JPH0782363B2 - Vehicle control device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device, and more specifically,
The present invention relates to a vehicle control device for controlling various vehicle devices such as an internal combustion engine device using a microcomputer.

2. Description of the Related Art Conventionally, control of an internal combustion engine vehicle has been performed by a microcomputer, but the control content has become complicated year by year, and high precision control is required. Therefore, as the number of control items executed by the microcomputer increases, the number of input / output items increases, the load on the microcomputer tends to increase, and the speedup of control is required. In order to meet these requirements, a higher performance microcomputer may be used, but such a microcomputer is expensive and causes a rise in the manufacturing cost of the device.

Therefore, various methods for efficiently using an inexpensive microcomputer have been proposed. As one of them, for example, a program is divided into small programs called tasks, which are activated by a soft timer and have a control function for engine control. It is proposed that a soft timer table is provided in the RAM for the number of tasks classified based on the above, and the task is stopped by clearing the contents of the soft timer table (JP-A-56-38541). (See the official gazette). This method activates each task according to the value of the soft timer provided for each task, and each task has its own priority. When a high task activation request is issued, the information of the currently executing task is temporarily saved in RAM. Then, after the execution of the task with the higher priority is completed, the information stored in the RAM is taken out and the execution of the interrupted task is resumed.

Problems to be Solved by the Invention However, in the above method, since a save area must be provided in the memory according to the number of task priorities, a large amount of memory is required and the number of tasks is reduced. As the number increases, there is a problem that the load of the dispatcher becomes heavy, such as setting a timer and searching for an activation request. Furthermore, since the tasks are prioritized and the high priority tasks are prioritized by interrupts, the low priority tasks take a long time to complete. May cause an inconvenience that a low priority task is not activated. In addition, there is a problem that a timer is required for the number of tasks, and if the number of tasks is large, the required memory capacity increases significantly.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control device that requires a small memory capacity, can significantly improve the use efficiency of a microcomputer, and can improve control performance.

Means for Solving the Problems A feature of the present invention for solving the above problems is that a vehicle is controlled by executing a plurality of control subroutine programs for controlling a vehicle device. In the above described vehicle control device, storing means for storing the plurality of control subroutine programs,
A plurality of tasks each including one or a plurality of control subroutine programs having the same execution priority so that the respective execution times are substantially uniform, and task level data indicating the respective execution priorities. A memory means in which a plurality of sets of task tables for determining execution priorities of these plurality of tasks are stored according to operating conditions, and a longer execution time than the longest execution time of each execution time of the task. Based on the task level data, at a set predetermined time interval, a task having a higher self-priority indicated by the task level data has a higher execution frequency, and a plurality of these tasks are executed in a predetermined one execution cycle. Designating means for periodically designating the tasks to be executed so that they are executed at least once, and the designating means. Certain control subroutine program of the designated task to the point comprising a means for executing without interruption is removed from said store means by.

Action According to the above configuration, each program is sequentially executed according to the execution pattern data at a predetermined fixed time interval that is set longer than the longest time of each execution time of the program. Since there is no need to provide a soft timer for determining the interval and there is no interruption of one program during execution of another program, each program eventually ends up with a predetermined predetermined value for each program. It is surely executed in a cycle. Also,
Since each program is not interrupted during its execution, the wasted time is greatly reduced, and the control program is executed with high efficiency.

Further, since each program is composed of one or a plurality of control subroutine programs, it is possible to set the contents of each program so that the execution times of the programs are almost equal. As a result, an extremely appropriate execution cycle can be set, so that the dead time can be further reduced, the control speed can be improved, and the control efficiency can be greatly improved. Further, in developing the control program, a so-called modularization method can be applied, which has an advantage that the program development can be divided into labor and the maintenance is easy.

Embodiment FIG. 1 is a schematic block diagram showing the basic concept of the present invention. The vehicle control device 400 is a device for controlling the vehicle device 401 according to a predetermined control program. The predetermined control program is divided into a plurality of programs (hereinafter referred to as tasks) in advance, and a table in which the codes given to each task are arranged in relation to the execution priority of the task is a memory means 402. It is stored in. The contents of the table stored in the memory means 402 are read by the reading means 403 at a predetermined fixed time interval according to a predetermined rule, and the code read from the memory means 402 is input to the computing means 404.

The storing means 405 stores a plurality of control subroutine programs as elements constituting each task. When a code is input from the memory means 402 to the calculating means 404, the task specified by the input code is stored. One or more control subroutine programs required for execution are called from the storing means 405, and if necessary, the task is executed using the data input to the calculating means 404.

In this manner, the vehicle device 401 is controlled by sequentially executing the tasks.

