JP7310405B2 - vehicle controller - Google Patents

Description

The present invention relates to a vehicle control device.

In-vehicle networks have limited communication resources. Therefore, the vehicle control device needs to control the amount of communication between the ECUs. Here, for example, in Japanese Unexamined Patent Application Publication No. 2015-219626, periodic communication is classified into a plurality of communication types including warning function control system communication, and the communication cycle is controlled based on the degree of risk for each communication type. A communications controller is disclosed. In this device, when the degree of danger is high, the communication cycle of the warning function control system communication is shortened, and the other communication cycles are lengthened. As a result, the communication cycle of the warning function control system communication can be shortened while securing communication resources.

JP 2015-219626 A

However, the above device is configured to control the communication cycle for each communication type. According to this configuration, if the communication cycle is shortened for a communication type including devices related to vehicle behavior such as brake, steering, and engine, all behavior-related devices within the same type can be simultaneously Communication cycle becomes shorter. As a result, the communication network may become congested and responsive control may not be executed.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides a vehicle control apparatus capable of controlling devices related to the behavior of the vehicle in a manner suitable for the situation while suppressing an increase in the communication load. intended to provide

A vehicle control device according to a first aspect of the present invention includes a plurality of functional ECUs each corresponding to a separate device relating to behavior of a vehicle, and an integrated ECU communicating with the plurality of functional ECUs. The ECU selects and selects one or more of the functional ECUs from among the plurality of functional ECUs according to the control request signal received by the receiving unit, and a receiving unit that receives a control request signal for the vehicle. a shortening setting unit for executing a shortening process for shortening a communication cycle between the functional ECU and the integrated ECU, and one of the functional ECUs not subject to the shortening process in conjunction with the selection of the subject of the shortening process. an extension setting unit that selects at least one of the functional ECUs and executes extension processing for extending a communication cycle between the selected functional ECU and the integrated ECU.

A vehicle control device according to a second aspect of the present invention includes a plurality of functional ECUs each corresponding to a separate device related to vehicle behavior, and an integrated ECU communicating with the plurality of functional ECUs, wherein the function Each ECU includes a functional processor for performing its own function, the integrated ECU includes an integrated processor that executes arithmetic processing according to the same logic as the functional processors of the functional ECUs, and the functional ECU performs the functions. A receiver that compares the calculation result of the processor with the control instruction signal received from the integrated ECU to determine whether the control instruction signal is true or false, and the integrated ECU further receives a control request signal for the vehicle. and, in response to the control request signal received by the receiving unit, the control instruction including control instruction data indicating the type and amount of control and state data indicating the vehicle state to the functional ECU to be controlled. a transmitter for transmitting a signal; one or more of the functional ECUs selected from among the plurality of functional ECUs according to the control request signal received by the receiver; and a signal change unit that executes a signal change process for changing at least a part of the state data to the control instruction data for the control instruction signal.

A vehicle control device according to a third aspect of the present invention includes a plurality of functional ECUs each corresponding to a separate device relating to behavior of a vehicle, and an integrated ECU communicating with the plurality of functional ECUs, wherein the integrated The ECU selects and selects one or more of the functional ECUs from among the plurality of functional ECUs according to the control request signal received by the receiving unit, and a receiving unit that receives a control request signal for the vehicle. an extension setting unit that executes an extension process for extending a communication cycle set between the functional ECU and the integrated ECU that are set; a determining unit for determining whether or not a communication cycle between at least one of the selected ECUs and the integrated ECU should be shortened according to the above; a shortening setting unit that executes shortening processing for shortening a communication cycle set between at least one of the ECUs and the integrated ECU.

According to the first aspect, among a plurality of devices related to vehicle behavior, when shortening processing is executed for one or more devices, extension processing is executed for one or more devices out of the other devices. executed. As a result, congestion of communication between the integrated ECU and the plurality of functional ECUs can be suppressed, and an increase in communication load can be suppressed with respect to communication of devices related to the behavior of the vehicle. Furthermore, for control that requires high responsiveness, responsiveness can be enhanced by shortening the communication cycle. In other words, it is possible to control devices related to the behavior of the vehicle in a manner suitable for the situation while suppressing an increase in communication load.

