JP5987758B2 - Program and control device - Google Patents

Description

  The present invention relates to a program implemented in a control device that controls a controlled device and a control device that implements the program.

  Conventionally, a vehicle sonar system in which a plurality of obstacle detection sensors arranged in a front bumper, a rear bumper, etc. of a vehicle and a control device for controlling these sensors are connected to a bus and each vehicle detects obstacles around the vehicle. Is known (see, for example, Patent Document 1). In this type of system, it is necessary for the control device to have an ID for each sensor in order to specify the position of each sensor, but it is desirable not to divide the sensor product number from the viewpoint of production management and cost. Therefore, in the system of Patent Document 1, while the sensor part number is made common among the sensors, the control device sets IDs corresponding to the arrangement positions of the sensors via the bus in order from the sensor closest to the control device when the system is started. doing. At this time, each sensor is configured to be connected in a daisy chain to a power source (bus) in the order in which IDs are set, that is, in order from the sensor closest to the control device.

  Moreover, in the system of patent document 1, each sensor is divided into groups according to the arrangement position, specifically, a sensor group arranged in the front bumper and a sensor group arranged in the rear bumper. It is divided. A power supply (power supply line) is provided for each group, and each power supply is switched on and off individually, so that ID setting can be performed independently for each group.

JP 2006-16162 A

  By the way, in the above-described vehicle sonar system, there are some variations in the sensor configuration such as the number of buses to which each sensor is connected depending on customer needs. Since the software (program) for controlling each sensor differs if the sensor configuration is different, at present, software is prepared for each sensor configuration. For this reason, when there is a change in system specifications, all of the plurality of software must be maintained, resulting in poor maintainability. In the future, when the sensor configuration is expanded, software for the sensor configuration added by the expansion must be designed from the beginning, and it has been difficult to flexibly cope with the expansion of the sensor configuration.

  The present invention has been made in view of the above circumstances, and a system in which a controlled device and a control device are connected by a bus, such as a vehicle sonar system, and there are several variations in the system configuration such as the number of buses. It is an object of the present invention to provide a program that can be flexibly accommodated even if there is a change in system specifications, expansion of the number of buses, and the like, and a control device that implements the program.

  The present inventor tried to organize the control contents in each variation of the sensor configuration in the vehicle sonar system, and the ID setting algorithm for each sensor at the time of starting the system has a law determined by the number of buses and the number of power supplies. I discovered that. That is, when performing ID setting for a group (series group group) connected in series to the same bus, the power of each group is sequentially turned on, and the ID setting is performed in order from the sensor of the group that is powered on. Do. That is, in the case of a sensor configuration in which a plurality of power supplies are provided on the same bus, ID setting between the groups is performed in series. On the other hand, when setting an ID for a group (parallel group group) connected in parallel to different buses, the power supply of each group is simultaneously turned on to set the ID of a plurality of groups in parallel. In other words, in the case of a sensor configuration provided with a plurality of buses, ID setting between groups is performed in parallel. And it discovered that an ID setting algorithm can be generalized irrespective of a sensor structure by utilizing the law property, and came to this invention.

That is, in the program of the present invention, a plurality of controlled devices and control devices that control the controlled devices are connected to one or a plurality of buses, and the plurality of controlled devices are connected to each bus or each controlled device. It is divided into groups according to the arrangement position, and is mounted on the control device in a system in which a power source that can be switched on and off by the control device for each group is provided as a component of the bus,
For the serial group group that is a plurality of the groups connected in series to the same bus, the control device sequentially turns on the power supply of each group, and sequentially starts from the group in which the power supply is turned on. While executing processing, for the parallel group group that is a plurality of the groups connected in parallel to the different buses, the power of each group is simultaneously turned on to execute the predetermined processing in parallel. A program for operating the control device,
The unit program, which is a program showing the predetermined processing, has a structure arranged so as to be connected in series and in parallel, and a portion of the structure in which the unit programs are arranged in series performs processing for the serial group group. A portion where the unit programs are arranged in parallel indicates processing for the parallel group group;
An arrangement portion of the unit program used in the structure is selected according to the number of buses and the number of power supplies.

  As described above, the program of the present invention has a structure in which unit programs indicating predetermined processing such as ID setting processing are arranged in series and in parallel, and has a system configuration (the number of buses and the number of power supplies). Accordingly, the sequence portion to be used in the structure is selected. Therefore, when the program is installed in the control device, the control device can be operated according to the system configuration (the number of buses and the number of power supplies), and the above structure is common regardless of the number of buses and the number of power supplies. Can be That is, even if the specifications of the number of buses and the number of power supplies are changed, the above structure does not need to be changed, and it is only necessary to adjust (select) the array portion to be used. That is, it is possible to flexibly cope with changes in system specifications.

