first determination and the second determination are affirmed, that is, all the shift positions Psh of [S3] and [S4] are in [S1]. Since it is not different from the shift position Psh, the discrepancy determination counter value CTng of [S5] is decremented by 1 every time one scale has elapsed. As described above, since the mismatch determination counter value CTng of [S5] is increased or decreased, the mismatch determination counter value CTng does not exceed the mismatch determination counter threshold CT1ng (= 10). The abnormality determination flag FLGng in S6] is zero from beginning to end. That is, the sub-microcomputer 64 determines that the main microcomputer 62 is normal throughout. From the example of FIG. 6, the main microcomputer abnormality determination may be erroneously performed by increasing or decreasing the mismatch determination counter value CTng of [S5] and switching the abnormality determination flag FLGng based on the mismatch determination counter value CTng. It can be seen that it was properly avoided.

  FIG. 7 shows an example in which the shift lever 32 is operated from the M operation position to the D operation position by the driver when the shift position Psh is the P position, as in FIG. It is a time chart for demonstrating the control which determines 62 abnormality. However, in the example of FIG. 7, unlike FIG. 6, the lever operation to the D operation position is released immediately before the duration time during which the shift lever 32 is held at the D operation position reaches the determination time TIMEx. At the same time, the operation position Pope of the shift lever 32 is switched from the D operation position to the N operation position. [M1] to [M3] and [S1] to [S6] shown in FIG. 7 are the same as those in FIG. In FIG. 7, one scale on the horizontal axis representing the elapsed time is the same as that in FIG. Also in FIG. 7, as in FIG. 6, the sensor value of [M1] and the sensor value of [S2] are the same value from start to finish if they are compared at the same time.

  In FIG. 7, at time tB1, the operation positions Pope of [M1] and [S2] indicated by the shift operation position signal are switched from the N operation position to the D operation position, and the elapsed time from the time tB1 is the time tB2. The first decision hold time TIME1 is reached at t2, and the second decision hold time TIME2 (= determination time TIMEx) is reached at time tB4. The operation position Pope of the above [M1] and [S2] is continuously held at the D operation position from the time point tB1 to the time point tB3, and switches from the D operation position to the N operation position at the time point tB3. ing. That is, the operation positions Pope of [M1] and [S2] are switched from the D operation position to the N operation position immediately before the elapsed time from the time point tB1 reaches the determination time TIMEx.

  The main microcomputer 62 does not reach the determination time TIMEx while the operation position Pope of [M1] is held at the D operation position, but until the time tB3, which is just before the determination time TIMEx is reached. Since the operation position Pope is held at the D operation position, the shift position Psh of [M2] is fixed at the D position corresponding to the D operation position at time tB4, and is switched from the P position to the D position. This is because the shift position Psh of [M2] is determined to be the D position due to the influence of the processing timing at which the main microcomputer 62 processes the shift operation position signal from the shift operation position sensor 36, clock variations, and the like. In this case, it is not an abnormality of the main microcomputer 62 even if the shift position Psh of [M2] is switched to the D position or kept at the P position. Further, at time tB5, which is delayed by one scale from time tB4, the control shift of [M3] is switched from the P position to the D position.

  In the sub-microcomputer 64, because the control shift of [M3] is delayed in time and stored in the comparison buffer 84s due to the communication delay from the main microcomputer 62 to the sub-microcomputer 64, the shift position Psh of [S1] is At time tB6, which is delayed by 3 scales from time tB5, the P position is switched to the D position. Further, at time tB2, since the duration during which the operation position Pope of [S2] is held at the D operation position has reached the first determination hold time TIME1, the shift position Psh of [S4] is at the time tB2. The D position corresponding to the D operation position is confirmed and the P position is switched to the D position. On the other hand, the shift position Psh of [S3] is changed to the D position at time tB4, unlike [M2], because the duration time held at the D operation position has not reached the second determination hold time TIME2. It remains in the P position throughout without being switched.