According to the second aspect, the signal change processing is performed on the device selected from among the plurality of devices related to the behavior of the vehicle. As a result, the ratio of control instruction data to the data constituting the control instruction signal is increased, and the amount of control instruction that can be transmitted with one signal is increased. In other words, responsiveness can be improved without changing the communication cycle. According to the second aspect, it is possible to control the device related to the behavior of the vehicle in a manner suitable for the situation without increasing the communication load. Moreover, since the functional ECU determines whether the control instruction signal is true or false, the control can be executed safely even if the state data is replaced with the control instruction data.

According to the third aspect, the communication extension process is executed for the device selected from among the plurality of devices related to the behavior of the vehicle. The communication load is reduced by executing only the extension process. Further, when control requiring high responsiveness is requested for a device on which the extended process has been executed, the shortened process is executed to exhibit the necessary responsiveness. In other words, the behavior-related device 9 can be controlled in a manner suitable for the situation.

1 is a configuration diagram of a vehicle control device according to a first embodiment; FIG. 4 is a flowchart showing an example of cycle setting control according to the first embodiment; FIG. 3 is an explanatory diagram for explaining a redundant configuration of the first embodiment; FIG. It is a block diagram of the vehicle control apparatus of 2nd Embodiment.

An embodiment of the present invention will be described below with reference to the drawings. In addition, in each of the following embodiments, the same or equivalent portions are denoted by the same reference numerals in the drawings. Moreover, each figure used for description is a conceptual diagram. Also, as used herein, an ECU is an electronic control unit that includes at least one processor.

<First Embodiment>
The vehicle control device 1 of the first embodiment includes a plurality of functional ECUs 2 and an integrated ECU 3, as shown in FIG. Each of the functional ECUs 2 corresponds to a separate device 9 related to vehicle behavior. Each functional ECU 2 is a control device that controls the corresponding device 9 and constitutes a part of the device 9 . Vehicle behavior is mainly running, stopping and turning.

Specifically, the device related to the behavior of the vehicle (hereinafter referred to as "behavior-related device") 9 is, for example, a brake device, a steering device, an engine device, an automatic transmission, a suspension device, or the like. Therefore, the plurality of functional ECUs include, for example, a brake ECU (Brk ECU), a steering ECU (STR ECU), an engine ECU (ENG ECU), an automatic transmission ECU (AT ECU), and a suspension ECU (SUS ECU). there is The multiple functional ECUs are configured to include two or more of the ECUs listed above.

Integrated ECU3 is ECU which communicates with several function ECU2. The communication network is composed of CAN4. The integrated ECU 3 manages the plurality of functional ECUs 2 via the CAN 4 and transmits control instruction signals to the functional ECUs 2 in response to control request signals. Specifically, the integrated ECU 3 includes a control amount calculator 30 , a receiver 31 , a shortening setting unit 32 , an extension setting unit 33 and a transmitter 34 .

The control amount calculation unit 30 calculates the control amount of control required for the behavior of the vehicle based on the state information of the vehicle. The vehicle state information is, for example, detected values of sensors related to vehicle behavior (for example, pedal stroke sensors, pressure sensors, acceleration sensors, wheel speed sensors, steering sensors, GPS, etc.).

For example, when the driver operates the brake pedal, the control amount calculator 30 calculates the required braking force (required deceleration) according to the stroke. In addition, the control amount calculation unit 30 determines whether antiskid control (also called ABS control) can be executed, for example, based on the detection result of a wheel speed sensor provided for each wheel. (for example, the amount of pressure reduction) is calculated.

In addition, the control amount calculation unit 30, for example, based on the driver's steering operation (unnecessary in the case of an automatic driving vehicle), the current location information (GPS information), and the navigation information, controls the steering along the future target travel trajectory Calculate quantity. The control amount calculator 30 generates a control request signal from the calculation result and transmits it to the receiver 31 .

The receiving unit 31 receives a control request signal for the vehicle. The control request signal is, for example, a signal indicating a required braking force, a required control amount for anti-skid control, a required control amount for steering control, a required driving force, a shift request, or a required control amount for suspension control. That is, the control request signal includes information on the amount of control. The control request signal may include information indicating the type of control in addition to information on the amount of control. In this embodiment, control will be described using an example in which the control request signal also includes information indicating the type of control.