  The control device of the present invention implements the program of the present invention. Thereby, the control device can execute predetermined processing in series for the serial group group, and can execute predetermined processing in parallel for the parallel group group.

It is the figure which showed an example of the structure of the sonar system for vehicles. It is the figure which showed the detailed structure of the sonar system for vehicles. It is the figure which showed the internal structure of the sensor. It is a conceptual diagram of the software mounted in ROM of ECU in the sensor structure of FIG. It is a flowchart of ID setting processing. It is the figure which showed the communication state of the bus | bath in the initialization process of the sensor structure of FIG. 1, and the ON / OFF state of each power supply. It is the figure which represented the contents of the software structure of FIG. 4 with the state transition diagram. It is the figure which showed the 1st-3rd variation of a sensor structure. It is the figure which showed the 4th-6th variation of the sensor structure. It is a conceptual diagram of the software mounted in ROM of ECU in a 4th variation. It is the figure which showed the communication state of each bus | bath in the initialization process of the sensor structure of a 4th variation, and the ON / OFF state of the power supply of each bus | bath. It is a conceptual diagram of software having a software structure in which unit programs are arranged in a 4 × 4 matrix.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating an example of a configuration of a vehicle sonar system that detects an obstacle around a vehicle. A vehicle sonar system 100 in FIG. 1 is mounted on a vehicle 1. A plurality of sensors 4 (411 to 424) mounted at positions on a vehicle body surface of the vehicle 1, an ECU 2 that controls the sensors 4, Each sensor 4 and one bus 3 to which the ECU 2 is connected are provided.

  FIG. 2 shows a detailed configuration of the vehicle sonar system 100. As shown in FIG. 2, the bus 3 includes a communication line 31 through which various data including IDs are transmitted and received between the ECU 2 and each sensor 4, a power line 32 connected to the + B terminal of the in-vehicle battery, and a ground. It is composed of a connected GND line 33. Note that power is supplied to each sensor 4 through the power supply line 32 and the GND line 33. As shown in FIG. 1, the bus 3 is disposed between the front bumper 11 and the rear bumper 12 of the vehicle 1. Two sensors 411 and 412 are connected to the bus 3 at the position of the front bumper 11 (strictly, both front corners), and the position of the rear bumper 12 (strictly, both the rear corners and between the corners). ), Four sensors 421 to 424 are connected to the bus 3.

  The two sensors 411 and 412 mounted on the front bumper 11 are defined as the first group 41, the four sensors 421 to 424 mounted on the rear bumper 12 are defined as the second group 42, and the power line 32 of the bus 3 is connected to the group 41. , 42 are provided. That is, as shown in FIG. 2, the power supply line 32 includes a first power supply line 321 for supplying power to the first group 41 and a second power supply line 322 for supplying power to the second group 42. Have.

  As shown in FIG. 1, the ECU 2 is connected to the bus 3 at a position between the first group 41 and the second group 42. The ECU 2 includes a controller 21 and power switches SW1 and SW2, as shown in FIG. The controller 21 is a computer composed of a CPU, a ROM, a RAM, and the like, and is connected to the + B terminal of the in-vehicle battery via the ignition switch (IG) of the vehicle 1. The controller 21 receives power supplied from the in-vehicle battery, thereby controlling the switches SW1 and SW2 to be turned on and off, and communicating with each of the sensors 411 to 424 while setting the sensors 411 to 424. Or control. The communication between the controller 21 and each of the sensors 411 to 424 is, for example, LIN communication. Further, the controller 21 is provided with a ROM 211, and a program (software) executed by the controller 21 is mounted on the ROM 211. Since the structure of the program is a characteristic part of the present invention, it will be described in detail later.

  One end of the power switch SW1 is connected to the + B terminal of the in-vehicle battery via the IG, and the other end is connected to the first power line 321. Also, one end of the power switch SW2 is connected to the + B terminal of the in-vehicle battery via the IG, and the other end is connected to the second power line 322. Terminals for controlling opening and closing of the power switches SW1 and SW2 are connected to the controller 21. The controller 21 turns on and off the power switches SW1 and SW2 separately to supply and cut off power to the first power line 321, that is, the first group 41, and the second power line 322, that is, the second group 42. Can be done separately.

