JP6663371B2 - Electronic control unit - Google Patents

Description

  The present invention relates to an electronic control device that electronically controls a control device and a control system.

  2. Description of the Related Art In an electronic control device that electronically controls a control device or a control system of various industrial machines, data is stored in a plurality of memories (non-volatile memory and backup RAM), and the stored data in both memories is compared with each other to detect data abnormality. A technique has been proposed in which backup RAM data used in normal control is restored to normal data (for example, see Patent Document 1).

JP-A-7-210215

  However, in the data recovery method described in Patent Document 1, only the recovery of individual data is considered, and the relevance between data is not considered. Therefore, when a data abnormality is detected and the data is restored, the data is restored without data consistency between the data to be considered for relevance, and the data is delivered to the normal control. As a result, the normal control is performed while inconsistency occurs between the data, which may cause a decrease in control performance and an erroneous abnormality detection.

  Accordingly, the present invention provides a method for detecting data abnormality used for control of a control device and restoring the data. It is an object of the present invention to provide an electronic control device for restoring.

  In order to solve the above problems, an electronic control device according to an embodiment of the present invention includes a nonvolatile memory that stores control data including a plurality of data in a plurality of areas, and the control data including the plurality of data. A backup memory capable of storing data even after the power is turned off, computing means for computing control parameters of a control device using the control data stored in the backup memory, and the backup memory Self-diagnosis function means for detecting an abnormality of the control device using the control data stored in the non-volatile memory and the control data stored in the backup memory, Diagnostic means for determining whether or not the plurality of data stored in the backup memory has an abnormality When the plurality of data stored in the backup memory has an abnormality by the diagnostic means, a data recovery that initializes the abnormal data and initializes data related to the abnormal data. Means.

  According to the present invention, when recovering data by detecting an abnormality in the data used for control of the control device, the data in which the abnormality is detected and the data that should be considered for relevance are consistent with each other, and the data is restored. Can be provided.

1 shows a functional block diagram of an electronic control device according to an embodiment of the present invention. FIG. 2 shows a configuration diagram of data stored in a nonvolatile memory. FIG. 3 is an explanatory diagram illustrating a majority decision method when checking the normality of data in a self-diagnosis function unit. FIG. 3 is an explanatory diagram for explaining a data recovery method adopted by data recovery means. 4 shows a flowchart of a data recovery process of a backup RAM executed by a data recovery unit. 4 shows a flowchart of a data recovery process of a backup RAM executed by a data recovery unit. FIG. 6 is an explanatory diagram of how to determine whether or not there is an adverse effect on normal control when data associated with data restored with the default value is restored with the default value in step S21 of FIG.

  Hereinafter, an electronic control unit 100 according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 shows a functional block diagram of an electronic control device 100 according to an embodiment of the present invention.

  The electronic control device 100 according to the present embodiment is an example of a control device (engine control unit) that executes fuel injection control and ignition control of an internal combustion engine 110 mounted on an automobile. That is, the electronic control device 100 is a control device that controls the operating state of the internal combustion engine 110. As shown in FIG. 1, the electronic control unit 100 includes a control operation unit 120, a non-volatile memory 130, a backup RAM (Random Access Memory) 140, a ROM / RAM generally provided as a control unit (not shown), and a signal input / output unit. It has an input / output circuit and a power supply with an output function.

  The control calculation unit 120 fetches output signals of various sensors that detect the operation state of the internal combustion engine 110 based on a program stored in the nonvolatile memory 130 or a storage device (not shown), and performs fuel operation so as to perform operation in accordance with a target. It drives control devices such as injection valves, ignition devices, and drive actuators such as throttle valve motors.

  The control calculation unit 120 includes a self-diagnosis function unit 111, a data recovery unit 112, a parameter acquisition unit 113, a control amount output unit 121, and a self-diagnosis function unit for exhaust performance (hereinafter referred to as exhaust performance diagnosis unit) 122. ing. The parameter acquisition unit 113 detects an output parameter of the internal combustion engine 110. The control amount output means 121 corresponds to an arithmetic means, calculates a control drive signal for driving the control device based on the control data and the output parameter of the backup RAM 140, and outputs the control drive signal to the drive actuator of the internal combustion engine 110 as a control output parameter. . When the exhaust performance diagnostic unit 122 detects an abnormality that lowers the exhaust performance, such as a failure of a drive actuator such as a fuel injection valve, an ignition device, or a throttle valve motor, based on the control data and the output parameter or the control output parameter of the backup RAM 140, The user is warned of the abnormality by turning on a check lamp. The self-diagnosis function unit 111 and the data recovery unit 112 will be described later.