The shortening setting unit 32 selects one or more functional ECUs 2 from among the plurality of functional ECUs 2 according to the control request signal received by the receiving unit 31, and sets the communication cycle between the selected functional ECU 2 and the integrated ECU 3. Executes a shortening process that shortens the A communication cycle between the integrated ECU 3 and the functional ECU 2 is set for each functional ECU 2 and stored in the integrated ECU 3 . The initial setting (default setting) communication cycle of each functional ECU 2 may be set to be the same, or may be set to different values individually or for each group.

When the receiving unit 31 receives a plurality of control request signals (for example, within a predetermined period), the shortening setting unit 32 determines the priority among the plurality of control request signals, and responds to the control request signal with a high priority. The function ECU 2 to be shortened is selected as an object to be shortened. For example, when the receiving unit 31 receives a required braking force with a large amount of control and a required amount of suspension control with a small amount of control, the shortening setting unit 32 sets the priority of the required braking force relatively high. . Then, the shortening setting unit 32 selects the brake ECU, which is the functional ECU 2 corresponding to the required braking force, as a communication cycle shortening target. In the shortening process, the shortening setting unit 32 makes the communication cycle of the functional ECU 2 to be shortened shorter than the initial communication cycle.

The extension setting unit 33 selects at least one functional ECU 2 out of the functional ECUs 2 not subject to the shortening process in conjunction with the selection of the target of the shortening process, and lengthens the communication cycle between the selected functional ECU 2 and the integrated ECU 3. Executes extension processing. The extension setting unit 33 makes the communication cycle of the functional ECU 2 to be extended longer than the initial communication cycle. The extension setting unit 33 of the first embodiment selects all the functional ECUs 2 that are not targets of the shortening process as targets of the extension process. Note that the extension setting unit 33 may select one or more functional ECUs 2 from among the functional ECUs 2 that are not subject to the shortening process as subjects of the extending process.

As a definition of terms, “shortening processing” is processing for shortening the communication cycle between the target functional ECU 2 and the integrated ECU 3 . Further, the "extension process" is a process of lengthening the communication cycle between the target functional ECU 2 and the integrated ECU 3. FIG. These processes can be said to be, for example, processes for setting a new communication cycle with respect to the initially set communication cycle when executing certain control.

In response to the control request signal received by the receiving unit 31, the transmitting unit 34 transmits a control instruction signal including control instruction data indicating a control amount to the functional ECU 2 to be controlled. The control instruction data indicates at least the amount of control, and may include data indicating the type of control. Further, the control instruction signal may include state data indicating the vehicle state in addition to control instruction data indicating the control amount. In this embodiment, control will be described using an example in which the control instruction signal includes control instruction data and state data. The functional ECU 2 executes control mainly based on control instruction data. The state data includes, for example, detection values of various sensors (state information). The transmission unit 34 transmits a control instruction signal to the target functional ECU 2 based on the set communication cycle. Integrated ECU3 will return a communication period to the value of an initial setting, if the control which instruct|indicated is completed.

(Example of communication cycle control)
Here, an example of the flow of communication cycle control by integrated ECU3 is demonstrated with reference to FIG. When the receiving unit 31 receives the control request signal (S101: Yes), the shortening setting unit 32 sets the priority to each functional ECU 2 based on the magnitude of the force generated in the vehicle by each functional ECU 2 (S102 ). The force generated in the vehicle is, for example, driving force, braking force, steering force, or the like. If the control request signal has not been received (S101: No), the current setting is maintained without setting the communication cycle.

Further, the shortening setting unit 32 sets the priority of the control type to be performed by each functional ECU 2 based on the magnitude of the differential value (acceleration) of the force generated in the vehicle by each functional ECU 2 (S103).

Here, the above control (S102, S103) will be described using an example in which a vehicle is provided with a brake actuator having a motor. For example, if the received control request signal indicates a relatively large required control amount for antiskid control and another relatively small required control amount, the shortening setting unit 32 applies the braking device. The priority of the functional ECU 2 is set to the highest value (S102), and the priority of motor control of the brake actuator is set to the highest value (S103).

