JP7141977B2 - Control device and control method - Google Patents

Description

The present invention relates to a control device and control method.

In recent years, for example, AI (Artificial Intelligence) technology has been utilized in vehicle control. There is a conventional technique in which AI arithmetic processing is performed while other control processing is not performed (see, for example, Patent Document 1).

JP 2014-182606 A

By the way, for example, in AI arithmetic processing using a neural network or the like, a huge amount of arithmetic processing is required. However, in the conventional technology, there is a possibility that the AI arithmetic processing cannot be realized when the cycle of the control processing is relatively short, such as vehicle control.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control device and a control method capable of improving the processing speed of arithmetic processing.

In order to solve the above-described problems and achieve the object, a control device according to the present invention includes a first storage section, a second storage section, and a control section. The first storage unit stores calculation data, which is data used in calculation processing, which is processing in which a large number of similar calculations are performed within a predetermined period. The calculation data stored in the first storage unit is transferred to the second storage unit. The control unit performs processing related to vehicle control while switching between a first mode in which access to the first storage unit is not restricted and a second mode in which access is restricted. In addition, the control unit executes transfer processing of the calculated data from the first storage unit to the second storage unit in the first mode, and stores the data in the second storage unit in the second mode. The calculation processing is executed using the calculated data.

According to the present invention, the processing speed of arithmetic processing can be improved.

FIG. 1 is a block diagram showing the configuration of the control device according to the embodiment. FIG. 2 is a diagram for explaining processing of a control unit. FIG. 3 is a diagram for explaining processing of the control unit. FIG. 4 is a flowchart illustrating a processing procedure of processing executed by the control device according to the embodiment;

Hereinafter, embodiments of a control device and a control method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

First, the outline of the control method according to the embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the control device according to the embodiment. Note that the control device 1 according to the embodiment executes the control method according to the embodiment.

As shown in FIG. 1, the control device 1 according to the embodiment includes a control section 2, a main memory 3, and a high speed memory 4. FIG. A control device 1 according to the embodiment is a control device mounted on a vehicle, and executes processing related to control of an internal combustion engine, for example. Note that the control device 1 can execute arbitrary processing as long as it is processing related to control of the vehicle.

Here, the control device 1 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and various circuits.

The CPU of the computer functions as the control unit 2 by reading out and executing various programs and control data and calculation data stored in the main memory 3 such as RAM and ROM, for example. Note that the main memory 3 is an example of a first storage unit.

The control data includes a code for executing vehicle control processing, data generated by the control processing, and the like. For example, the control data includes data for executing processing related to control of the internal combustion engine. Further, the calculation data includes a code for executing calculation processing, which will be described later, data generated by the calculation processing, and the like. For example, the calculation data includes information about parameters (input data, coefficient data, etc.) for calculation by each AI (Artificial Intelligence) such as a neural network.

Some or all of the functions of the control unit 2 can be configured by hardware such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

Also, the high-speed memory 4 corresponds to, for example, a RAM. The RAM functions as a work area for the control unit 2, and can temporarily store calculation data for calculation processing executed by the control unit 2, information on various programs, and the like. The high-speed memory 4 is an example of a second storage unit, and calculation data is transferred from the main memory 3 to the high-speed memory 4 by a transfer process described later.

Here, a virtualization support function is implemented in the control unit 2 . The virtualization support function is to logically divide one CPU (or core) into two or more by hardware virtualization technology. It is a function that seems to exist. Thereby, the control unit 2 configured by one CPU can perform processing related to vehicle control while switching between a plurality of different operation modes.

In the example shown in FIG. 1, the control unit 2 performs processing by switching between a secure mode (corresponding to a first mode) with different access restrictions to the main memory 3 and a non-secure mode as operation modes. The secure mode is a mode in which access to the main memory 3 is not restricted. The non-secure mode is a mode in which access to the main memory 3 is restricted.

Also, as a general way of using the virtual machine edge function, there is a concept of allocating the application program for each function or each user to the non-secure mode and allocating the management program such as overall monitoring to the secure mode. The main memory is divided into multiple areas, and in non-secure mode there is a restriction so that only the area for self mode can be accessed, but in secure mode all areas (area for own mode and area for non-secure mode) area) is configured to be accessible.