The above-described control device can be realized by using a microcomputer which is a stored program digital computer, and the present invention will be described in detail below with reference to specific embodiments.

FIG. 2 shows an overall configuration diagram of a control system of an embodiment of a vehicle control device when the present invention is applied to a diesel locomotive vehicle control device with an auto cruise function. The vehicle control device 1 is a device for controlling a vehicle (not shown) driven by a diesel engine 3 supplied with fuel from a fuel injection pump 2, and includes first and second microcomputers 4, 5, 4. Is equipped with.

The first microcomputer 4 mainly performs control calculation for controlling the injection amount of the fuel injection pump, control of injection timing of the fuel injection pump 2, and vehicle speed control, and the second microcomputer 5 is executed by the first microcomputer 4. Is configured to mainly perform various kinds of arithmetic processing required for the control calculation. Each of the first and second microcomputers 4 and 5 has a built-in ROM and is connected to a random access memory (RAM) 6 provided outside. , One of the first and second microcomputers 4 and 5 and RAM6
The first and second microcomputers 4 and 5 are respectively configured to be accessible via a bus line 22 capable of selectively connecting and.

An analog / digital converter (A / D) 8 is connected to the first microcomputer 4 via a bus line 7. The A / D 8 is a water temperature sensor 9 for outputting a water temperature signal TW indicating the cooling water temperature of the diesel engine 3 and an intake temperature sensor for outputting an intake temperature signal TA indicating the intake temperature.
10, a fuel temperature sensor 11 for outputting a fuel temperature signal TF indicating the fuel temperature and an intake pressure sensor 12 for outputting an intake pressure signal PI indicating the intake pressure are connected. Signal is exchanged with the A / D 8 for a digital signal and input to the first microcomputer 4 via the bus line 7.

Angle sensor mounted on the output shaft of diesel engine 3
An AC signal AC having timing information at which each cylinder piston in the diesel engine 3 reaches the top dead center is output from the 13 and the AC signal AC is output to the top dead center timing of the diesel engine 3 in the waveform processing circuit 14. Is exchanged with a top dead center pulse signal TN composed of a timing pulse indicating the signal of FIG. Further, in order to detect the fuel injection timing to the diesel engine 3, the lift signal LS from the needle valve lift sensor 16 mounted on the fuel injection valve 15 is waveform-shaped in the waveform shaping circuit 17, and the predetermined reference cylinder An injection timing pulse TNL indicating the actual fuel injection timing is input to the first microcomputer 4.

The accelerator sensor 18 outputs an accelerator signal APP according to the operation amount of the accelerator pedal 19, and the accelerator signal APP is input to the first microcomputer 4.

On the other hand, the second microcomputer 5 receives the vehicle speed data TUSP, which is output from the vehicle speed sensor 23 for detecting the vehicle speed and indicates the vehicle speed at that time, and the cruise switch 20 for the automatic cruise control is secondly provided. It is connected to the input port of the microcomputer 5 and has a configuration capable of performing constant-speed traveling control according to the operation of the cruise switch 20.

The start switch 21 supplies a start signal ST to the first microcomputer 4 when starting the diesel engine 3.

The information taken into the first microcomputer 4 is once transferred to the RAM 6 via the bus line 22, and the content of the transfer data to the RAM 6 is further transferred into the second microcomputer 5 via the bus line 22. be able to.
The switching of the connection of the bus line 22 for this data transfer is performed in each of the microcomputers 4 and 5.

The injection amount control calculation result in the first microcomputer 4 is input via a digital / analog converter (D / A) 26 to a servo circuit 28 for controlling the position of the control rack 27 of the fuel injection pump 2, Diesel engine 3 has the optimum injection amount that matches the operating conditions of the engine from time to time.
The position of the control rack 27 is controlled so as to be supplied to the. Reference numeral 29 is an alarm lamp that lights up when an abnormality occurs in control or the like.

A calculation result for injection timing control of the fuel injection pump 2 executed in the first microcomputer 4 is given to the second microcomputer 5, and a timing control signal TCS is output from the second microcomputer 5 according to this calculation result. And is supplied to the timer 31 via the amplifier 30, whereby optimum timing control is performed.

FIG. 3 shows a program configuration diagram of the first microcomputer 4 shown in FIG. As described above, the program of the first microcomputer 4 is mainly set so as to execute the control calculation of the injection amount and the injection timing, and first, the initialization process 41 is performed in response to the power-on. Then, the contents of RAM6 and each register are cleared and each input information is read.
If there is no other interrupt process, the background job process 42 is executed. The background job is executed during processing such as a task executed by an interrupt, which will be described later. In the illustrated embodiment, the calculation of the rotation speed and the calculation of the drive frequency of the timer 31 are performed.

