JPH0597004A - Control system fitted with a plurality of control units - Google Patents

Abstract

PURPOSE:To effectively utilize a sensor and/or actuator which is connected with a control unit which eventually is out of function partially, or to arrange so that a substitute control system using another network is in effect in the event of severance of one network. CONSTITUTION:A 1st network 1 transmits information between a plurality of control units 20, 21 while a 2nd network 22 generates connections between these control units, sensors 16, 18, and actuators 17, 19. When for example the 1st network 1 goes in severance in the (x) position, a substitute control system is formed using the 2nd network 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system having a plurality of control units connected to each other via a network.

[0002]

2. Description of the Related Art As a conventional control system of this type,
For example, there is one as shown in JP-A-2-246841. As shown in FIG. 22, the overall structure of the vehicle control system includes an engine control control unit 2, a slot valve control control unit 3, and a suspension control control unit 4, and the accelerator is controlled by the engine control control unit 2. An opening sensor 5, an ignition timing adjusting device 6, and a fuel injection device 7 are connected, and a throttle valve drive actuator 8 is connected to the slot valve control unit 3.
But again, control unit 4 for suspension control
A suspension control actuator group 9 is connected to. The respective control units are connected to each other by the network 1.

The control in these control units is performed by the flow shown in FIG. In the engine control unit 2, the accelerator opening detected in step 100 is input, and when the driver depresses the accelerator pedal, the amount of change in the accelerator opening is calculated from the input accelerator opening in step 101. In step 102, when the amount of change in the accelerator opening is larger than a predetermined value, it is determined that the acceleration is rapid, and in step 103, the throttle valve control control unit 3 and the suspension control control unit 4 are interrupted by the network 1 via the network 1. Is transmitted, and then in step 104, the amount of change in the accelerator opening is transmitted. After that, a control signal is issued to the ignition timing adjustment device 6 and the fuel injection device 7 based on the engine control program for the rapid acceleration to control the engine.

The throttle valve control control unit 3 receives an interrupt signal from the network 1 in step 106, confirms that the signal is a rapid acceleration interrupt in step 107, and then receives the amount of change in accelerator opening in step 108. Then, in step 109, the throttle control program for sudden acceleration is activated, and the throttle is controlled based on the amount of change.

Further, the suspension control unit 4 receives an interrupt signal from the network 1 in step 111, confirms that it is a rapid acceleration interrupt signal in step 112, and then determines the amount of change in the accelerator opening in step 113. Upon reception, the program for sudden acceleration is started in step 114, and the suspension is controlled based on the amount of change.

[0006]

However, in such a conventional control system, the exchange of all information is one.
Only through the network of. Since the input / output means such as various sensors and actuators are individually connected only to one of the control units, if the network fails and the information transmission between the control units is stopped, the inconvenience may occur. ..

That is, when one control unit stops functioning, even if there is no abnormality in the sensor connected to the control unit, the information cannot be referred to. Further, when a certain control unit stops, it becomes impossible to control the actuator thereafter even if there is no abnormality in the actuator connected to the control unit. In any of these cases, the control operation of the entire system may be stopped or the vehicle performance or the like may be deteriorated.

Therefore, the present invention focuses on the above-mentioned problems, and even if some control units stop functioning, the control level of the entire system is effectively utilized by effectively utilizing the sensor or actuator connected to the control unit. It is an object of the present invention to provide a control system including a plurality of control units capable of maintaining high temperature.

[0009]

Therefore, in the invention described in claim 1, a plurality of control units provided corresponding to a plurality of actuators, a plurality of sensors for detecting a state quantity, and a plurality of the plurality of sensors are provided. It has a first network for transmitting information between control units and a second network for connecting the plurality of control units, sensors and actuators, and one or either of the first or second networks The control system is designed so that an alternative control system is formed when an abnormality occurs in the unit.

According to a second aspect of the present invention, in addition to the above configuration, a network control processor is provided corresponding to a control unit in at least one of the first and second networks, and the network control processor is connected to a control unit. Information is selectively exchanged between the unit or the sensors and actuators and the network.

[0011]

When the control unit monitors the operation of the network or the control unit from the information coming through the network, a failure occurs in one of the first network or the second network or another control unit. An information detour is formed using a normal network and control unit.

Further, when the network control processor is provided, the network control processor manages the network, so that the processing load of the control unit is reduced.

