JP7226937B2 - Control device, control system and control method - Google Patents

Description

The disclosed embodiments relate to a control device and a mode transition method.

2. Description of the Related Art Conventionally, a control device (ECU: Electronic Control Unit) is known which is mounted on a vehicle and electronically controls various systems of the vehicle such as an engine, a transmission, and a car navigation system. In such a control device, a built-in microcontroller (hereinafter referred to as "microcomputer") reads out and executes a control program internally held in advance to realize various assigned functions.

Note that the control program of such a control device may need to be updated (reprogrammed) when a function is added or when a problem is found after the fact. The operation mode of the control device includes a normal mode in which the control program normally operates and a reprogramming mode for rewriting the control program. Reprogramming shifts the operation mode from the normal mode to the reprogramming mode. is executed after

For example, in Patent Document 1, when a signal applied to a microcomputer completely matches a voltage signal pattern, which is a combination of a plurality of voltage signals each having a predetermined voltage value and a predetermined voltage duration, A controller is disclosed that transitions to a reprogramming mode.

JP 2017-134477 A

However, the conventional technology described above has room for further improvement in terms of improving reliability and speeding up mode transitions.

Specifically, the conventional technology described above uses the voltage signal pattern described above to prevent erroneous transition to the reprogramming mode due to noise or the like. However, in order to match such a pattern, it is necessary to read the voltage signal to be input to the microcomputer for at least the total voltage duration time, and there is a problem that the mode transition takes time.

In this regard, as another noise countermeasure, it is conceivable to read the input signal twice as an instantaneous value rather than for a predetermined duration and compare the results. It is necessary to leave a predetermined interval between them, and this interval also takes time for mode transition.

One aspect of the embodiments has been made in view of the above, and an object thereof is to provide a control device and a mode transition method capable of improving reliability and speeding up mode transition.

A control device according to an aspect of an embodiment is a control device capable of setting an operation mode to a reprogramming mode, wherein when an input signal in a first state indicating a reprogramming instruction is received from the outside, the initial reprogramming is performed. Setting is executed, and if the input signal is in the first state even after completion of the initial setting, the reprogramming is executed as the reprogramming mode .

According to one aspect of the embodiment, it is possible to improve the reliability and speed of mode transition.

FIG. 1A is a schematic explanatory diagram of an in-vehicle system according to an embodiment. FIG. 1B is a schematic explanatory diagram of reprogramming. FIG. 1C is a schematic explanatory diagram of the hardware configuration of the ECU according to the embodiment. FIG. 1D is a sequence diagram when the ECU according to the comparative example shifts to the repro mode. FIG. 1E is a sequence diagram when the ECU according to the embodiment shifts to the repro mode. FIG. 2 is a block diagram of an in-vehicle system according to the embodiment. FIG. 3 is a flowchart showing a processing procedure executed by an ECU according to the embodiment;

Hereinafter, embodiments of a control device and a mode transition 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.

Also, hereinafter, the term "reprogramming" may be abbreviated as "repro". 1A to 1E, an in-vehicle system including an ECU 10 (corresponding to an example of a “control device”) to which the mode transition method is applied will be described below. 1 will be described with reference to FIGS. 2 and 3. FIG. For convenience, the ECU according to the comparative example is referred to as "ECU 10'".

First, an overview of the mode transition method according to this embodiment will be described with reference to FIGS. 1A to 1E. FIG. 1A is a schematic explanatory diagram of an in-vehicle system 1 according to an embodiment. Also, FIG. 1B is a schematic explanatory diagram of the repro. FIG. 1C is a schematic explanatory diagram of the hardware configuration of the ECU 10 according to this embodiment. FIG. 1D is a sequence diagram when the ECU 10' according to the comparative example shifts to the repro mode. Further, FIG. 1E is a sequence diagram when the ECU 10 according to the present embodiment shifts to the repro mode.

As shown in FIG. 1A, vehicle C includes an in-vehicle system 1 . The in-vehicle system 1 includes a plurality of ECUs 10-1 to 10-n. The ECUs 10-1 to 10-n are connected to each other via an in-vehicle network VN such as a CAN (Controller Area Network) so as to be able to communicate with each other, and electronically control the objects to be controlled 20-1 to 20-n by executing respective control programs. The controlled objects 20-1 to 20-n are, for example, various systems such as engines, transmissions, and car navigation systems.

Here, the control program executed by each ECU 10 may need to be reprogrammed when a function is added or when a defect is found after the fact. In such a case, as shown in FIG. 1B, a reprogramming tool 50, which is a terminal device for reprogramming, is connected to the ECU 10 to be reprogrammed via a CAN or the like, and an instruction to execute the reprogramming is issued.