  The sensors 411 to 424 have the same function and structure as each other. Moreover, the sensor product number is common among the sensors 411-424. The sensor 4 (sensors 411 to 424) transmits an ultrasonic wave around the sensor 4, receives a reflected wave reflected when the ultrasonic wave hits an obstacle, and detects the obstacle based on the received reflected wave. It is a sonic sensor. FIG. 3 shows the internal configuration of the sensor 4. As shown in FIG. 3, the sensor 4 includes a controller 4a, a power supply circuit 4b, and a switch 4c. Each sensor 4 is connected in series to the power line 32 via a switch 4c. Specifically, the sensors 411 and 412 of the first group 41 are connected in series to the first power supply line 321 via the switches 4 c of the sensors 411 and 412. The sensors 421 to 424 of the second group 42 are connected in series to the second power supply line 322 via the switches 4c of the sensors 421 to 424.

  The power supply circuit 4b is connected to one end of the switch 4c and the GND line 33, and generates a power supply for the controller 4a. The controller 4a is directly connected (bus connected) to the communication line 31 and the GND line 33, and controls the switch 4c.

  As described above, the sensor configuration of the vehicle sonar system 100 of FIG. 1 has a structure (one bus, two power sources) including one bus 3 and two power sources (power lines 321 and 322). ing. The first group 41 and the second group 42 constitute a series group group connected in series to the same bus 3.

  Next, the structure of the software implemented in the ROM 211 (see FIG. 2) of the ECU 2 and the processing of the ECU 2 by the software, which are the features of the present invention, will be described. The ECU 2 (controller 21) recognizes at which position of the vehicle 1 the sensor 4 that has detected the obstacle is located at the start of the vehicle sonar system 100, specifically the start of the vehicle 1. When the ignition switch IG, which is the time, is turned on, initialization processing for performing initial setting of each sensor 4 such as ID setting according to the arrangement position of each sensor 4 is executed for each sensor 4. In the ROM 211, software for the initialization process is mounted (stored).

  FIG. 4 shows a conceptual diagram of the software. The software 5 in FIG. 4 has a structure 50 in which initialization processing programs 5a (hereinafter referred to as unit programs) executed for one sensor group are conceptually arranged in a matrix. Specifically, the structure 50 is provided for each bus in the parallel direction (lateral direction in FIG. 4) indicating the number of buses (hereinafter referred to as bus axis) and in the series direction (vertical direction in FIG. 4). An axis indicating the number of power supplies (hereinafter referred to as a power supply axis) is defined, and the unit program 5a is arranged in two rows in the direction of the bus axis and two rows in the direction of the power supply axis, that is, in a 2 × 2 matrix. An ordered structure.

  In the structure 50, one column 511 on the left side is selected (adjusted) as a portion to be used, that is, a portion to be executed by the ECU 2. In other words, the right column 512 is adjusted so that it is not used. The selected array portion 511 is selected in advance at the sensor configuration specification determination stage before being mounted in the ROM 211. The array portion 511 corresponds to the sensor configuration (the number of buses is 1, the number of power supplies is 2) in FIG.

  FIG. 5 shows a flowchart of the ID setting process in the unit program 5a (initialization process) on the left side and a process executed by the sensor 4 on the right side. FIG. 6 is a diagram for explaining the ID setting sequence between groups (series group group) in the sensor configuration (number of buses 1, number of power supplies 2) in FIG. An on / off state of the first power line 321 (power switch SW1) and an on / off state of the second power line 322 (power switch SW2) are shown.

  The ID setting process in the sensor configuration of FIG. 1 will be described with reference to FIGS. The controller 21 of the ECU 2 (hereinafter simply referred to as ECU 2) starts when the ignition switch IG is turned on and power is supplied from the on-vehicle battery (S1). First, the first unit program of the array portion 511 of FIG. 5a1 is executed to set the ID for the first group 41 (see FIG. 1). That is, the switch SW1 is turned on and the switch SW2 is turned off to supply power only to the first power supply line 321 (see also S2 and FIG. 6). Thereby, only the controller 4a of the sensor 411 (see FIG. 1) closest to the ECU 2 in the first group 41 is supplied with power and starts (S11).