  The non-volatile memory 130 is configured by, for example, an EEPROM or a FLASHROM, which can read and write data necessary for operation control. The non-volatile memory 130 stores control data such as learning data and self-diagnosis data necessary for learning control, identification data unique to the internal combustion engine 110, and the like, in addition to a control program for controlling the internal combustion engine 110.

  FIG. 2 shows a data configuration diagram stored in the nonvolatile memory 130.

  As shown in FIG. 2, according to the order of control addresses in which various data (information) are allocated to the smallest data unit of the memory, identifier (ID) information is allocated to the area A, learning value information is allocated to the area B, Self-diagnosis information is allocated to the area C. Here, the non-volatile memory 130 is divided into two areas: an area A to C and an empty area and an area A ′ to C ′ and an empty area, and the two divided areas are respectively provided with identifier (ID) information, Data of learning value information and self-diagnosis information are stored twice. That is, the same data is stored in the two divided areas of the nonvolatile memory 130. The storage of data in the non-volatile memory 130 is performed for each control address assigned to the minimum data unit of the memory in response to a write request requested from the control operation unit 120.

  The backup RAM 140 stores the same identifier (ID) information, learning value information, and self-diagnosis information data as the data stored in the nonvolatile memory 130. That is, the same data is stored in each of the two divided areas of the non-volatile memory 130 and the backup RAM 140 in a total of three places.

  The self-diagnosis function unit 111 corresponds to a diagnosis unit, and checks the normality of data stored in the nonvolatile memory 130 and the backup RAM 140. Specifically, when the power of the electronic control unit 100 is turned on, the self-diagnosis function unit 111 reads out each of the data stored twice in the nonvolatile memory 130 and the data stored in the backup RAM 140 (from the control calculation unit 120). (The data in the non-volatile memory 130 is read in response to the required read request), and the normality of each data is checked.

  The data recovery means 112 monitors the comparison result of the data by the diagnosis of the self-diagnosis function means 111, and when it is determined that the diagnosis result is abnormal, as shown in FIG. The data in the backup RAM 140 to be used is restored to data that is not abnormal.

  As described below, if the check result by the diagnosis of the self-diagnosis function unit 111 is abnormal, the control calculation unit 120 is used in the normal control before the start of the normal control (the control amount output unit 121, The data in the backup RAM 140 (used by the exhaust performance diagnostic means 122) is restored to non-abnormal data.

  Hereinafter, data recovery processing based on self-diagnosis performed by the electronic control device 100 according to the present embodiment will be described with reference to FIGS.

  FIG. 3 is an explanatory diagram for explaining a majority decision method when checking the normality of data in the self-diagnosis function means 111.

  As shown in FIG. 3, the self-diagnosis function unit 111 employs a majority decision method in which an abnormality is determined based on a combination of data stored twice in the nonvolatile memory 130 and data stored in the backup RAM 140. The self-diagnosis function unit 111 diagnoses data for each control address in accordance with the order of the control addresses allocated to the minimum data unit of the nonvolatile memory 130.

FIG. 3 illustrates a case where the calibration learning value of the drive reference point of the drive actuator of the electronic control device 100 is “X”.
In the case of “Case 1”, it is determined to be normal because the three match.
In case 2, the data in the backup RAM 140 is different from those of the other two, so that it is determined that the data is abnormal.
In the “case 3” and the “case 4”, one of the data in the non-volatile memory 130 and the data in the backup RAM 140 match, so that the data in any of the areas (area B and area B ′) of the non-volatile memory 130 Judge as abnormal.
In the case of “Case 5”, it is determined that none of the data can be trusted because the three parties do not match.

  The diagnosis result of the self-diagnosis function unit 111 is sent to the data recovery unit 112. The data recovery unit 112 performs the processing shown in FIG.

  FIG. 4 is an explanatory diagram illustrating a data recovery method employed by the data recovery unit 112.