Specifically, in repro, first, the ECU 10 is powered on to activate the control program, and the control program enters a "normal mode" state in which the control program normally operates (step S1). In this state, when a "reprogramming instruction" is transmitted from the reprogramming tool 50 to the ECU 10 by inputting a command or the like (step S2), the ECU 10 receives this and performs "mode shift" (step S3). mode" (step S4) to rewrite the control program.

By the way, ECU may comprise a control part by 2 CPU(Central Processing Unit). It is assumed that the ECU 10 according to the present embodiment also has such a two-CPU configuration.

Specifically, the ECU 10 has a main microcomputer 121 and a sub-microcomputer 122, as shown in FIG. 1C. Of these main microcomputer 121 and sub-microcomputer 122, only the main microcomputer 121 is connected to the bus of the in-vehicle network VN. The main microcomputer 121 and the sub-microcomputer 122 are provided so as to be able to communicate with each other through serial communication or the like using a communication line 125 .

Since the main microcomputer 121 and the sub-microcomputer 122 also operate the respective control programs, the reprogramming must be executed by the main microcomputer 121 and the sub-microcomputer 122 individually.

However, since the sub-microcomputer 122 is not connected to the in-vehicle network VN as described above, when receiving a reprogramming instruction from the reprogramming tool 50, the main microcomputer 121 shifts the sub-microcomputer 122 to the reprogramming mode. After that, reprogramming of the sub-microcomputer 122 is executed via the main microcomputer 121 .

When the sub-microcomputer 122 shifts to the repro mode, as shown in FIG. 1C, the main microcomputer 121 inputs the LO signal to the RESET terminal of the sub-microcomputer 122 to reset the sub-microcomputer 122, while inputting a signal to the same terminal. to HI. Also, the main microcomputer 121 inputs a HI signal to the WRITE terminal of the sub-microcomputer 122 . If the sub-microcomputer 122 detects the HI state of the WRITE terminal after resetting, it starts up in the repro mode instead of the normal mode.

By the way, if the sub-microcomputer 122 detects the HI state of the WRITE terminal due to the influence of disturbance such as noise after the reset even though there is no "repro instruction", the sub-microcomputer 122 is unintentionally activated in the repro mode. It will end up. In order to prevent such a malfunction, for example, the ECU 10' according to the comparative example checks the WRITE terminal twice at a predetermined interval, compares the results, and determines the state of the WRITE terminal only when they match. do.

Specifically, as shown in FIG. 1D, in the ECU 10′ according to the comparative example, first, the main microcomputer 121 receives a reprogramming instruction from the reprogramming tool 50 (step S11), and the LO signal to HI signal are sent to the RESET terminal of the sub-microcomputer 122. is input, and a HI signal is input to the WRITE terminal (step S12).

After being reset by the LO signal input to the RESET terminal, the sub-microcomputer 122 performs "WRITE terminal check" and "wait processing" until the state of the WRITE terminal matches twice, as shown in the "Loop" fragment in the figure. is repeated (step S13').

Then, if the state of the WRITE terminal coincides with the HI state twice, the sub-microcomputer 122 determines the state of the WRITE terminal, performs "repro initialization" (step S14), and starts in the repro mode. After completion of activation in the repro mode, "repro" (broken arrow to step S15) is executed via the main microcomputer 121 via the communication line 125. FIG.

However, according to the mode transition method according to the comparative example, there is a problem that it takes a long time to start due to the wait process performed while checking the WRITE terminal.

Therefore, in the mode transition method according to the present embodiment, as in the comparative example, although malfunction is basically prevented by reading the WRITE terminal twice, wait processing is performed between the two checks of the WRITE terminal. , the above-described "repro initialization" in step S14 is performed to eliminate the delay in the activation time due to the wait process.

Specifically, as shown in FIG. 1E, in the mode transition method according to the present embodiment, the sub-microcomputer 122 executes step S13 after executing steps S11 to S12. In step S13, the sub-microcomputer 122 executes the first "WRITE terminal check", and if the WRITE terminal is in the HI state, executes the "repro initialization" that was later executed as step S14 in FIG. 1D. . That is, the sub-microcomputer 122 tentatively confirms the transition to the repro mode based on the result of the first "WRITE terminal check", and starts the transition to the repro mode before final confirmation.

In addition, in the "repro initial setting", for example, the contents of the ROM (Read Only Memory) that constitutes the storage unit of the ECU 10 are copied to the RAM (Random Access Memory) in preparation for rewriting, and the setting process on the network. Preparatory processing is performed.