In addition, an example is used in which a brake device including a first hydraulic pressure generating unit and a second hydraulic pressure generating unit is configured to be able to execute first hydraulic pressure control and second hydraulic pressure control having mutually different control contents. The above control (S102, S103) will now be described. The first hydraulic pressure generating unit has an accumulator and a solenoid valve. The second hydraulic pressure generating unit includes a motor, a pump, and the like. The first hydraulic pressure control is control executed using the first hydraulic pressure generation unit. The second hydraulic pressure control is, for example, control executed using a second hydraulic pressure generation unit. The first hydraulic control is control capable of generating a greater braking force than the second hydraulic control. The second hydraulic pressure control is control that is superior in pressure adjustment accuracy to the first hydraulic pressure control. In this case, the second hydraulic pressure control is relatively superior in terms of pressure reduction and pressurization accuracy. Therefore, the second hydraulic pressure control, that is, the motor control is prioritized in the control that requires accuracy. On the other hand, the first hydraulic pressure control is prioritized, for example, when a large amount of pressurization is required for all wheel cylinders. Thus, as a combination of the control type and the control amount in the brake system, for example, the first hydraulic pressure control (for example, normal braking control) and the target hydraulic pressure, the second hydraulic pressure control (for example, anti-skid control) and the target Motor torque, slip ratio control, target slip ratio, and the like are included. Note that the first hydraulic pressure generating unit does not have to include the accumulator and the solenoid valve. The second hydraulic pressure generating unit may not have a motor and a pump. The first hydraulic pressure generating unit and the second hydraulic pressure generating unit need only be configured to be able to perform different controls. Moreover, when the brake device is performing PID control, it may be determined which of the P control, the I control, and the D control should be prioritized based on the information indicating the type of control.

Then, the shortening setting unit 32 executes the shortening process and the extension setting unit 33 executes the extending process, thereby changing the communication cycle (S104). As described above, the shortening setting unit 32 determines the function ECU 2 to be shortened and the control type to be prioritized in the function ECU 2 to be shortened based on the set priority. The amount of shortening in the shortening process may differ for each functional ECU 2 . Further, the extension setting unit 33 sets all the functional ECUs 2 other than the functional ECU 2 subject to the shortening process as the functional ECU 2 subject to the extension process. The amount of extension in the extension process may differ for each functional ECU 2 .

The receiving unit 31 is configured to receive the control request signal at predetermined intervals (predetermined cycle). Then, the shortening setting unit 32 and the extension setting unit 33 set the communication cycle each time the receiving unit 31 receives the control request signal. The shortening setting unit 32 and the extension setting unit 33 can be said to be one period setting unit. The shortening setting unit 32 sets the shortening amount in the shortening process according to the magnitude of the control amount. The extension setting unit 33 sets the amount of extension in the extension process according to the magnitude of the control amount. In the first embodiment, the shortening setting unit 32 sets the shortening amount in the shortening process according to the magnitude of the control amount and the type of control. The extension setting unit 33 sets the amount of extension in the extension process according to the magnitude of the control amount and the type of control. For example, the shortening setting unit 32 may increase the amount of shortening in the shortening process as the requested control amount increases. Further, the extension setting unit 33 may increase the amount of extension in the extension process, for example, as the requested control amount is smaller. The communication cycle is set to the same value as the current value if the situation does not change before and after receiving the control request signal, or if it is determined that there is no need to change the communication cycle.

Then, the integrated ECU 3 determines whether or not the absolute value of the force exceeds the force threshold in S102, and determines whether or not the differential value of the force exceeds the differential value threshold in S103 (S105). If the absolute value of the force exceeds the force threshold value or if the differential value of the force exceeds the differential value threshold value (S105: Yes), the transmission unit 34 immediately sends a message related to the force regardless of the set communication cycle. A control instruction signal is transmitted to the target functional ECU 2 (S107).