  The ECU 2 then sets the setting ID to initialization (ID = 1) (S3), and then transmits an ID setting message in which the ID is set to the communication line 31 (S4). Thereafter, the ECU 2 transmits an ID confirmation message for confirming that the ID transmitted in S4 can be set in the sensor to the communication line 31 (S5). At this time, the ID set in S4 is designated as the destination of the ID confirmation message. Thereafter, the ECU 2 waits for a message from the sensor responding to the ID confirmation message transmitted in S5 (S6). When the sensor 411 starts with power supplied (S11), it waits for an ID setting message (S12). When the ID setting message is received, it is determined whether or not the ID setting message ignore flag F is set (S13). If it is not set, the process proceeds to S14, and if it is set, it is received. Ignore the message and end this process. Here, the ID setting message ignoring flag F is a flag that is initially set to F = 0 and is set to F = 1 by the sensor set with the ID.

  In S14, the ID in the received ID setting message is stored and determined as the ID (S14), then the switch 4c is turned on (S15), and a message (inquiry) from the ECU 2 is awaited (S16). Thereafter, when an ID confirmation message from the ECU 2 is received, the process proceeds to S17, a message responding to the ID confirmation message is transmitted to the ECU 2 (S17), then an ID setting ignore flag F is set (S18), and then the process ends. As a result, the next-stage sensor 412 (see FIG. 1) is started by supplying power, and the sensor 411 whose ID setting has been completed ignores ID setting messages for the subsequent sensors.

  The ECU 2 determines whether or not a response message from the sensor is received in S6, and proceeds to S7 if received. In S7, it is determined whether or not the ID setting has been completed up to the last sensor 424 (see FIG. 1) of the second group 42. If not, the process proceeds to S8 and the setting ID is changed to the next ID (ID = ID + 1), and then returning to S4 and transmitting the ID setting message in which the ID is set to the communication line 31, the ID setting of the sensor 412 at the next stage is performed.

  Thereafter, when ID = 3 is set in S8, the ECU 2 next executes the second unit program 5a2 of the array portion 511 in FIG. 4 to execute ID for the second group 42 (see FIG. 1). Set up. That is, the switch SW2 is also turned on to supply power to the second power supply line 322 (S2, see FIG. 6). Thereby, power is supplied to the sensor 421 (see FIG. 1) closest to the ECU 2 in the second group 42, and ID setting is performed for the sensor 421. Thereafter, ID setting is performed in the order of sensor 421 → sensor 422 → sensor 423 → sensor 424.

  If the ID setting has been completed up to the last sensor 424 in S7, the process proceeds to S9 to start communication for collecting information from each sensor 4 in which individual IDs are set by a polling / selecting method or the like.

  As described above, when setting the ID, the ID is set to the first sensor via the bus based on the ID corresponding to each arrangement position of the sensors 411 to 424, and then the sensor set with the ID is sequentially switched. After turning on and connecting the next stage sensor to the bus, by setting the ID for the next stage sensor connected to the bus, the ID corresponding to the position of each sensor is sequentially set from the ECU 2. It can be set automatically. Note that the ROM 211 of the ECU 2 stores a relationship between each sensor placement position and the ID (for example, ID = 1 is a sensor mounted on the right front corner), and the ECU 2 has that relationship. By referring to, it is possible to communicate with each sensor while grasping where the sensor is located.

  In the sensor configuration of FIG. 1, the unit programs 5a1, 5a2 of the array portion 511 of FIG. 4 are executed in order, that is, in series, and the initialization process (ID setting) is performed in the order of the first group 41 and the second group. Process). That is, the power supplies (power switches SW1 and SW2) of the groups 41 and 42 are sequentially turned on, and ID setting is performed in order from the sensor of the group that is powered on. Thus, in the software structure 50, the portion where the unit programs 5a are arranged in the series direction (the direction of the power supply axis) is an initialization process for a sensor configuration in which a plurality of power supplies are provided on the same bus, that is, a series group. This corresponds to a program for initializing the group. As will be described later, the portion where the unit programs 5a are arranged in the parallel direction (the direction of the bus axis) is an initialization process for a sensor configuration in which a plurality of sensor groups connected to a plurality of buses are connected, that is, in parallel. This corresponds to an initialization process program for the group.

  Here, the software structure will be described in more detail with reference to FIG. FIG. 7 is a diagram showing the contents of the software structure 50 of FIG. 4 in a state transition diagram. As shown in FIG. 7, the software structure 50 is provided with a number of branching units (such as the branching unit 521) that define which unit program 5a is to be executed. Then, by setting a branching condition corresponding to the sensor configuration in each branching part, the program is used as the program used by the left array part 511. Specifically, a first branching unit 521 is provided in front of the first unit program 5a1 in the left array portion 511. The branch condition in the first branch unit 521 is set so as to shift from the first branch unit 521 to the first unit program 5a1.