As shown in FIG. 1, the control unit 2 executes control processing and transfer processing for controlling the internal combustion engine, motor, etc. in the secure mode, and executes arithmetic processing using a neural network in the non-secure mode. Specifically, the control unit 2 executes transfer processing of the calculation data from the main memory 3 to the high-speed memory 4 . Also, the control unit 2 executes arithmetic processing using the arithmetic data stored in the high-speed memory 4 .

In other words, the control unit 2 accesses the high-speed memory 4 to perform arithmetic processing using a neural network that requires a large amount of arithmetic processing within a predetermined period of time, so the processing speed of the arithmetic processing can be improved.

Further, the control unit 2 executes control processing by a real-time OS (Operating System) when in the secure mode. The real-time OS is, for example, an OS that uses a communication driver of CAN (Controller Area Network), which is an in-vehicle network, to execute processes that require real-time performance.

That is, since the control unit 2 performs arithmetic processing in a mode different from the control processing, there is no need to interrupt the arithmetic processing into the control processing. can do. Note that the control process may be omitted.

Furthermore, the control unit 2 does not use the OS in the non-secure mode because it only performs arithmetic processing. As a result, the processing overhead caused by the OS does not occur, so the processing speed of arithmetic processing can be further improved.

In addition, there is a problem with security if the neural network operation processing can freely access data unrelated to the neural network operation (data used by control processing, etc.), so access restrictions are usually imposed. It is realized by using the unauthorized access prevention function of the OS.

Note that the control unit 2 prohibits access to the control data in the main memory 3 in the non-secure mode. That is, in the non-secure mode, access to the main memory 3 is restricted.

As a result, even if the OS is not installed in the non-secure mode, unauthorized access to the control data in the main memory 3 can be prevented in the non-secure mode. In other words, access restriction is implemented using a virtual support function (access restriction in non-secure mode).

Note that the control unit 2 executes control processing with priority over transfer processing and arithmetic processing. This point will be described with reference to FIGS. 2 and 3. FIG.

2 and 3 are diagrams for explaining the processing of the control unit 2. FIG. It is assumed that the transfer of the calculation data of the first calculation process shown in FIG. 2 (the bar on the left side of the two calculation processes in FIG. 2) has already been completed.

As shown in FIG. 2, the control unit 2 executes control processing when there is an interrupt for control processing. Then, when the control processing ends, the control unit 2 switches from the secure mode to the non-secure mode and executes arithmetic processing.

That is, the control unit 2 executes arithmetic processing while the control processing is not being executed. As a result, it is possible to speed up the arithmetic processing without causing a processing delay in the control processing.

Then, at time t2, when the arithmetic processing using the arithmetic data stored in the high-speed memory 4 is completed, the control unit 2 switches the control mode to the first mode, and performs transfer processing for transferring new arithmetic data. Run. Specifically, as shown in FIG. 3, the control unit 2 describes the process of requesting the transfer process at the source code location immediately after the operation data in the high-speed memory 4 is lost.

As a result, the control unit 2 can transfer the calculation data for the next calculation process immediately after the calculation process using the calculation data in the high-speed memory 4 is completed. can be prevented.

Returning to FIG. 2, the description of the processing of the control unit 2 is continued. When the transfer process is requested at time t2, the control unit 2 switches from the non-secure mode to the secure mode and executes the transfer process. In such transfer processing, only the calculation data to be used in the next calculation processing is transferred to the high-speed memory 4 .

Then, at time t3, when there is an interrupt of the control process while the transfer process is being executed, the control unit 2 interrupts the transfer process being executed and executes the control process. It should be noted that the control unit 2 similarly interrupts the arithmetic processing being executed and executes the control processing when there is an interruption of the control processing during execution of the arithmetic processing. After completing the control process, the control unit 2 resumes the interrupted transfer process.

As a result, it is possible to eliminate the occurrence of processing delays in the control processing due to waiting for the completion of the transfer processing and the arithmetic processing.