Further, when the absolute value of the force is equal to or less than the force threshold and the differential value of the force is equal to or less than the differential value threshold (S105: No), the integrated ECU 3 determines whether or not the immediate start condition is satisfied (S106). . If the immediate start condition is satisfied (S106: Yes), a control request signal is immediately transmitted to the target functional ECU 2 (S107). The immediate start condition is met, for example, by satisfying at least one of the current state when the control is started and when the vehicle is traveling on a special road surface (for example, a rough road, a low μ road surface, or a μ jump road surface). μ is the friction coefficient of the road surface.

Therefore, for example, when the integrated ECU 3 switches control from normal braking control to antiskid control or skid prevention control, that is, when new control is started, the immediate start condition is satisfied and the control instruction signal is immediately transmitted. It can be said that the integrated ECU 3 has a determination unit that determines whether or not the control instruction signal can be transmitted immediately. Further, the fact that the requested value in S105 is greater than the threshold can also be said to be an immediate start condition.

After the control instruction signal is immediately transmitted to the functional ECU 2 to be shortened, the control instruction signal is transmitted according to the communication cycle set for the functional ECU 2, ie, the shortened communication cycle. If the immediate start condition is not satisfied (S106: No), the control instruction signal is transmitted according to the set communication cycle.

(effect)
According to the configuration including the shortening setting unit 32 and the extension setting unit 33, when the shortening process is executed for one or more of a plurality of devices related to the behavior of the vehicle, one of the other devices Extension processing is executed for the above devices. As a result, congestion of communication between the integrated ECU 3 and the plurality of functional ECUs 2 is suppressed for the communication of the behavior-related device 9, and an increase in communication load is also suppressed. Furthermore, for control that requires high responsiveness, responsiveness can be enhanced by shortening the communication cycle. That is, it is possible to control the behavior-related device 9 appropriately for the situation while suppressing an increase in communication load.

Further, in the first embodiment, the receiving unit 31 receives the control request signal at predetermined intervals, and the shortening setting unit 32 and the extension setting unit 33 set the communication cycle each time the receiving unit 31 receives the control request signal. set. With this configuration, the integrated ECU 3 can always monitor the control request signal and set the communication cycle. According to this configuration, unlike the configuration in which the communication cycle is set in preparation for the occurrence of an event or in response to the occurrence of an event, the communication cycle suitable for the control request signal is always set.

Further, in the first embodiment, the shortening setting unit 32 increases the shortening amount in the shortening process as the control amount increases, and the extension setting unit 33 increases the extension amount in the extending process as the control amount decreases. According to this configuration, it is possible to perform the control more according to the request. For example, when turning a vehicle, a large amount of control is required for a braking device and a steering device. In this case, a shortening process with a large amount of shortening is performed for the functional ECUs 2 of the brake system and the steering system, and an extension process with a large amount of extension is performed with respect to the functional ECUs 2 such as the engine system. As a result, necessary responsiveness can be efficiently improved while securing communication resources.

Further, the extension setting unit 33 of the first embodiment sets all the functional ECUs 2 that are not subject to the shortening process as subjects of the extension process. With this configuration, communication resources can be more efficiently focused on the shortening process. According to this configuration, it is possible to efficiently secure the shortened amount of the communication cycle and distribute the extended amount of the communication cycle.

(redundant configuration)
In this embodiment, as shown in FIG. 3, the functional ECU 2 includes a functional processor 2a for performing its own functions. For example, a functional processor 2a included in the functional ECU 2 of the brake system executes arithmetic processing related to the brake system and executes various braking controls.

Integrated ECU3 is provided with the integrated processor 3a which performs arithmetic processing with the same logic as the functional processor 2a of each functional ECU2. The integrated processor 3a can execute the same arithmetic processing as the functional processors 2a of all the functional ECUs 2, and executes arithmetic processing according to the control request signal.

Here, the functional ECU 2 compares the calculation result of the functional processor 2a with the control instruction signal received from the integrated ECU 3, and judges whether the control instruction signal is true or false. In the functional ECU 2 and the integrated ECU 3, the next control contents are calculated from the detection values of the same sensors and with the same logic. control instruction data). Based on this principle, the functional ECU 2 can determine whether or not the received control instruction signal is illegal. Further, even if one of the functional ECU 2 and the integrated ECU 3 fails, the other ECU can still perform control. Thus, in this embodiment, a redundant configuration with a security check function is adopted for control.