  A second branching unit 522 is provided between the first unit program 5a1 and the second unit program 5a2. After the execution of the first unit program 5a1, the branch condition in the second branch unit 522 is set so as to shift to the second branch unit 522 and shift from the second branch unit 522 to the second unit program 5a2. ing. After the execution of the second unit program 5a2, the program in the left array portion 511 is terminated.

  In addition, branch conditions are set in each branch section so that the right array portion 512 is not executed. Specifically, for example, a third branch unit 523 is provided in front of the first unit program 5a3 in the right array part 512, and the right array without moving from the third branch unit 523 to the unit program 5a3. A branching condition in the third branching unit 523 is set so as to pass through the portion 512. As a result, each unit program 5a of the right array portion 512 is not executed.

  The process of FIG. 5 described above shows the ID setting process in the initialization process. Actually, however, the unit program 5a (initialization process) includes processes other than the ID setting as shown in FIG. Contains. Specifically, in the example of the first unit program 5a1 on the left side, that is, the example of the initialization process for the first group 41, when the process proceeds to the first unit program 5a1, the power switch SW1 is turned on, The ID is set for the first sensor 411 (S101, corresponding to the process of FIG. 5). Thereafter, polling is performed on the sensor 411 in which the ID is set (S102), and various parameters of the sensor 411 (for example, the frequency of ultrasonic waves transmitted from the sensor 411 and the number of ultrasonic pulses transmitted in one transmission period). Etc.) (S103) or a threshold value for detecting an obstacle of the sensor 411 is set (S104). The threshold value of S104 is a threshold value of the amplitude of the reflected wave. When the amplitude of the reflected wave is equal to or greater than the threshold value, the obstacle is detected, and when it is less than the threshold value, the obstacle is not detected. .

  In the first unit program 5a1, conditions are set so that the above-described processing of S101 to S104 is repeated twice. That is, after performing the processing of S101 to S104 (initialization processing) for the first sensor 411 of the first group 41, next, the processing of S101 to S104 is performed for the second sensor 412. Conditions for the first unit program 5a1 are set.

  After S101 to S104 of the first unit program 5a1 are repeated twice, the first unit program 5a1 is exited, the process proceeds to the second branch unit 522, and the second unit program 5a2 is transferred from the second branch unit 522. Migrate to The number of repetitions of S101 to S104 of the second unit program 5a2 is preset to the number of sensors of the second group 42, that is, four times. Therefore, when the unit program 5a2 is entered, the power switch SW2 is turned on, and the ID setting (S101), polling (S102), parameter setting (S103) in order from the sensor 421 to the sensors 421 to 424 of the second group 42. ), Initialization processing including threshold setting (S104) is performed.

  The ROM 211 of the ECU 2 includes a software structure 50 shown in FIGS. 7 and 4 as a software structure independent of the sensor configuration, and adjustment data dependent on the sensor configuration (branch conditions at each branching portion of the structure 50 and the selected unit program. 5a) is stored as software for the initialization process.

  The software structure 50 in FIG. 4 has a structure in which unit programs 5a are arranged in a 2 × 2 matrix, so that the maximum number of buses is two and the maximum number of power supplies is two per bus. Four sensor configurations can be accommodated. Here, FIG. 8 and FIG. 9 exemplify variations of the sensor configuration, and in detail, shows the sensor configuration of each variation, and the number of buses and the number of power supplies in each sensor configuration. In FIG. 8 and FIG. 9, the same reference numerals are assigned to configurations having the same names or functions as those in FIG. 1. In the first variation shown in FIG. 8, four sensors 4 are mounted on the rear bumper 12, and the sensors 4 and the ECU 2 are connected by a single bus 3. The bus 3 is provided with one power supply line. That is, the first variation is a sensor configuration in which the number of buses is 1 and the number of power supplies is 1.

  In the second variation, two sensors 4 are mounted on the front bumper 11, two sensors 4 are mounted on the rear bumper 12, and the sensors 4 and the ECU 2 are connected by a single bus 3. Also, the bus 3 is provided with two power supply lines: a power supply line that supplies power to the group 41 of the two front sensors 4 and a power supply line that supplies power to the group 42 of the two rear sensors 4. Yes. That is, the second variation is a sensor configuration in which the number of buses is 1 and the number of power supplies is 2, similar to the sensor configuration in FIG. However, in the second variation, the number of sensors of the second group 42 is different from the sensor configuration of FIG.

  The third variation is the same as the sensor configuration of FIG. 1. The first group 41 has two sensors 4 and the second group 42 has four sensors 4. The number of buses is one and the number of power supplies is the same. 2 is a sensor configuration.