After the "repro initialization", the sub-microcomputer 122 executes "WRITE terminal recheck" and compares the check result with the check result of the first "WRITE terminal check". If the check result matches, the sub-microcomputer 122 finally determines that the state of the WRITE terminal is HI. That is, the provisionally confirmed transition to the repro mode is finally confirmed, and thereafter, "repro" (broken arrow to step S15) is executed via the main microcomputer 121 via the communication line 125. FIG.

On the other hand, if the check result does not match, the sub-microcomputer 122 resets itself and re-executes step S13. Therefore, in this case, the setting contents of the "repro initial setting" are discarded, but there is no problem because it is thought that an attempt was made to shift to the repro mode erroneously due to the influence of noise or the like. Rather, if step S13 is re-executed and the state of the WRITE terminal is not in the HI state, it is possible to return to the normal mode after erroneously attempting to shift to the repro mode.

Thus, in the mode transition method according to the present embodiment, the wait processing performed between checks of the WRITE terminal is eliminated (see "no wait processing" in the figure), and the first "WRITE terminal check" is performed. As a result, it was decided to temporarily confirm the transition to repro mode. Then, if the transition to the repro mode is tentatively confirmed, the transition to the repro mode is started before the "recheck of the WRITE terminal", and the "repro initial setting" is advanced in advance.

Therefore, according to the mode transition method according to the present embodiment, it is possible to speed up the activation by eliminating the delay in the activation time due to the wait process. That is, it is possible to improve the reliability and speed of mode transition.

The in-vehicle system 1 including the ECU 10 to which the mode transition method described above is applied will now be described more specifically.

FIG. 2 is a block diagram of the in-vehicle system 1 according to this embodiment. In addition, in FIG. 2, only the components necessary for explaining the features of the present embodiment are represented by functional blocks, and the description of general components is omitted.

In other words, each component illustrated in FIG. 2 is functionally conceptual and does not necessarily need to be physically configured as illustrated. For example, the specific forms of distribution and integration of each functional block are not limited to those shown in the figure, and all or part of them can be functionally or physically distributed in arbitrary units according to various loads and usage conditions.・It is possible to integrate and configure.

Also, with regard to the components that have already been explained, the explanation using FIG. 2 may be simplified or omitted.

As shown in FIG. 2, the in-vehicle system 1 includes an ECU 10. As shown in FIG. The ECU 10 includes a storage section 11 and a control section 12 .

The storage unit 11 includes a ROM 11a and a RAM 11b, as well as a semiconductor memory device such as a data flash. Although not shown, various programs that operate in the normal mode or the repro mode are stored.

The control unit 12 is a controller, and various programs stored in the storage unit 11 are executed by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like, using the RAM as a work area. It is realized by Also, the control unit 12 can be implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

For example, in the ECU 10 according to the present embodiment, as shown in FIG. 2, the control section 12 is composed of two microcomputers, a main microcomputer 121 and a sub-microcomputer 122 .

The main microcomputer 121 has an instruction receiving section 121a, a mode control section 121b, and a communication section 121c. The sub-microcomputer 122 has a reset section 122a, a mode determination section 122b, a transition section 122c, an execution section 122d, and a communication section 122e. The sub-microcomputer 122 also has a RESET terminal 123 and a WRITE terminal 124, which are predetermined input terminals. Also, the main microcomputer 121 and the sub-microcomputer 122 are connected via a communication line 125 so as to be mutually communicable.

The main microcomputer 121 will be explained first. The instruction receiving unit 121 a receives a reprogramming instruction from the repro tool 50 . The instruction receiving unit 121a notifies the mode control unit 121b of the received reprogramming instruction.

Mode control section 121 b inputs an LO signal to RESET terminal 123 of sub-microcomputer 122 when the reprogramming instruction is directed to sub-microcomputer 122 . Also, the mode control unit 121b negates the signal input to the RESET terminal 123 from the LO signal to the HI signal.

Also, the mode control unit 121 b inputs a HI signal to the WRITE terminal 124 of the sub-microcomputer 122 . Although illustration is omitted, when the notified reprogramming instruction is directed to the sub-microcomputer 122, the mode control unit 121b resets the main microcomputer 121 itself to shift to the reprogramming mode.

In addition, after the sub-microcomputer 122 is switched to the repro mode, the instruction receiving unit 121a and the mode control unit 121b are responsible for transferring data between the repro tool 50 and the sub-microcomputer 122, causing the sub-microcomputer 122 to execute repro. A communication line 125 is used to transfer such data. The communication unit 121 c performs data communication using the communication line 125 .