[0013]

FIG. 1 shows a first embodiment of the present invention. A plurality of control units 20, 21 are provided corresponding to the plurality of actuators 17, 19. A first network 1 for transmitting information is connected between the control units, and a second network 22 for connecting a plurality of control units, actuators and a plurality of sensors for detecting a state quantity is provided.

When a sensor such as 16 outputs a detection signal, this signal is input to the control units 20 and 21 via the second network 22. When no abnormality has occurred in the system, the actuator 17 is controlled by the information from the control unit 20 via the second network 22. The other actuators are also controlled by the information from the connected control unit.

When the control unit sends the information based on the signal from the sensor 16 to the first network 1, it takes the structure of the data frame as shown in FIG. 2 and includes the sender identification information.

Here, for example, if a failure occurs in which the first network 1 is disconnected between the control unit 20 and the control unit 21 as shown in FIG. 3, the control unit 20 is located on the right side in the figure. When the information from the other control unit 21 is not obtained through the first network 1, the abnormality of the first network 1 is detected. The control unit 21 is the control unit 2 located on the left side.
Since the information from 0 cannot be obtained through the first network, the abnormality of the first network is also detected.

Control unit 20 which has detected an abnormality
And 21 send an abnormality occurrence signal indicating that an abnormality has occurred in the first network 1 through the second network 22.
Stream to other control units in the system.

Thereafter, the communication between the control units which cannot transmit / receive information through the first network 1 is as follows.
This is performed through the control units 20 and 21 and the second network 22. In this way, when an abnormality occurs in the first network 1, the second network 22
By using the control units 20 and 21, an information detour is set, an alternative control system including this detour is established, and control is performed without delay.

Next, as shown in FIG. 4, when an abnormality occurs in the control unit 20 and the normally performed operation cannot be performed, the other control units such as the control unit 21 except the control unit 20 become the first unit. Since the information from the control unit 20 cannot be obtained through the first network 1 and the above-mentioned abnormal signal from the control unit 20 cannot be received through the second network 22, it is determined that an abnormality has occurred in the control unit 20. To do.

The control unit that first detects the abnormality of the control unit 20 sends an abnormality occurrence signal indicating that the abnormality has occurred in the control unit 20 to another control unit through the second network 22.

The control unit 21 which has received the abnormality occurrence signal executes the processing which is performed by the failed control unit 20 in addition to the conventional processing operation. At that time, the signal from the detecting means 16 and the signal to the actuator 17 are transmitted and received through the second network 22.

In this way, the control unit 2
When 0 fails, the second network 22 and the control unit 21 perform the replacement process.
It should be noted that this alternative process need not be performed by the control unit next to the failed control unit 20,
It is possible to perform the same operations as the control unit 20,
Any control unit can be substituted as long as it is a control unit connectable to the detection means 16 and the actuator 17. In addition, a plurality of control units may be shared.

FIG. 5 shows an example in which the above configuration is applied to a vehicle control system. The system includes an ABS control unit 25, an automatic air conditioner control unit 26, and a 4WS control unit 27 as control units, a first network 1 is connected between the control units, and a second network is provided in parallel with the first network. 22 also connects between the control units. Second network 2
2, a vehicle speed sensor 28 is connected, a left front wheel speed sensor 29a, and other ABS sensor groups 29b.
Further, the ABS actuator 30 is connected to the ABS control unit 25 via the second network 22.

Similarly, via the second network 22,
Auto air conditioner vehicle interior temperature sensor 31a, other auto air conditioner sensor group 31b, blower motor 32a and other auto air conditioner actuator group 32b
Is connected to the automatic air conditioner control unit 26, and the 4WS sensor group 33 and the 4WS actuator group 34 are connected to the 4WS control unit 27. The network is composed of a LAN, and the connection to the network is made through an interface circuit with the LAN.

The data to be transmitted has an ID depending on its content.
(Identification number) is assigned, and the transmission of the data information is performed in the data frame in the form of “data ID + data” shown in FIG. For example, if the vehicle speed information ID is 100 and the vehicle speed data value is 30, the content of the data frame is as shown in FIG. This ID is set so as to be different among all pieces of information. That is, the ID of the left front wheel speed information flowing through the second network 22 is different from the ID of the vehicle interior temperature information flowing through the same second network 22 and the ID of the ABS control unit operation information flowing through the first network 1. To be

The control in the system is performed by the flow shown in FIG. From each sensor other than the vehicle speed sensor 28, the data according to the data frame of FIG.
Flows to the network 22 of. In the ABS control unit 25, in steps 200 to 202, the vehicle speed sensor 2
8, the information from the left front wheel speed sensor 29a and the other ABS sensor group 29b is taken in, and the arithmetic processing is performed in step 203 based on these information. It should be noted that, when the information is taken in, information such as vehicle interior temperature information which is unnecessary for ABS control is not taken in.