In “Case 1”, since the data is determined to be normal, the data is not restored, and the data stored in the backup RAM 140 is used as it is.
In the “case 2”, since the data in the backup RAM 140 has been determined to be abnormal, the data in the backup RAM 140 is restored using the data in the nonvolatile memory 130. That is, the calibration learning value in the backup RAM 140 is overwritten with “X”.
In “Case 3” and “Case 4”, the data stored in the backup RAM 140 is used as it is because the data in any of the areas (area B and area B ′) of the nonvolatile memory 130 is determined to be abnormal. At the same time, the data in the non-volatile memory 130 that has become abnormal is overwritten with the data stored in the backup RAM 140.
In the “case 5”, the data in the backup RAM 140 is restored with the default value of the nonvolatile memory 130 so as to be the same as that at the time of shipment from the factory because it is determined that any data is unreliable due to a mismatch between the three parties (initialization). Do).

  Next, a description will be given of a data recovery process of the backup RAM 140 executed by the data recovery unit 112 when the data stored twice in the nonvolatile memory 130 and the data stored in the backup RAM 140 do not match.

  FIG. 5 shows a flowchart of a data recovery process of the backup RAM 140 executed by the data recovery unit 112.

  The data restoring means 112 is based on information between data to be considered in relation to the data stored in advance in the program (correlated for each control address), and data associated with data to be restored with default values (learning value information). It is determined whether or not there is (step S10). Here, the data relevant to the learning value information is, for example, information for determining whether the learning value has been normally learned, that is, information indicating that the learning value has been learned or has not been learned. Then, the address of the learning value information and the address of the information for determining whether or not the learning value has been normally learned are linked as mutually relevant information. When it is determined that there is relevant data (step S10: Yes), the data recovery unit 112 recovers the data so that the relevant data also has the default value (step S11). That is, the learning value information and the information for determining whether the learning value has been normally learned are overwritten (initialized) with the default value.

  On the other hand, when it is determined that there is no relevant data (Step S10: No), the data recovery unit 112 recovers only the data determined to be abnormal by the self-diagnosis function unit 111 with the default value (Step S12). That is, only the learning value information is overwritten with the default value.

  Further, when a data abnormality occurs in the information for determining whether or not the learning value has been normally learned, and data recovery is performed in “Case 5”, the data in the backup RAM 140 used for normal control is unlearned. State. Since the exhaust performance diagnosis means 122 is not performed in the unlearned state, even if there is data to which the relevance is considered, if there is no adverse effect on the normal control, (calibration of the drive reference point of the drive actuator of the electronic control device) In some cases, it is not necessary to perform data recovery (for the learning value).

  Therefore, when the data stored twice in the nonvolatile memory 130 and the data stored in the backup RAM 140 do not match, the data recovery process of the backup RAM 140 is different from the data recovery process of FIG. The processing will be described.

  FIG. 6 shows a flowchart of a data restoration process of the backup RAM 140 executed by the data restoration means 112.

  The data restoring unit 112 restores the data to be restored with the default value (whether or not the learning value has been normally learned) based on the information between the data to be considered for the relevance previously stored in the program (correlated for each control address). It is determined whether or not there is related data in the information for determining (step S20). Here, the data relevant to the information for determining whether or not the learning value has been normally learned is information on the calibration learning value of the drive reference point of the drive actuator of the electronic control device 100.

  When it is determined that there is relevant data (Step S20: Yes), the data recovery unit 112 overwrites the default value only with the data to be recovered (information for determining whether the learning value has been successfully learned). It is determined whether or not (step S21). In step S <b> 21, when only the data restored with the default value is restored with the default value, the data restoration unit 112 determines whether the normal control of the electronic control device 100 is adversely affected. That is, if only the data restored with the default value is restored with the default value, the data associated with the data restored with the default value is not restored with the default value, thereby causing a problem in controlling the drive actuator. It is determined whether a predetermined condition is satisfied.

  FIG. 7 is an explanatory diagram for determining whether or not there is an adverse effect on normal control when only data restored with the default value is restored with the default value in step S21.