Next, the sub-microcomputer 122 will be explained. The reset unit 122a performs reset processing for resetting the sub-microcomputer 122 when the input of the LO signal to the RESET terminal 123 is detected. Further, the reset unit 122a resets the sub-microcomputer 122 when it receives a notification from the mode determination unit 122b, which will be described later, indicating that the result of the first check of the WRITE terminal 124 does not match the result of the second check. Perform reset processing to reset.

After the sub-microcomputer 122 is reset, the mode determination unit 122b checks the WRITE terminal 124, and if the LO state in which the LO signal is input is detected, determines that the mode in which the sub-microcomputer 122 should be activated is the normal mode.

After the sub-microcomputer 122 is reset, the mode determination unit 122b checks the WRITE terminal 124, and if it detects the HI state in which the HI signal is input, it provisionally determines that the mode in which the sub-microcomputer 122 should be activated is the repro mode. do. Also, the mode determination unit 122b notifies the transition unit 122c of the determined determination result.

The transition unit 122c shifts the sub-microcomputer 122 to the normal mode when the mode determination unit 122b determines the normal mode, and causes the execution unit 122d to execute various programs in the normal mode.

Further, when the mode determination unit 122b temporarily determines that the mode is the repro mode, the transition unit 122c starts the transition of the sub-microcomputer 122 to the repro mode, accesses the storage unit 11, and executes the repro initialization.

Further, after executing the reprogramming initialization, the transition unit 122c notifies the mode determination unit 122b of the completion of the reprogramming initialization, and causes the mode determination unit 122b to check the WRITE terminal 124 again.

The mode determination unit 122b rechecks the WRITE terminal 124 upon receiving the notification of the completion of the reprogramming initialization by the transition unit 122c. Confirm the mode as repro mode. In addition, it notifies the transition unit 122c of the determination result.

Further, if the recheck result of the WRITE terminal 124 does not match the first check result, the mode determination unit 122b notifies the reset unit 122a of the determination result.

If the mode determination unit 122b determines that the mode to be activated is the repro mode, the transition unit 122c causes the execution unit 122d to execute various programs for the repro mode in order to continue to activate the sub-microcomputer 122 in the repro mode.

The execution unit 122d reads various programs stored in the storage unit 11 from the storage unit 11 in accordance with the mode to be shifted to and executes them. The communication unit 122 e performs data communication with the main microcomputer 121 using the communication line 125 .

Next, a processing procedure executed by the ECU 10 according to the embodiment will be described with reference to FIG. 3 . FIG. 3 is a flowchart showing a processing procedure executed by the ECU 10 according to the embodiment. Here, a processing procedure executed by the sub-microcomputer 122 after being reset will be described.

After the sub-microcomputer 122 is reset, as shown in FIG. 3, the mode determination unit 122b checks the WRITE terminal 124 for the first time (step S101). Then, the mode determination unit 122b determines whether or not the WRITE terminal 124 is in the LO state (step S102).

Here, when the WRITE terminal 124 is in the LO state (step S102, Yes), the transition unit 122c transitions the sub-microcomputer 122 to the normal mode (step S103). Then, the execution unit 122d reads various programs in the normal mode from the storage unit 11 and executes them, and the sub-microcomputer 122 executes normal operations (step S104).

On the other hand, if the WRITE terminal 124 is not in the LO state (step S102, No), that is, if the WRITE terminal 124 is in the HI state, it is tentatively determined that the repro mode is the mode to be activated. Then, the transition unit 122c shifts the sub-microcomputer 122 to the repro mode (step S105), and executes repro initialization (step S106).

After the repro initialization is completed, the mode determination unit 122b rechecks the WRITE terminal 124 (step S107). Then, the mode determination unit 122b determines whether or not the WRITE terminal 124 is in the HI state (step S108).

Here, if the WRITE terminal 124 is in the HI state (step S108, Yes), the transition to the repro mode is confirmed, and the execution unit 122d reads out various programs for the repro mode from the storage unit 11 and executes them. The microcomputer 122 executes reprocessing (step S109).

On the other hand, if the WRITE terminal 124 is not in the HI state (step S108, No), the reset unit 122a executes reset processing (step S110), and the sub-microcomputer 122 repeats the processing from step S101.

Although not shown in FIG. 3, the mode determination unit 122b may re-determine the WRITE terminal 124 between steps S103 and S104 for shifting to the normal mode.

In such a case, the mode determination unit 122b determines whether or not the WRITE terminal 124 is in the LO state after step S103, and if it is in the LO state, the process proceeds to step S104. Also, if the WRITE terminal 124 is not in the LO state, the reset process of step S110 is executed, and the processes from step S101 are repeated.