After the arithmetic processing is completed, in step 204, a command signal is sent to the ABS actuator 30 through the second network 22 in accordance with the data frame of FIG.
Further, in step 205, the operation information of the ABS control unit 25 is output to the first network 1 and the process ends.

Auto air conditioner control unit 26
Then, in steps 210 to 211, the vehicle interior temperature sensor 31
a, and other sensor groups 31b for auto air conditioners
Information is fetched and arithmetic processing is performed in step 212 based on these information. In step 213, a command signal is sent to the blower motor 32a and the other auto air conditioner actuator group 32b through the second network according to the result of the arithmetic processing.

In the 4WS control unit 27, the vehicle speed information and the 4
Information from the WS sensor group 33 is fetched from the second network 22. Further, in step 217, necessary information such as the operation information of the ABS control unit 25 is fetched from the first network 1, and step 21
At 8, the arithmetic processing is performed. After the calculation processing is completed, step 219
Then, a command signal is transmitted to the 4WS actuator group 34 through the second network in accordance with the data frame of FIG. During the above control execution, data collision on the network is avoided by using well-known techniques such as CSMA / CD and token passing.

Detection and coping with a failure in the embodiment constructed as described above will be described below. 4WS
There are five possible symptoms of abnormal conditions detected by the control unit.

Symptom (1) Information on the second network is
I can't cut it. Cause: Network is in Figure 9 Cut at the point indicated by
There is. Countermeasure (A): Step 1: Request information from all control units
Code (eg FFH, where H is written in hexadecimal)
Indicates that The same applies below. ) + I of the information you want to obtain
D data (eg AAH etc.) to the first network
Output to. An example of the data frame is shown in FIG. Step 2: Auto air conditioner control receiving information request signal
Control unit 26 and ABS control unit 25
Is the first network if you can get that information
Output to. If that information is not available, or already
Auto air conditioner control unit 26 (or AB
S control unit 25) is connected to the first network
During output, the ABS control unit 25 (or
Or automatic air conditioner control unit)
Yes. Step 3: After that, the 4WS control unit is the first
Continue processing based on the information obtained from the network. Step 4: After that, automatic air conditioner control unit
(Or ABS control unit) is the first net
Outputs 4WS sensor group 33 information and vehicle speed information to the workpiece
To do.

For reference, the 4WS control unit 27 and the ABS control unit 2 in this measure
5. The operation flow of the automatic air conditioner control unit 26 is shown in FIG. Steps 300 to 301 in the figure correspond to procedure 1, steps 304 to 307 or steps 308 to 312 correspond to procedure 2, and step 302 corresponds to procedure 3.

Symptom (2) Vehicle speed information cannot be captured. Cause: Network is in Figure 9 Cut at the point indicated by
There is. : Or the vehicle speed sensor is broken. Countermeasure (B): Procedure 1: Perform procedure 1 and procedure 2 of countermeasure (1). Step 2: When vehicle speed information is obtained from the first network
Performs the same operation as the countermeasure (1). (Network
Disconnection) Step 3: Wait for the 4WS control unit for the specified time
That the vehicle speed information cannot be obtained from the first network
Check. (Vehicle speed sensor failure) Step 4: For example, left front wheel speed information instead of the vehicle speed signal ID
Take in. Step 5: After that, the 4WS control unit displays vehicle speed information.
Instead, the processing is continued using the left front wheel speed information. (C
Sensor replacement)

Symptom (3) 4WS sensor group information cannot be imported. Cause: The 4WS sensor group is out of order. Countermeasure (C): Step 1: Determine whether the processing can be continued only with the available information. (For the determination, a table indicating whether processing is possible or impossible is made based on the information that can be obtained in advance, and the table is referred to.) Procedure 2A: If the processing can be continued, the processing is continued. Step 2B: If it is not possible to continue, use the first network to notify all control units that the 4WS control unit will stop operating. Step 3: Stop the 4WS control operation.

Symptom (4) 4WS sensor group information and vehicle speed information
Information cannot be captured. Cause: Network is in Figure 9 Cut at the point indicated by
There is. Corrective action: Same as corrective action (A).