  In FIG. 7A, data in which a data abnormality has occurred is information for determining whether or not a learning value has been normally learned, and relevant data is a driving reference point of a driving actuator of the electronic control device 100. 3 shows the case of the information of the calibration learning value. In this case, when the information for determining whether the learning value has been normally learned is restored with the default value, the data in the backup RAM 140 used for normal control is in an unlearned state. The exhaust performance diagnosing means 122 is not implemented in the unlearned state, and when the driving scene becomes re-learnable, determines whether the learning value has been normally learned again, and determines whether the driving value of the driving actuator of the electronic control device 100 is normal. Update the point calibration learning value. For this reason, even if the calibration learning value of the drive reference point of the drive actuator of the electronic control unit 100 is not restored to the default value, normal control is not adversely affected, and the process proceeds to step S23.

  On the other hand, in FIG. 7B, the data in which the data abnormality has occurred is the information of the calibration learning value of the drive reference point of the drive actuator of the electronic control device 100, and the relevant data indicates that the learning value is normally learned. This shows a case where the information is information for determining whether or not the information has been successfully created. In this case, when the calibration learning value of the drive reference point of the drive actuator of the electronic control unit 100 is restored to the default value, the data in the backup RAM 140 used for normal control has the same default value as that at the time of factory shipment. As a result, if the information for determining whether or not the learning value has been learned normally is left as it is, the learning value can be normally learned (learned) and the learning value is the default value. The control is performed, and the normal control is not performed with the corrected learning value, which adversely affects the normal control (problems occur in driving the drive actuator). Therefore, the process proceeds to step S22.

  If it is determined in step S20 or step S21 that the data needs to be restored after matching, the data restoration unit 112 restores the data so that the related data also has the default value. (Step S22).

  If it is determined in step S20 or step S21 that the data does not need to be restored after the matching, the data restoration unit 112 restores only the data determined to be abnormal by the self-diagnosis function unit 111 with the default value. (Step S23).

  According to the electronic control device 100 as described above, when the control data stored in the backup RAM 140 has an abnormality by the self-diagnosis function unit 111, the data restoration unit 112 restores the abnormal data to a default value, In addition, data related to abnormal data is restored to the default value.

  As a result, when abnormal data is detected and restored to the default value, the data related to the data can be restored to the default value after ensuring consistency of the data, and the control performance can be improved. It is possible to prevent a decrease and the above-described erroneous detection.

  Further, the data recovery unit 112 sets the default value when the data related to the abnormal data is used to control the drive actuator by initializing only the abnormal data and controls the drive actuator. And the data related to the abnormal data is maintained when no malfunction occurs in the control of the drive actuator.

  As a result, when no trouble occurs, the data (learning value) used so far is not returned to the default value, but the continuity of control of the drive actuator can be maintained.

  Note that the present invention is not limited to the above-described embodiment. A person skilled in the art can make various additions and changes without departing from the scope of the present invention.

  In the above embodiment, the description has been given of the relationship between two data. However, the number of data is not limited to this, and a large number of data may be used. In this case, when there is an abnormality in one piece of data, all related data may be returned to the default value, or only a part of necessary data may be returned to the default value.

  Further, in the above-described embodiment, the learning value is the calibration learning value of the drive reference point of the drive actuator, but may be, for example, a zero-point learning value of the motor.

Reference Signs List 100: electronic control unit, 110: internal combustion engine, 111: self-diagnosis function unit, 112: data recovery unit, 113: parameter acquisition unit, 120: control operation unit, 121: control amount output unit, 122: self-diagnosis for exhaust performance Function means, 130: nonvolatile memory, 140: backup RAM

Claims (2)

A nonvolatile memory for storing control data composed of a plurality of data in a plurality of areas;
A backup memory that stores the control data composed of the plurality of data and can store data even after power is turned off,
An arithmetic unit that calculates a control parameter of a control device using the control data stored in the backup memory,
Self-diagnosis function means for detecting an abnormality of the control device using the control data stored in the backup memory,
Diagnostic means for comparing the control data stored in the non-volatile memory and the backup memory to determine whether there is an abnormality in the plurality of data stored in the non-volatile memory and the backup memory; ,
A data recovery unit that, when the plurality of data stored in the backup memory has an abnormality by the diagnostic unit, initializes the abnormal data and initializes data related to the abnormal data; and, with a,
The data recovery means initializes when data related to the abnormal data satisfies a predetermined condition, and maintains data related to the abnormal data when the predetermined condition is not satisfied, Electronic control unit. 2. The electronic control device according to claim 1 , wherein the predetermined condition is that a failure occurs in control of the control device when the control device is controlled by initializing only the abnormal data. 3.

Images