  And the abnormality determination part 76s is performing the said 1st determination and the said 2nd determination sequentially similarly to the example of FIG. The first determination is negative between time tB2 and time tB6, but the shift position Psh of [S1] and the shift position Psh of [S3] are the P positions and match each other. 2 judgment is affirmed. Further, after the time tB6, the second determination is negative. However, since the shift position Psh of [S1] and the shift position Psh of [S4] are the D position and coincide with each other, the first determination is Have been affirmed. Accordingly, both the first determination and the second determination are denied, that is, the shift positions Psh of [S3] and [S4] are all different from the shift position Psh of [S1]. Therefore, the mismatch determination counter value CTng in [S5] remains zero without increasing. Therefore, the mismatch determination counter value CTng of [S5] does not exceed the mismatch determination counter threshold CT1ng (= 10), and in the example of FIG. 7, the abnormality determination flag FLGng of [S6] is always zero. That is, the sub-microcomputer 64 determines that the main microcomputer 62 is normal throughout.

  According to the example of FIG. 7, even when the operation position Pope of the shift operation device 30 (the operation position Pope of the shift lever 32) is kept constant, the main microcomputer abnormality is detected even when the duration is the same as or substantially the same as the determination time TIMEx. It can be seen that an erroneous determination is appropriately avoided. This is not only the shift position Psh of [S1] is compared with the shift position Psh of [S3], but is different from the second decision hold time TIME2 used to determine the shift position Psh of [S3]. This is because it is also compared with the shift position Psh of [S4] determined using the first determination hold time TIME1.

  As described above, according to this embodiment, each of the main microcomputer 62 and the sub-microcomputer 64 receives the shift operation position signal from the shift operation position sensor 36, and the shift operation position signal is determined for a predetermined time TIMEf. When the same operation position Pope is expressed over (for example, the first determination hold time TIME1, the second determination hold time TIME2, or the determination time TIMEx), the shift position Psh corresponding to the shift operation position signal is determined. Then, the main microcomputer 62 and the sub-microcomputer 64 monitor each other for abnormalities in the counterpart microcomputer. Specifically, the main microcomputer 62 includes a first shift determination buffer 80m that stores the shift position Psh determined using the first determination hold time TIME1 as the predetermined time TIMEf, and the first determination hold time TIME1. A second shift determination buffer 82m for storing the shift position Psh determined with the long second determination hold time TIME2 as the predetermined time TIMEf, and a shift position Psh (control) determined by the counterpart microcomputer (sub-microcomputer 64) And a comparison buffer 84m in which a shift) is stored. The main microcomputer 62 configured as described above includes the sub-microcomputer 64 in which all the shift positions Psh stored in the first shift determination buffer 80m and the second shift determination buffer 82m are stored in the comparison buffer 84m. When it is different from the determined shift position Psh, it is determined that the sub-microcomputer 64 is abnormal. Similarly, the sub-microcomputer 64 stores a first shift determination buffer 80s that stores the shift position Psh determined using the first determined hold time TIME1 as the predetermined time TIMEf, and the second determined hold time TIME2 as the predetermined time. A second shift determination buffer 82s for storing the shift position Psh determined as TIMEf, and a comparison buffer 84s for storing the shift position Psh (control shift) determined by the counterpart microcomputer (main microcomputer 62). I have. The sub-microcomputer 64 determines the shift determined by the main microcomputer 62 in which all the shift positions Psh stored in the first shift determination buffer 80s and the second shift determination buffer 82s are stored in the comparison buffer 84s. When the position is different from the position Psh, it is determined that the main microcomputer 62 is abnormal. Therefore, for example, the main microcomputer 62 and the sub-microcomputer 64 can be detected quickly while the main microcomputer 62 and the sub-microcomputer 64 are detected correctly. Judgment can be made.

  Further, according to the present embodiment, the main microcomputer 62 shifts all shift positions Psh stored in the first shift determination buffer 80m and the second shift determination buffer 82m in the comparison buffer 84m. The difference from the position Psh is that the sub-microcomputer 64 is determined to be abnormal when it continues for the abnormal holding time TIME1 ng or more. Similarly, in the sub-microcomputer 64, all the shift positions Psh stored in the first shift determination buffer 80s and the second shift determination buffer 82s are different from the shift position Psh stored in the comparison buffer 84s. When the abnormal hold time TIME1ng or more continues, it is determined that the main microcomputer 62 is abnormal. Therefore, it is possible to more reliably prevent the main microcomputer 62 or the sub-microcomputer 64 from making an erroneous determination of the abnormality of the microcomputer as compared with the case where it does not matter whether or not the abnormality holding time TIME1 ng has been continued. is there.