This makes it possible to improve the reliability of mode transition even when transitioning to the normal mode.

As described above, the ECU 10 (corresponding to an example of the "control device") according to the present embodiment includes the mode determination section 122b (corresponding to an example of the "determination section") and the transition section 122c. The mode determination unit 122b determines the input state of a predetermined input terminal after reset. The transition unit 122c shifts the operation mode to the first mode when the mode determination unit 122b determines that the input state is the first state. If the re-determined input state is the first state, the operation mode is determined as the first mode.

Therefore, according to the ECU 10 of the present embodiment, it is possible to improve the reliability and speed of the mode transition.

Further, the ECU 10 according to this embodiment further includes a reset section 122a. The reset unit 122a executes the reset if the input state re-determined by the mode determination unit 122b is not the first state.

Therefore, according to the ECU 10 according to the present embodiment, even if the mode is erroneously shifted to the first mode due to the influence of noise or the like, it is possible to return to the normal mode by determining the input state from the beginning again after resetting. It becomes possible.

The first mode is a reprogramming mode in which reprogramming, which is rewriting of a program, is performed. When the input state is determined to be the HI state (equivalent to an example of the “first state”), repro initialization is performed, and after completion of the initialization, the above-mentioned input re-determined by the mode determination unit 122b is performed. If the state is the HI state, the operation mode is determined to be the repro mode and the repro is executed.

Therefore, according to the ECU 10 according to the present embodiment, the transition to the repro mode can be performed with high reliability, and the normal mode is less likely to be affected.

If the input state determined by the mode determination section 122b after reset is not HI, the transition section 122c shifts the operation mode to the normal mode, which is the normal operation mode for the repro mode.

Therefore, according to the ECU 10 of the present embodiment, even if the ECU 10 erroneously shifts to the first mode due to the influence of noise or the like before the reset, the above input state is determined again from the beginning after the reset, and if the input state is not the HI state, the , can return to normal mode normally.

In the above-described embodiment, the control unit 12 is composed of two microcomputers, the main microcomputer 121 and the sub-microcomputer 122, but may be composed of one microcomputer. Also, it may be composed of three or more microcomputers. If three or more microcomputers are used, for example, at least one microcomputer may be connected to the bus of the in-vehicle network VN, and the microcomputer may serve as the above-described main microcomputer 121 for the other microcomputers.

Further, in the above-described embodiment, the ECU 10 is provided in the vehicle C, but the ECU 10 is of course not limited to general vehicles, and may be provided in industrial vehicles, agricultural vehicles, and the like. Moreover, it is not limited to vehicles, and may be provided in moving machines such as trains, ships, and aircraft.

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.

1 in-vehicle system 10 ECU
11 storage unit 11a ROM
11b RAM
12 control unit 50 repro tool 121 main microcomputer 121a instruction reception unit 121b mode control unit 121c communication unit 122 sub-microcomputer 122a reset unit 122b mode determination unit 122c transition unit 122d execution unit 122e communication unit 123 RESET terminal 124 WRITE terminal 125 communication line C vehicle VN In-vehicle network

Claims (5)

A control device capable of setting an operation mode to a reprogramming mode,
When an input signal in a first state indicating a reprogramming instruction is received from the outside, the reprogramming initialization is executed, and if the input signal is in the first state even after completion of the initialization, the reprogramming mode is performed. performing said reprogramming as
controller . resetting the controller if the input signal after completion of the initialization is not in the first state ;
A control device according to claim 1 . transitioning the operation mode to a normal mode if the input signal after the reset is not in the first state;
3. A control device according to claim 2 . a first control device that receives a reprogramming instruction from the outside;
a second controller capable of setting an operating mode to a reprogramming mode;
A control system comprising:
The first control device is
Upon receiving the reprogramming instruction, transmitting a reset signal to the second control device and transmitting an input signal in a first state indicating the reprogramming instruction to the second control device;
The second control device is
When receiving the reset signal, it resets itself, and when it receives the input signal in the first state after the reset, it performs the initial setting of the reprogramming, and the input signal remains in the first state even after the completion of the initial setting. performing said reprogramming as said reprogramming mode if
control system. A control method for a control device capable of setting an operation mode to a reprogramming mode ,
When an input signal in a first state indicating a reprogramming instruction is received from the outside, the reprogramming initialization is executed, and if the input signal is in the first state even after completion of the initialization, the reprogramming mode is performed. performing said reprogramming as
control method.

Images