(Another example of cycle setting control)
The extension setting unit 33 selects one or more functional ECUs 2 according to the control request signal received by the receiving unit 31, regardless of whether or not the shortening process is executed, and executes the extension process for the selected functional ECU 2. configured as possible. In other words, the extension setting unit 33 is configured to be able to execute the extension process while the shortening process is not being executed.

As another example of the period setting control, the integrated ECU 3 can also execute only the extension process without the shortening process. More specifically, the extension setting unit 33 selects one or more functional ECUs 2 from among the plurality of functional ECUs 2 in response to the control request signal received by the receiving unit 31 , and combines the selected functional ECU 2 with the integrated ECU 3 . Execute extension processing to lengthen the communication cycle set between

Then, the integrated ECU 3 responds to the control request signal received by the receiving unit 31 in a state where the extended process is executed, and the communication cycle between at least one of the functional ECUs subjected to the extended process and the integrated ECU should be shortened. The shortening setting unit 32 executes shortening processing for shortening the communication cycle set between at least one of the extended functional ECUs 2 and the integrated ECU 3 based on the determination result of the integrated ECU 3 (determining unit). When executing the shortening process, the extension process may be executed for other functional ECUs 2 in order to secure communication resources.

According to the configuration in which only the extension process can be executed independently as described above, the communication load is reduced by performing only the extension process. Further, when control requiring high responsiveness is requested for a device on which the extended process has been executed, the shortened process is executed to exhibit the necessary responsiveness. In other words, the behavior-related device 9 can be controlled in a manner suitable for the situation.

In addition, the integrated ECU 3 can detect a situation in which a longer communication cycle is preferable from the viewpoint of passenger comfort, and can execute only the extension process in this situation. According to this, it is possible to improve the ride comfort and reduce the communication load depending on the situation. Moreover, since the integrated ECU 3 determines whether or not the shortening process should be performed even in a state where the extending process is being executed, there is no problem in terms of ensuring responsiveness.

For example, when the vehicle travels on an arbitrary curve, five control instruction signals are transmitted to the target functional ECU 2 in the initial communication cycle from the entrance to the exit of the curve. Here, the integrated ECU 3 calculates the absolute value, the differential value, and the integral value of the force required for turning, and uses these three values to perform optimum control (for example, optimum curve control) from the viewpoint of ride comfort and safety. target running trajectory) can be selected. For example, when the integrated ECU 3 determines that the control based on the integral value of the force required for turning is optimal, the integrated ECU 3 executes the extension process for the target functional ECU 2 . As a result, the control instruction signal is sent to the target functional ECU 2 three times from the entrance to the exit of the curve, making it possible to drive the curve smoothly. If a special event such as a large change in the coefficient of friction of the road surface is detected while the extension processing is being executed, the shortening processing is executed for the target functional ECU 2 . This shortening process may be executed independently, or may be executed in combination with an extension process for another functional ECU 2 . By executing the extension process together with the shortening process, a larger amount of shortening can be secured.

Moreover, in the structure which can perform only an extension process, integrated ECU3 has grasp|ascertained having performed an extension process. Therefore, the integrated ECU 3 can also change the cycle of filtering (filtering cycle) in accordance with the extension of the communication cycle. This eliminates unnecessary filter processing and further reduces the overall communication load. In this way, the communication load is further reduced by performing filtering in accordance with data update timing, that is, by performing filtering suitable for samples.

<Second embodiment>
In the vehicle control device of the second embodiment, as shown in FIG. 4, unlike the first embodiment, the integrated ECU 3 includes a signal changing section 35 instead of the shortening setting section 32 and the extension setting section 33. . Only different points will be described below.

The signal changing unit 35 selects one or more functional ECUs 2 from among the plurality of functional ECUs 2 according to the control request signal received by the receiving unit 31, and converts the control instruction signal to the selected functional ECU 2 into state data. to control instruction data. The integrated ECU 3 transmits the control instruction content to the target functional ECU 2 by means of a control instruction signal having a predetermined amount of data. The transmission unit 34 divides the control instruction contents into a plurality of control instruction signals according to the amount of control data, and transmits the control instruction signals for each communication cycle. This control instruction signal normally includes control instruction data and state data, as in the first embodiment.