  In the fourth variation shown in FIG. 9, two sensors 4 are mounted on the front bumper 11, four sensors 4 are mounted on the rear bumper 12, and the sensors 4 and the ECU 2 are connected by two buses 3a and 3b. ing. Specifically, the group 43 of the two front sensors 4 is connected to the front bus 3 a disposed on the front bumper 11, and the group 44 of the four rear sensors 4 is connected to the rear bus 3 b disposed on the rear bumper 12. It is connected. The ECU 2 is connected to both buses 3a and 3b. Each bus 3a, 3b is provided with one power supply line. That is, the fourth variation is a sensor configuration with two buses and two power supplies. The groups 43 and 44 constitute a parallel group group connected in parallel to different buses 3a and 3b.

  The fifth variation differs from the fourth variation in that the number of sensors 4 mounted on the front bumper 11 is four, and the other variations are the same as the fourth variation. That is, the fifth variation is a sensor configuration with two buses and two power supplies (a sensor configuration of a parallel group group).

  In the sixth variation, four sensors 4 are mounted on the front bumper 11, four sensors 4 are mounted on the rear bumper 12, and two sensors 4 are mounted, one on each of the front portions 13 on the left and right side surfaces, Two sensors 4 are mounted on each of the rear portions 14 on the left and right side surfaces, and the sensors 4 and the ECU 2 are connected to the four buses 3a to 3d. Specifically, the two front sensors 4 are connected to a front bus 3 a disposed in the front bumper 11, and the four rear sensors 4 are connected to a rear bus 3 b disposed in the rear bumper 12. Further, the two sensors 4 mounted on the front part 13 on the left and right side surfaces are connected to the front side bus 3c disposed on the front part 13, and the two sensors 4 mounted on the rear part 14 on the left and right side surfaces are connected to the rear part. 14 is connected to a rear side bus 3d. Each of the buses 3a to 3d is provided with one power supply line. That is, the sixth variation is a sensor configuration with four buses and four power supplies (sensor configuration in a parallel group group).

  As described above, the software structure 50 shown in FIG. 4 is compatible with sensor configurations having a maximum number of buses of 2 and a maximum number of power supplies of 4 (maximum of 2 per bus). In the case where the sensor configurations of the first to fifth variations of 9 are employed, the software structure 50 of FIG. 4 can be shared. At this time, it is possible to cope with each variation by selecting and adjusting the array portion to be used in the software structure 50 in accordance with the number of buses and the number of power supplies of each variation while making the software structure 50 common.

  Here, taking the fourth variation of FIG. 9 as an example, the software structure in the fourth variation will be described. FIG. 10 is a conceptual diagram of software 6 for initialization processing of each sensor 4 mounted on the ROM of the ECU 2 in the fourth variation. Comparing the software 5 of FIG. 4 with the software 6 of FIG. 10, the software 6 of FIG. 10 has the same structure 50 as the software 5 of FIG. Is different. Specifically, in FIG. 10, the array unit 513 of the upper two unit programs 5 a arranged in the parallel direction (the direction of the bus axis) is selected as a program to be used. In other words, the array portion 514 of the lower unit program 5a is not selected as a program to be used.

  The selection of the array portion 513 will be described with reference to FIG. 7. The branch condition in the first branch unit 521 is set so as to shift from the first branch unit 521 to the first unit program 5a1 on the left side. The branch condition in the second branch unit 522 is set so that the second branch unit 522 ends the path on the left without moving to the second unit program 5a2. Further, the branch condition in the third branch unit 523 is set so as to shift from the third branch unit 523 to the first unit program 5a3 on the right side. The branch condition in the fourth branch unit 524 is such that the fourth path 524 provided before the second unit program 5a4 on the right side ends the right path as it is without shifting to the unit program 5a4. Is set.

  When the ignition switch IG is turned on, the ECU 2 of the fourth variation is mounted on the rear bumper 12 by the initialization process for the sensor group 43 (see FIG. 9) mounted on the front bumper 11 by the software 6 of FIG. The initialization process for the sensor group 44 (see FIG. 9) is executed in parallel (simultaneously). Here, FIG. 11 is a diagram for explaining the order of initialization processing including ID setting between the sensor groups in the sensor configuration of the fourth variation (number of buses 2 and number of power supplies 2). The communication state of the front bus 3a (see FIG. 9), the on / off state of the power line of the front bus 3a, the communication state of the rear bus 3b (see FIG. 9), and the on / off state of the power line of the rear bus 3b are shown.