Symptom (5) Information on the first network is
I can't cut it. Cause: Network is in Figure 9 Cut at the point indicated by
There is. Countermeasure (D): Step 1: Information to the ABS control unit 25
Request code (eg FEH) + ABS operation information
The ID data (for example, A0H) is transferred to the second network.
Output to the network. Step 2: ABS control unit receiving the information request signal
Outputs the information to the second network. Step 3: After that, the 4WS control unit
Continue processing based on ABS operation information obtained from the network
It Step 4: After that, the ABS control unit
Output ABS operation information to the network.

Symptom (6) ABS operation information cannot be captured
Yes. Cause: Network is in Figure 9 Cut at the point indicated by
There is. : Or the ABS control unit is out of order. Countermeasure (E): Procedure 1: The procedure 1 of the countermeasure (D) is performed. Step 2A: If information is available from the second network
Action Same as Action D. (Network is in Figure 9 Indicated by
Cutting at some point. ) Procedure 2B: The 4WS control unit 27 is
Auto air conditioner control unit not directly related to driving
The ABS control unit 25
An alternative processing code (eg FDH) is output. Step 3: Auto air conditioner control unit is 4W
For the S control unit, understand the code (for example,
FCH) is output. Step 4: After that, the automatic air conditioner control unit 2
6 is ABS instead of ABS control unit 25
Perform control processing.

4WS control unit 27 described above
FIG. 12 shows the relationship between the detection of an abnormality and its countermeasure in FIG.
become that way. The same applies to other control units.

In order for the automatic air conditioner control unit 26 to carry out the alternative processing of the ABS control unit as in the countermeasure (E), the automatic air conditioner control unit holds the program of the ABS control unit. In order to maintain this, the auto air conditioner control unit has a plurality of R
In addition to the ROM 35 that stores the program for controlling the OM, that is, the automatic air conditioner, the ROM 36 that stores the program for the ABS control unit and other components are provided to form a control unit 26 '.

As another method, as shown in FIG. 14, a control unit 26 "having a RAM 40 for holding a program in the unit is used, and the program held in the RAM 40 is dedicated from, for example, an external terminal 39 holding all the programs. In addition to the drawing, first and second networks may be used to transfer the program in addition to the one shown in the figure. 38 and 41 are CPUs.

FIG. 15 shows a second embodiment in which a network control processor is provided at the contact points between the first and second networks and each control unit. A plurality of control units 50, 51 are provided corresponding to the plurality of actuators 17, 19. First network 1 for transmitting information between a plurality of control units
And a plurality of sensors 16 and 1 for detecting the control unit, the actuator, and the state quantity.
A second network 22 connecting 8 is provided.

A plurality of first network control processors 52, 53 corresponding to the number of control units are provided at the contact points between the first network 1 and the respective control units 50, 51, and the second network 22 is connected. Similarly, a plurality of second network control processors 54, 5 corresponding to the number of control units are provided at the contact points with the control units 50, 51.
5 are provided. The actuator 17 and the sensor 16 used for controlling the actuator 17 are connected to the second network control processor 54, and the actuator 19 and the sensor 18 used for controlling the actuator 19 are connected to the second network control processor 55. ing.

The sensors 16 and 18 are connected to the second network control processors 54 and 5 respectively.
Output information to 5. Actuators 17, 19
Are also controlled by the information from the second network control processors 54, 55 connected respectively.

The control unit 50 includes the information from the second network control processor 54 and the first network control processor 54.
Processing based on the information from the network control processor 52 of the
To the network control processor 54. Then, the information of the second network control processor 54 is transferred to the first network control processor 5
Pour into 2.

Similarly, the control unit 51 performs processing based on the information from the second network control processor 55 and the information from the first network control processor 53, and outputs the information to the actuator 19 to the second network control processor. Flow to processor 55. Then, the information of the second network control processor 55 is sent to the first network control processor 53.

The first network control processor 52 selects the information necessary for the connected control unit 50 from the first network 1 and supplies it to the control unit 50. Then, information from the connected control unit 50 is transferred to the first network 1
Shed on. At the same time, the operations of the first network 1 and each control unit 50 are monitored.

Similarly, the first network control processor 53 is connected to the control unit 5 connected to it.
The information necessary for No. 1 is selected from the first network 1 and given to the control unit 51. Then, the information from the connected control unit 51 is sent to the first network 1 and the operations of the first network 1 and the control unit 51 are monitored.