  Further, according to the present embodiment, the shift position Psh stored in the comparison buffer 84m of the main microcomputer 62 is the shift position determined by the sub-microcomputer 64 using the predetermined determination time TIMEx as the predetermined time TIMEf. Psh. Similarly, the shift position Psh stored in the comparison buffer 84s of the sub-microcomputer 64 is the shift position Psh determined by the main microcomputer 62 with the determination time TIMEx as the predetermined time TIMEf. The determination time TIMEx is the same as the second determination hold time TIME2. Therefore, compared with the case where the determination time TIMEx is not made the same as the second determination hold time TIME2, the types of parameters set as the predetermined time TIMEf stored in the main microcomputer 62 and the sub-microcomputer 64 are reduced. It is possible.

  Further, according to the present embodiment, as shown in FIG. 2, the shift operation device 32 shifts back to a predetermined reference position (M operation position) when the operation is manually performed and the artificial operation is released. A lever 32 is provided. The operation position Pope of the shift operation device 32 is the operation position Pope of the shift lever 32. Therefore, the shift control of the transmission 18 is performed according to the erroneous shift position Psh while appropriately avoiding that the main microcomputer 62 and the sub-microcomputer 64 output the incorrect shift position Psh due to the microcomputer abnormality. The shift operation in which the operation position Pope of the shift lever 32 when the artificial operation on the shift lever 32 is released and the shift position Psh used for the shift control do not correspond one-to-one while appropriately avoiding this. The device 30 can be realized.

  As mentioned above, although the Example of this invention was described in detail based on drawing, this invention is applied also in another aspect.

  For example, in the above-described embodiment, the shift lever 32 is shifted in two dimensions, but may be shifted along one axis, or shifted in three dimensions. It may be. The shift lever 32 returns to the M operation position when there is no external force acting on the shift lever 32, but does not return to the M operation position but stays at the operation position Pope operated by the driver. There is no problem.

  In the above-described embodiment, the shift lever 32 is a momentary lever switch, but may be a push button switch, a slide switch, or the like instead. Furthermore, the shift operation device 30 may be operated by a foot instead of a manual operation, or may be operated in response to a driver's voice. In short, the shift operation device 30 may be an operation device that converts a driver's intention to shift into an electrical signal.

  In the above-described embodiment, the second determination hold time TIME2 and the determination time TIMEx are set to the same length of time, but may be different from each other. For example, the determination time TIMEx is the first time The predetermined hold time may be longer than the determination hold time TIME1 and shorter than the second determination hold time TIME1.

  In the above-described embodiment, the sub-microcomputer 64 includes the first shift determination buffer 80 s and the second shift determination buffer 82 s as the shift determination buffer for abnormality determination of the main microcomputer 62. The number of determination buffers is not limited to two, and the sub-microcomputer 64 may include three or more shift determination buffers. In this case, for example, in the third shift determination buffer, the shift position Psh determined with the third determination hold time different from both the first determination hold time TIME1 and the second determination hold time TIME2 as the predetermined time TIMEf. Is memorized. The same applies to the main microcomputer 62. Further, the number of the shift determination buffers included in each of the main microcomputer 62 and the sub microcomputer 64 is not necessarily the same.

  In the above-described embodiment, the transmission 18 is a stepped automatic transmission including a plurality of planetary gear units, but may be a continuously variable transmission (CVT) such as a belt type. Alternatively, the transmission 18 is an electric continuously variable transmission that includes an electric motor having a power generation function and a planetary gear device, and changes the gear ratio by controlling the differential state of the planetary gear device by the electric motor. There is no problem.

  In the above-described embodiment, the vehicle 10 does not include an electric motor as a driving power source for traveling. However, the vehicle 10 includes a hybrid vehicle including a traveling electric motor in addition to the engine 12 or a traveling vehicle that does not include the engine 12. Even an electric vehicle equipped only with an electric motor may be used.