Subsequently, at time t4, after completing the transfer process, the control unit 2 switches from the secure mode to the non-secure mode and executes arithmetic processing. That is, the control unit 2 executes the processing with higher priority in order of control processing, transfer processing, and arithmetic processing.

In this way, the control unit 2 can execute the control process without processing delay and perform the arithmetic process at high speed by giving priority to the control process over the transfer process and the arithmetic process.

Next, a processing procedure of processing executed by the control device 1 according to the embodiment will be described with reference to FIG. 4 . FIG. 4 is a flowchart showing a processing procedure of processing executed by the control device 1 according to the embodiment. It should be noted that interruption of control processing is omitted in FIG. When there is an interrupt of control processing, the transfer processing and arithmetic processing are interrupted and resumed after the control processing ends.

As shown in FIG. 4, first, the control unit 2 of the control device 1 executes transfer processing (S101).

Subsequently, the control unit 2 determines whether or not the transfer process has ended (S102).

If the transfer process has not ended (S102: No), the control unit 2 executes step S101, and if the transfer process has ended (S102: Yes), it starts arithmetic processing (S103).

Subsequently, the control unit 2 determines whether or not the arithmetic processing has ended (S104).

If the arithmetic processing has not ended (S104: No), the control unit 2 executes step S103, and if the arithmetic processing has ended (S104: Yes), it determines whether there is a transfer processing request (S105). ).

If there is no transfer processing request (S105: No), the control unit 2 ends the process, and if there is a transfer processing request (S105: Yes), it executes step S101.

As described above, the control device 1 according to the embodiment includes the main memory 3 (first storage section), the high-speed memory 4 (second storage section), and the control section 2 . The main memory 3 stores calculation data, which is data used in calculation processing, which is processing in which a large number of similar calculations are performed within a predetermined period of time. The calculation data stored in the main memory 3 is transferred to the high speed memory 4 . The control unit 2 performs processing related to vehicle control while switching between a secure mode in which access to the main memory 3 is not restricted and a non-secure mode in which access is restricted. In addition, the control unit 2 executes transfer processing of operation data from the main memory 3 to the high-speed memory 4 when in the secure mode, and transfers operation data stored in the high-speed memory 4 when in the non-secure mode. Execute the arithmetic processing used. Thereby, the processing speed of arithmetic processing can be improved.

Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments so shown and described. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and equivalents thereof.

REFERENCE SIGNS LIST 1 control device 2 control unit 3 main memory 4 high-speed memory

Claims (6)

a first storage unit that stores calculation data that is data used in calculation processing, which is processing that performs a large number of similar calculations within a predetermined period;
a second storage unit to which the calculation data stored in the first storage unit is transferred;
a control unit that performs processing related to control of a controlled object while switching between a first mode in which access to the first storage unit is not restricted and a second mode in which the access is restricted;
The control unit
When in the first mode, executing a transfer process of the operation data from the first storage unit to the second storage unit;
A control device that, when in the second mode, executes the arithmetic processing using the arithmetic data stored in the second storage unit. The control device according to claim 1, wherein the arithmetic processing is arithmetic processing using a neural network. The first storage unit
further storing control data for control processing of the controlled object;
The control unit
3. The control device according to claim 1, wherein the control processing using the control data is executed when in the first mode. The control unit
4. The control device according to claim 3, wherein the control processing, the transfer processing, and the arithmetic processing are executed with higher priority in this order. The control unit
In the second mode, when the arithmetic processing using the arithmetic data stored in the second storage unit is completed, the control mode is switched to the first mode to transfer the new arithmetic data. The control device according to any one of claims 1 to 4, characterized in that it executes transfer processing. a first storage step of storing, in a first storage unit, calculation data, which is data used in calculation processing, which is processing in which a large number of similar calculations are performed within a predetermined period;
a second storage step of transferring the calculated data stored in the first storage unit and storing the data in a second storage unit;
a control step of performing processing related to control of a controlled object while switching between a first mode in which access to the first storage unit is not restricted and a second mode in which the access is restricted;
The control step includes
When in the first mode, executing a transfer process of the operation data from the first storage unit to the second storage unit;
The control method, wherein the arithmetic processing is executed using the arithmetic data stored in the second storage unit when the control method is in the second mode.

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