The second network control processor 54 is required for the connected actuator 17,
Control unit 50 or second network 2
The information input from 2 is selected and the actuator 17 is selected.
Output to. Then, the information of the second network 22 necessary for the connected control unit 50 or the information from the sensor 16 is output to the control unit 50. In addition, the operations of the second network 22, the control unit 50, the actuator 17, and the sensor 16 are monitored.

Similarly, the second network control processor 55 selects the information necessary for the connected actuator 19 from the control unit 51 or the second network 22 and outputs it to the actuator 19. Then, the information of the second network 22 necessary for the connected control unit 51 or the information from the sensor 18 is output to the control unit 51, and the second network 22 and the control unit 51, the actuator 19, the sensor 18 are also output.
Monitor the behavior of.

With such a configuration, for example, FIG.
As shown in FIG. 2, when a failure occurs in which the first network 1 is disconnected between the first network control processors 52 and 53, one of the first network control processors 52 is connected to the other of the first network control processors 52. Information from the first network control processor 53 is no longer available via the first network 1, and likewise the first network control processor 53.
Detects the abnormality of the first network 1 by not being able to obtain the information from the one first network control processor 52 via the first network 1.

Thereafter, the first network control processors 52 and 53 and the control units 50 and 5
The communication is performed by using the detour constituted by 1 and the second network 22.

In this way, when a failure occurs in the first network 1, a detour for information using the second network 22 is set. In this case, in particular, the network control adjacent to the disconnection point is set. It is not necessary to use a processor and a control unit, and any network control processor and control unit may be used as long as a bypass route for a disconnection point can be configured.

Next, when the control unit 50 does not operate normally as shown in FIG.
The network control processor 54 of FIG. 2 informs another control unit 51 or the like that the information from the control unit 50 is no longer available. At the same time, the first network control processor 52
Informs another control unit 51 or the like that the information from the control unit 50 is no longer available.

As a result, the control unit 51
Determines that the control unit 50 is abnormal,
The processing of the control unit 50 is replaced. At this time, the sensor 16 and the actuator 17 exchange signals with the control unit 51 via the second network control processors 54 and 55.

As described above, according to this embodiment, the first network control processor is provided at the contact point between the first network 1 and the control unit, and the contact points between the sensors and actuators and the control unit are provided on the second network 22. Since the second network control processor is provided and the network control processor manages the first and second networks and monitors each control unit and distributes tasks, the control unit only needs to perform each application. Well, compared to the first embodiment, the effect that the processing load can be reduced can be obtained.

FIG. 18 shows a third embodiment in which an auxiliary calculator is connected to the first network. First network 1
, And auxiliary calculators 23 and 24 are provided corresponding to the control units 20 and 21. The other structure is the same as that of the first embodiment, and the sensors 16 and 18 are connected to the control units 20 and 21 and the second unit, respectively.
Information is output to the network 22. The control units 20, 21 or the second network 22 to which the actuators 17, 19 are also connected, respectively.
Controlled by information from.

The auxiliary calculator 23 is connected to the first network 1
The calculation is performed based on the information from various sensors, the control unit, and the auxiliary calculation unit 24 flowing in the above, and the calculation result is sent to the first network 1. The auxiliary calculation unit 24 also performs calculation based on information from various sensors flowing in the first network 1, the control unit, and other auxiliary calculation units 23, and outputs the calculation result to the first network 1. Shed.

The control unit 20 includes a sensor 16
And the information from the first network 1 are processed to control the actuator 17. Then, the information of the sensor 16 is sent to the first network 1. Similarly, the control unit 21 performs a process based on the information from the sensor 18 and the information from the first network 1 to control the actuator 19 and sends the information from the sensor 18 to the first network 1.

With such a configuration, for example, FIG.
As shown in, when a failure occurs in which the first network 1 is disconnected between the contact point between the control unit 20 and the auxiliary calculation section 23 and the contact point between the control unit 21 and the auxiliary calculation section 24, Control unit 2
In 0, the information from the other control unit 21 and the auxiliary calculation unit 24 on the right side of the cut surface in the drawing cannot be obtained through the first network 1, and thus the first
It is detected that an abnormality has occurred in the network 1 of.

Similarly, in the control unit 21, another control unit 20 on the left side of the cut portion is
Information from the auxiliary calculation unit 23 and the first network 1
Is no longer available through the first network 1
Detects that an abnormality has occurred.