In the second embodiment, the signal change process replaces at least part of the state data (in this example, all of the state data) included in the control instruction signal with the control instruction data. In the redundant configuration of FIG. 3, even if the functional ECU 2 does not receive the state data, it knows the next control to be performed by the same logic as the integrated ECU 3. authenticity can be determined.

(effect)
According to the second embodiment, signal change processing is executed for a device selected from among a plurality of devices related to vehicle behavior. As a result, the ratio of control instruction data to the data constituting the control instruction signal is increased, and the amount of control instruction that can be transmitted with one signal is increased. In other words, responsiveness can be improved without changing the communication cycle. In other words, according to the second embodiment, it is possible to control the behavior-related device 9 appropriately for the situation without increasing the communication load. Moreover, since the functional ECU 2 determines whether the control instruction signal is true or false, the control can be executed safely even if the state data is replaced with the control instruction data.

<Others>
The present invention is not limited to the above embodiments. For example, the redundant configuration may not be adopted in the first embodiment. That is, in the first embodiment, regarding control, the integrated ECU 3 and the functional ECU 2 do not have to execute arithmetic processing with the same logic. In this case, for example, the integrated ECU 3 may include multiple processors to ensure redundancy. As described above, even if the redundant configuration as shown in FIG. 3 is not used, the communication cycle can be appropriately set as in the first embodiment.

Moreover, integrated ECU3 may be comprised by several ECU. For example, the integrated ECU 3 may include an ECU functioning as the receiver 31 . Also, the control request signal may be a signal generated by another ECU or the like instead of the control amount calculation unit 30 . Further, although the in-vehicle communication network is wired in the above embodiment, at least a part of it may be wireless. Moreover, the behavior-related device 9 preferably includes at least a brake device, an engine device, and a steering device. The present invention also functions effectively in self-driving vehicles.

Moreover, integrated ECU3 of 2nd Embodiment may further be provided with the shortening setting part 32 and the extension setting part 33 of 1st Embodiment so that the dotted line of FIG. 4 may be included in a structure. Thereby, integrated ECU3 can replace with shortening processing and extension processing or these processings according to a situation, and can perform signal change processing. For example, shortening processing and signal changing processing are performed, thereby further improving the responsiveness. As a result, it is possible to perform control more suitable for the control request while suppressing an increase in communication load.

In the above embodiment, the control request signal included the type of control. However, the control request signal may not include the control type. In this case, for example, in the communication cycle control shown in FIG. 2, step S103 can be skipped and step S104 can be performed after step S102. Further, in this case, the control instruction data included in the control instruction signal transmitted by the transmission unit 34 does not include data indicating the type of control. Upon receiving the control instruction signal, the functional ECU 2 may determine the type of control based on data indicating the control amount included in the control instruction data.

In the above embodiment, the priority of the type of control executed by the functional ECU 2 is set based on the differential value of the force generated on the vehicle (S103). However, the priority of the type of control may be set based on something other than the differential value of the force. For example, if the type of control included in the request signal is a control that has a small differential value of force but needs to be executed frequently in a short period of time, the priority of this control may be set high. Also, a higher priority may be set for the functional ECU 2 that executes control corresponding to the type of control included in the control request signal. In this case, the priority set in step S102 is updated in step S103. If the control request signal includes the type of control, the priority of the functional ECU 2 executing control corresponding to the type of control may be set higher in step S102. In this case, the priority of the functional ECU 2 is set according to the control amount and the type of control (S102).

In the above embodiment, the communication network was composed of CAN4. However, the communication network may also consist of other than CAN4. For example, any network capable of bus communication such as Ether may be used.

The present invention may be applied to communication between the functional ECU 2 and the behavior related device 9 . Specifically, the functional ECU 2 may execute the communication cycle control shown in FIG. In this case, the functional ECU 2 transmits a control instruction signal to the behavior-related device 9 . Note that one functional ECU 2 may be configured to communicate with a plurality of behavior-related devices 9 .