  When the ignition switch IG is turned on, the ECU 2 turns on the front bus power line and the rear bus power line simultaneously as shown in FIG. Then, the ECU 2 executes the unit program 5a1 on the left side and the unit program 5a3 on the right side in FIG. 10 in parallel, and sets an ID for the sensor group 43 mounted on the front bumper 11 by the unit program 5a1 on the left side. The initialization process is performed on the sensor group 44 mounted on the rear bumper 12 by the right unit program 5a3. When the ECU 2 (controller 21) does not have a function (multitask function) capable of executing a plurality of processes simultaneously, it is actually executed in the order of, for example, the left unit program 5a1 and the right unit program 5a3. Will be. However, even in this case, in concept, the unit programs 5a1 and 5a3 are executed in parallel.

  In this way, when multiple buses are provided, even if the initialization period between the buses overlaps, the initialization of one does not affect the initialization of the other. Going in parallel. Therefore, the portion in which the unit programs 5a are arranged in the parallel direction (the direction of the bus axis) corresponds to an initialization process for a sensor configuration having a plurality of buses, that is, an initialization process for a parallel group group.

  The software structure 50 shown in FIGS. 4 and 10 can correspond to the first to fifth variations shown in FIGS. 8 and 9, but cannot correspond to the sixth variation of 4 buses and 4 power sources. In order to be able to cope with the sixth variation, for example, as shown in FIG. 12, a software structure 60 in which the number of unit programs 5a is arranged in four rows in the bus axis direction and four rows in the power axis direction is provided. Adopt it. The arrangement part 64 for the top row in the software structure 60 is selected as a program to be used in the sixth variation. The array portion 64 is composed of four unit programs 5a arrayed in the bus axis direction. The ECU 2 (see FIG. 9) of the sixth variation executes the four unit programs 5a of the array portion 64 in parallel (simultaneously) when the ignition switch IG is turned on. As a result, the power supplies of the four buses 3a to 3d are simultaneously turned on, the initialization process for the sensor group connected to the front bus 3a, the initialization process for the sensor group connected to the rear bus 3b, and the front side bus 3c. An initialization process for the sensor group connected to the sensor group and an initialization process for the sensor group connected to the rear side bus 3d are executed in parallel.

  The software structure 60 of FIG. 12 has a structure in which the unit programs 5a are arranged in a 4 × 4 matrix, so that the maximum number of buses is 4 and the maximum number of power supplies is 16 (maximum 4 power supplies per bus). ) Sensor configuration. That is, the software structure 60 can cope with all of the first to sixth variations shown in FIGS. Specifically, when the sensor configuration of the first variation is adopted, the initialization process for the sensor configuration can be performed by selecting the upper left array portion 61 in the software structure 60. Further, when adopting the sensor configuration of the second and third variations, by selecting the arrangement portion 62 of the two unit programs 5a arranged in series in the software structure 60, the initial configuration for the sensor configuration is selected. Processing can be performed. Since the number of sensors mounted on the rear bumper 12 is different between the second variation and the third variation, the number of repetitions of the second unit program 5a of the array portion 62 is the same as the second variation and the third variation. It differs depending on the variation.

  Further, when adopting the sensor configuration of the fourth and fifth variations, by selecting the arrangement portion 63 of the two unit programs 5a arranged in parallel in the software structure 60, the sensor configuration is selected. Initialization processing can be performed. In addition, since the number of sensors mounted on the front bumper 11 is different between the fourth variation and the fifth variation, the number of repetitions of the unit program 5a on the left side of the array portion 63 is different from the fourth variation and the fifth variation. Different in variation.

  As described above, the software for initializing the sensor of this embodiment has a software structure in which initialization processing programs (unit programs) for one sensor group are conceptually arranged in a matrix. Therefore, the software structure can be generalized (shared) among a plurality of variations of sensor configurations (the number of buses and the number of power supplies). Therefore, it is possible to flexibly cope with a change in the specification of the sensor configuration. In addition, even if there is a specification change that does not depend on the sensor configuration, it can be deployed as software of each variation simply by maintaining a single software structure.

  In addition, this invention is not limited to the said embodiment, A various change is possible to the limit which does not deviate from description of a claim. For example, in the above embodiment, when ID setting is performed for each sensor, each sensor is sequentially connected to the power supply line (daisy chain connection), but is configured to be daisy chain connected to the communication line or the GND line. Also good. Also, if the sensor configuration with the maximum number of buses and power supplies can be accommodated among the variations of the assumed sensor configuration, the number of units in the parallel direction and the number of units in the series direction are different. Also good. Specifically, for example, assuming the first to sixth variations in FIGS. 8 and 9, a software structure in which unit programs are arranged in four columns in the parallel direction and two columns in the serial direction may be employed. Also by this, it can respond to all the 1st-6th variations.