Control unit 20 which has detected an abnormality
And 21 send an abnormality occurrence signal indicating that an abnormality has occurred in the first network 1 to the auxiliary calculation units 23 and 24 through the first network 1 and to another control unit through the second network 22.

After that, communication between the control units that cannot transmit and receive information through the first network 1 and between the auxiliary calculators is performed through the control units 20 and 21 and the second network 22.

In this way, when a failure occurs in the first network 1, the second network 22 is used to set an information detour. At this time, it is not particularly necessary to use the control unit adjacent to the disconnection point of the first network 1, and any control unit may be used as long as a detour of the disconnection point can be constructed.

Next, for example, as shown in FIG. 20, when an abnormality occurs in the control unit 20 and the normally performed operation cannot be performed, the control unit 2
Other control units such as the control unit 21 except 0 cannot obtain the information of the control unit 20 from the first network 1 and cannot receive the abnormal signal from the control unit 20 through the second network 22. , It is determined that an abnormality has occurred in the control unit 20.

The control unit which first detects the abnormality of the control unit 20 sends an abnormality occurrence signal indicating that the abnormality has occurred to the control unit 20 to the auxiliary calculation units 23 and 24 through the first network 1
It is sent to each control unit through the network 22 of.

Auxiliary calculator 23 that has received the abnormality occurrence signal
After that, the control unit 20 operates as usual.
Perform the processing that was performed in. At that time, the signal from the sensor 16 and the signal to the actuator 17 are transmitted and received through the control unit 21 and the second network 22.

In this way, the control unit 2
When 0 fails, the second network 22, the control unit 21, and the auxiliary calculation unit 23 perform the replacement process. At this time, this substitution process does not need to be performed by the auxiliary calculation unit 23 located at the closest position,
It is possible to perform the same operations as the control unit 20,
As long as it is an auxiliary calculation unit that can be connected to the sensor 16 and the actuator 17, any auxiliary calculation unit may perform, or a plurality of auxiliary calculation units may share. Furthermore, a plurality of or a single control unit and a plurality of or a single auxiliary calculation unit may share, or a single or a plurality of control units may be used as in the first embodiment.

Further, if a route connecting the sensor 16 and the actuator 17 with the part of the control unit 20 which is performing the alternative processing can be constructed, it is not necessary to use the control unit next to the defective control unit. Absent.

As another abnormal mode, for example, as shown in FIG. 21, when an abnormality occurs in the auxiliary calculation unit 23 and the operation normally performed cannot be performed, the control units 20 and 21 perform the auxiliary calculation. Since the information from the unit 23 is no longer obtained, the abnormality of the auxiliary calculation unit 23 is detected.

The control unit that first detects an abnormality sends an abnormality occurrence signal indicating that an abnormality has occurred in the auxiliary calculation unit 23 to the other auxiliary calculation units through the first network 1. For example, the auxiliary calculator 24 that receives the abnormality occurrence signal
After that, the conventional operation and the processing performed by the auxiliary calculation unit 23 are performed.

This substitution process does not need to be performed by the auxiliary calculation unit located closest to the auxiliary calculation unit, and any auxiliary calculation unit can perform the operation performed by the auxiliary calculation unit 23. Alternatively, a plurality of auxiliary calculation units may share. Further, a plurality or a single control unit and a plurality or a single auxiliary calculation unit may share the work, or a single or a plurality of control units may perform the sharing.

[0072]

As described above, the present invention provides the first network for transmitting information between the plurality of control units, and also provides the second network for connecting the plurality of control units with the sensor and the actuator. Since it is provided, it has the following effects. (1) When a failure occurs in one of the first and second networks, the other second or first network can be used to configure an information transfer detour forming an alternative control system. .. (2) When an abnormality occurs in any of the control units, another control unit that is normal performs the replacement process, so that the functional deterioration of the entire system due to a failure of a part of the control system can be minimized. ..

Each of the embodiments has the following effects in addition to the above common effects. In the first embodiment, the added hardware is only the second network as compared with the conventional example, so that it has excellent cost performance.

In the second embodiment, a network control processor is provided at the contact point between the network and the control unit, and the network control processor manages the network and monitors each control unit and distributes tasks. You only have to do each application,
The effect that the processing load can be reduced can be obtained.