  In the above-described embodiment, the flowchart of FIG. 4 includes SA6 to SA9, but a flowchart without SA6 to SA9 is also conceivable. In the flowchart as described above, when the determination of SA4 or SA5 is affirmed, the process proceeds to SA10, and when the determination of SA5 is denied, the process proceeds to SA11. The same applies to FIG.

  The above description is only an embodiment, and the present invention can be implemented in variously modified and improved forms based on the knowledge of those skilled in the art.

10: Vehicle 30: Shift operation device 32: Shift lever 60: Electronic control device (electronic control device for vehicle)
62: Main microcomputer (first microcomputer)
64: Sub-microcomputer (second microcomputer)
80m, 80s: first shift determination buffers 82m, 82s: second shift determination buffers 84m, 84s: comparison buffers

Claims (3)

When a shift operation position signal indicating the operation position of the shift operation device is input and the shift operation position signal indicates the same operation position for a predetermined time or more, a shift position corresponding to the shift operation position signal is determined. An electronic control device for a vehicle comprising one microcomputer and a second microcomputer, wherein the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer;
The first microcomputer and the second microcomputer have a first shift determination buffer for storing the shift position determined by using a predetermined first determination hold time as the predetermined time, and the first determination hold time than the first determination hold time. A second shift determination buffer for storing the shift position determined with a long predetermined second determination hold time as the predetermined time, and a comparison buffer for storing the shift position determined by the counterpart microcomputer Each with
In the first microcomputer and the second microcomputer, all the shift positions stored in the first and second shift determination buffers are respectively determined by the counterpart microcomputer stored in the comparison buffer. If it is different from the shift position, it is judged that the other party's microcomputer is abnormal,
It is predetermined that each of the first microcomputer and the second microcomputer differs from the shift position stored in the comparison buffer in that all the shift positions stored in the first and second shift determination buffers are respectively determined. It was abnormal hold when duration or car dual electronic controller you characterized by determining a mating microcomputer is abnormal. When a shift operation position signal indicating the operation position of the shift operation device is input and the shift operation position signal indicates the same operation position for a predetermined time or more, a shift position corresponding to the shift operation position signal is determined. An electronic control device for a vehicle comprising one microcomputer and a second microcomputer, wherein the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer;
The first microcomputer and the second microcomputer have a first shift determination buffer for storing the shift position determined by using a predetermined first determination hold time as the predetermined time, and the first determination hold time than the first determination hold time. A second shift determination buffer for storing the shift position determined with a long predetermined second determination hold time as the predetermined time, and a comparison buffer for storing the shift position determined by the counterpart microcomputer Each with
In the first microcomputer and the second microcomputer, all the shift positions stored in the first and second shift determination buffers are respectively determined by the counterpart microcomputer stored in the comparison buffer. If it is different from the shift position, it is judged that the other party's microcomputer is abnormal,
The shift position stored in the comparison buffer is a shift position determined by the counterpart microcomputer using the predetermined determination time as the predetermined time,
The judgment time car dual electronic controller you characterized in that the same as the second determination holding time. When a shift operation position signal indicating the operation position of the shift operation device is input and the shift operation position signal indicates the same operation position for a predetermined time or more, a shift position corresponding to the shift operation position signal is determined. An electronic control device for a vehicle comprising one microcomputer and a second microcomputer, wherein the first microcomputer and the second microcomputer monitor each other for an abnormality of the counterpart microcomputer;
The first microcomputer and the second microcomputer have a first shift determination buffer for storing the shift position determined by using a predetermined first determination hold time as the predetermined time, and the first determination hold time than the first determination hold time. A second shift determination buffer for storing the shift position determined with a long predetermined second determination hold time as the predetermined time, and a comparison buffer for storing the shift position determined by the counterpart microcomputer Each with
In the first microcomputer and the second microcomputer, all the shift positions stored in the first and second shift determination buffers are respectively determined by the counterpart microcomputer stored in the comparison buffer. If it is different from the shift position, it is judged that the other party's microcomputer is abnormal,
The shift operation device includes a shift lever that is manually operated and returns to a predetermined reference position when the artificial operation is released,
Car dual electronic controller you wherein the operating position of the shift operation device is an operation position of the shift lever.

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