2 ECU
3, 3a to 3d Bus 321 First power line 322 Second power line 4, 411, 412, 421 to 424 Ultrasonic sensor 5, 6 Software 5a Unit program 50, 60 Software structure 100 Vehicle sonar system

Claims (8)

A plurality of controlled devices (4, 411, 412, 421 to 424) and a control device (2) for controlling these controlled devices are connected to one or a plurality of buses (3, 3a, 3b, 3c, 3d), The plurality of controlled devices are divided into groups (41, 42, 43, 44) for each bus or according to the arrangement position of each controlled device, and can be switched on and off by the control device for each group. A power source (32, 321, 322) is mounted on the control device in the system (100) provided as a component of the bus,
For the serial group group that is a plurality of the groups (41, 42) connected in series to the same bus, the control device sequentially turns on the power supply of each group and turns on the power supply. While executing predetermined processing (S1 to S9, S101 to S104) in order from the group, each of the parallel group groups which are the plurality of groups (43, 44) connected in parallel to the different buses, A program for operating the control device to simultaneously turn on the power supplies of a group and execute the predetermined processing in parallel,
The unit program (5a) that is a program showing the predetermined processing has a structure (50, 60) arranged so as to be connected in series and in parallel, and the unit program is arranged in series in the structure Indicates processing for the serial group group, and the portion in which the unit programs are arranged in parallel indicates processing for the parallel group group,
A use array portion which is an array portion of the unit program used in the structure is selected according to the number of buses and the number of power supplies, and the structure is an array portion of the unit program other than the use array portion. A program (5, 6) characterized in that the program is configured to include an unused sequence portion . Among the assumed variations of the number of the power supplies provided per one bus, the maximum number is the first number, and the maximum number of the assumed variations of the number of buses is the second number,
The program according to claim 1, wherein the structure is a structure in which the unit programs are arranged so that the first number is continuous in a serial direction and the second number is continuous in a parallel direction.   As the arrangement part of the unit programs used in the structure, the unit program is arranged in the parallel direction by the number of the buses, and the part in which the unit programs are arranged in the serial direction by the number of the power supplies is selected. The program according to claim 1 or 2, characterized by the above-mentioned.   The program according to any one of claims 1 to 3, wherein the predetermined process is an ID setting process for setting an ID for each controlled device constituting the group when the system is activated. Each of the plurality of controlled devices has a switch (4c) for turning on and off the connection between the bus and the next-stage controlled device, and the controlled devices to which IDs are set sequentially turn on the switch and perform the next. Configured to connect the controlled device of the stage to the bus;
The ID setting process is a process of setting an ID corresponding to an arrangement position of each controlled device via the bus in order from the controlled device close to the control device. program. The control device and the controlled device are mounted on a vehicle (1),
The program according to claim 1, wherein the controlled device is a sensor that detects an obstacle existing around the vehicle.   The control apparatus (2) which mounted the program of any one of Claims 1-6.   A plurality of controlled devices (4, 411, 412, 421 to 424) and a control device (2) for controlling these controlled devices are connected to one or a plurality of buses (3, 3a, 3b, 3c, 3d), The plurality of controlled devices are divided into groups (41, 42, 43, 44) for each bus or according to the arrangement position of each controlled device, and can be switched on and off by the control device for each group. A power source (32, 321, 322) is mounted on the control device in the system (100) provided as a component of the bus,
  For the serial group group that is a plurality of the groups (41, 42) connected in series to the same bus, the control device sequentially turns on the power supply of each group and turns on the power supply. While executing predetermined processing (S1 to S9, S101 to S104) in order from the group, each of the parallel group groups which are the plurality of groups (43, 44) connected in parallel to the different buses, A program for operating the control device to simultaneously turn on the power supplies of a group and execute the predetermined processing in parallel,
  The unit program (5a) that is a program showing the predetermined processing has a structure (50, 60) arranged so as to be connected in series and in parallel, and the unit program is arranged in series in the structure Indicates processing for the serial group group, and the portion in which the unit programs are arranged in parallel indicates processing for the parallel group group,
  The unit programs are arranged in advance in the structure, and the arrangement part of the unit programs used in the structure is selected according to the number of buses and the number of power supplies. Program (5, 6).

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