In the third embodiment, since the auxiliary arithmetic unit is provided, the arithmetic processing load of each control unit can be significantly reduced. As a result, each control unit can be composed of an inexpensive microcomputer. Further, when the processing performed by each control unit becomes large due to a change in control specifications or the like, an auxiliary calculation unit may be added instead of newly developing the control unit. Further, when the auxiliary calculation unit becomes unnecessary due to the change of control specifications or the progress of CPU, the auxiliary calculation unit may be removed.
In this way, the system can be easily expanded and reduced at a low cost. Therefore, optional settings and vehicle types,
It is possible to easily cope with different specifications.

[Brief description of drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram showing a structure of a data frame.

FIG. 3 is a diagram showing a flow of information when an abnormality occurs in a network in the first embodiment.

FIG. 4 is a diagram showing a flow of information when an abnormality occurs in the control unit in the first embodiment.

FIG. 5 is a diagram showing an example in which the first embodiment is applied to a vehicle control system.

FIG. 6 is a diagram showing a structure of a data frame.

FIG. 7 is a diagram showing an example of contents of a data frame.

FIG. 8 is a diagram showing a flow of control in the example of FIG.

FIG. 9 is a diagram showing a location where an abnormality has occurred.

FIG. 10 is a diagram showing an example of contents of a data frame.

FIG. 11 is a diagram showing a flow of operations in handling an abnormality.

FIG. 12 is a diagram showing a relationship between detection of an abnormality and a countermeasure.

FIG. 13 is a diagram showing a configuration example of a control unit.

FIG. 14 is a diagram showing another configuration example of the control unit.

FIG. 15 is a diagram showing a second embodiment of the present invention.

FIG. 16 is a diagram showing a flow of information when an abnormality occurs in the network in the second embodiment.

FIG. 17 is a diagram showing a flow of information when an abnormality occurs in the control unit in the second embodiment.

FIG. 18 is a diagram showing a third embodiment of the present invention.

FIG. 19 is a diagram showing a flow of information when an abnormality occurs in the network in the third embodiment.

FIG. 20 is a diagram showing a flow of information when an abnormality occurs in the control unit in the third embodiment.

FIG. 21 is a diagram showing a flow of information when an abnormality occurs in the auxiliary calculation unit in the third embodiment.

FIG. 22 is a diagram showing a conventional example.

FIG. 23 is a diagram showing a control flow in a conventional example.

[Explanation of symbols]

1 1st Network 2 Control Unit for Engine Control 3 Control Unit for Throttle Valve Control 4 Control Unit for Suspension Control 5 Accelerator Position Sensor 6 Ignition Timing Adjustment Device 7 Fuel Injection Device 8 Throttle Valve Drive Actuator 9 Suspension Control Actuator Group 16 , 18 sensor 17, 19 actuator 20, 21 control unit 22 second network 23, 24 auxiliary calculator 25 ABS control unit 26 auto air conditioner control unit 26 ', 26 "control unit 27 4WS control unit 28 vehicle speed sensor 29a front left wheel speed Sensor 29b Other ABS sensor group 30 ABS actuator 31a Auto air conditioner vehicle interior temperature Sensor 31b Other auto air conditioner sensor group 32a Blower motor 32b Other auto air conditioner actuator group 33 4WS sensor group 34 4WS actuator group 35 ROM 36 ROM 37 Changeover switch 38 CPU 39 External terminal 40 RAM 41 CPU 42 Control unit 43 Program Transfer network 50,51 Control unit 52,53 First network control processor 54,55 Second network control processor

Claims (2)

[Claims] 1. A plurality of control units provided corresponding to a plurality of actuators, a plurality of sensors for detecting a state quantity, a first network for transmitting information between the plurality of control units, and a plurality of the plurality of control units. A second network for connecting the control unit, the sensor and the actuator, and an alternative control system is formed when an abnormality occurs in one of the first and second networks or in any one of the control units. A control system having a plurality of control units. 2. A plurality of control units provided corresponding to a plurality of actuators, a plurality of sensors for detecting a state quantity, a first network for transmitting information between the plurality of control units, and a plurality of the plurality of control units. A control unit, a sensor, and a second network for connecting the actuator, and a network control processor is provided corresponding to the control unit in at least one of the first and second networks, and the network control processor is connected. Information is selectively exchanged between the control unit or the sensor and actuator and the network, and when an abnormality occurs in one of the first and second networks or any one of the control units, the alternative control system A control system having a plurality of control units, which is characterized in that a series is formed.