DESCRIPTION OF SYMBOLS 1... Vehicle control apparatus 2... Functional ECU 2a... Functional processor 3... Integrated ECU 3a... Integrated processor 31... Reception part 32... Shortening setting part 33... Extension setting part 34... Transmission part 35 ... signal changer, 9 ... behavior-related device.

Claims (6)

a plurality of functional ECUs each corresponding to a separate device related to vehicle behavior;
an integrated ECU communicating with the plurality of functional ECUs;
with
The integrated ECU
a receiving unit that receives a control request signal for the vehicle;
one or more of the functional ECUs are selected from among the plurality of functional ECUs according to the control request signal received by the receiving unit, and a communication cycle between the selected functional ECU and the integrated ECU is set; a shortening setting unit that executes shortening processing for shortening;
At least one of the functional ECUs not subject to the shortening process is selected in conjunction with the selection of the target of the shortening process, and a communication cycle between the selected functional ECU and the integrated ECU is lengthened. an extension setting unit that executes an extension process for
with
The extension setting unit selects one or more of the functional ECUs according to the control request signal received by the receiving unit, regardless of whether or not the shortening process is executed, and selects one or more functional ECUs for the selected functional ECUs. A vehicle control device configured to be able to execute the extension process . The receiving unit is configured to receive the control request signal at predetermined intervals,
The vehicle control device according to claim 1 , wherein the shortening setting section and the extension setting section set a communication cycle each time the receiving section receives the control request signal. The control request signal includes control amount information,
The shortening setting unit sets a shortening amount in the shortening process according to the magnitude of the control amount,
The vehicle control device according to claim 1 or 2 , wherein the extension setting unit sets the amount of extension in the extension process according to the magnitude of the control amount. The control request signal further includes information indicating the type of control,
The shortening setting unit sets a shortening amount in the shortening process according to the magnitude of the control amount and the type of control,
4. The vehicle control device according to claim 3 , wherein the extension setting unit sets the amount of extension in the extension process according to the magnitude of the control amount and the type of control. The functional ECU includes a functional processor for performing its own functions,
The integrated ECU includes an integrated processor that executes arithmetic processing with the same logic as the functional processors of the functional ECUs,
The functional ECU compares the result of calculation by the functional processor with the control instruction signal received from the integrated ECU to determine whether the control instruction signal is true or false;
The integrated ECU
In response to the control request signal received by the receiving unit, the control instruction signal including at least control instruction data indicating a control amount and state data indicating a vehicle state is transmitted to the functional ECU to be controlled. a transmitter;
selecting one or more of the functional ECUs from among the plurality of functional ECUs according to the control request signal received by the receiving unit; a signal change unit that executes a signal change process of changing at least a part of to the control instruction data;
The vehicle control device according to any one of claims 1 to 4 , comprising: a plurality of functional ECUs each corresponding to a separate device related to vehicle behavior;
an integrated ECU communicating with the plurality of functional ECUs;
with
The integrated ECU
a receiving unit that receives a control request signal for the vehicle;
one or more of the functional ECUs are selected from among the plurality of functional ECUs according to the control request signal received by the receiving unit, and a communication cycle between the selected functional ECU and the integrated ECU is set; a shortening setting unit that executes shortening processing for shortening;
At least one of the functional ECUs not subject to the shortening process is selected in conjunction with the selection of the target of the shortening process, and a communication cycle between the selected functional ECU and the integrated ECU is lengthened. an extension setting unit that executes an extension process for
with
The functional ECU includes a functional processor for performing its own functions,
The integrated ECU includes an integrated processor that executes arithmetic processing with the same logic as the functional processors of the functional ECUs,
The functional ECU compares the result of calculation by the functional processor with the control instruction signal received from the integrated ECU to determine whether the control instruction signal is true or false;
The integrated ECU
In response to the control request signal received by the receiving unit, the control instruction signal including at least control instruction data indicating a control amount and state data indicating a vehicle state is transmitted to the functional ECU to be controlled. a transmitter;
selecting one or more of the functional ECUs from among the plurality of functional ECUs according to the control request signal received by the receiving unit; a signal change unit that executes a signal change process of changing at least part of the to the control instruction data;
A vehicle control device comprising:

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