When the second microcomputer 5 accesses the RAM 6 and outputs a bus request, an interrupt NMI is applied, and normally the bus line 22 connected to the first microcomputer 4 becomes free by the bus free processing 43, When the access of the RAM 6 by the second microcomputer 5 is completed, the bus line 22 is connected to the first microcomputer 4 again.

When the interrupt TIM is applied by a signal generated by an external timer, the alarm lamp driving process 44 for ON / OFF driving the alarm lamp 29 is executed.

An interrupt MON is applied by a monitor signal output when the value of the free running counter reaches a predetermined value. The first interrupt process 45 is executed by this monitor signal, and the free running counter is set so that the monitor signal is output again after a fixed time Δt.
Next, a synchronization process 46 (described later) is executed, and thereafter, a monitor process for determining which task is to be executed.
47 is executed. Here, the task is a 1 obtained by dividing the control operation to be executed in the first microcomputer 4.
Each independent program, and each task is included in the control subroutine program group 48.
The fork consists of multiple control subroutine programs. The execution time of each task is set within the time Δt, and the variation is set to be as small as possible. Therefore, the processing of each task performed in the task processing 49 is performed when an interrupt MON is applied.
It is supposed to be completed within the given interrupt processing time.

The execution order of the tasks defined in the monitor process 47 is
It is defined in relation to the priority of each task, and the tasks with high priority are defined to be executed more frequently. The order of execution of tasks is the first microcomputer 4
It is determined according to the contents of the task table stored in the internal ROM. The task table, as described below,
This is a table in which codes indicating each task are arranged in a matrix in consideration of the activation cycle and the activation order of each task.

Generally, the starting cycle and the starting order of each task differ depending on the operating state of the engine. Therefore, in this embodiment, as will be described later in detail, at the time of starting (mode 0) and at low speed rotation (mode 1). And three tables for high speed rotation (mode 2) are prepared.

Whether each task is activated according to these tables will be described later.

When the task processing 49 is completed, the background job processing 42 is executed until the next interrupt occurs.
When the next monitor signal is output, in the monitor process 47, the process of the next task determined according to the above task table is performed in the task process 49.

When the injection timing pulse TNL is generated, the interrupt NL is executed and the third interrupt process 51 is executed. Third interrupt processing 51
Activates a soft counter for detecting the injection advance angle according to the generation timing of the injection timing pulse TNL. Then, the interrupt TDC is executed by the generation of the top dead center pulse signal TN, and the injection timing pulse is generated by the second interrupt processing 50.
The counting operation of the soft counter is stopped by the top dead center pulse signal TN corresponding to TNL, and the data t _NL related to the injection advance value is calculated from the counting result (FIGS. 4 (a) and 4 (b)). reference). In the second interrupt processing 50, data t _N related to the time interval between two consecutive pulses of the top dead center pulse signal TN is also calculated (see FIG. 4 (a)).

Next, referring to FIG. 5, the second microcomputer 5
The program configuration of will be described.

When the power is turned on or the first microcomputer 4 resets the second microcomputer 5, the initialization process 61 is executed, and the monitor process 62 and the task process 63 are performed.
Is executed, but here, the task of the required arithmetic processing associated with the control calculation of the first microcomputer 4 is executed. The details of this arithmetic processing will be described later in detail.

When there is a calculation request from the first microcomputer 4, an interrupt NMI is applied and a flag of calculation request is set in the flag setting process 64.

An interrupt TIM is applied in response to the external timer signal, and in the fourth interrupt processing 65, the period of the driving pulse signal of the timer 31 and its duty ratio data are read from the RAM 6 and the time data related to the duty ratio is read. t Create _DTR . Then, a switch process 66 for reading the state of the cruise switch 20 and storing it in the RAM 6 is executed.

Vehicle speed data output from the vehicle speed sensor 23 in relation to the vehicle speed
In response to the output of TUSP, the interrupt VSP is applied and the generation cycle of the signal TUSP is detected (cycle reading processing 67).

When the value of the free-running counter reaches a predetermined value, an interrupt TCV is applied, and the drive signal of the timer 31 is inverted, and at the same time, the time required to invert the drive signal is set. Inversion processing 68 is executed. As a result, a drive signal having a desired duty ratio is output at a desired cycle.

Below, the periodic processing 46 executed by the monitor interrupt,
Each process of the monitor process 47 and the task process 49 will be described in more detail, but before that, the control executed in the first microcomputer 4 will be described with reference to FIG.

FIG. 6 shows a fuel injection amount control system 70 and an injection timing control system 90 that are executed by the first microcomputer 4. First, the fuel injection amount control system 70 will be described. .

The control system 70 has six types of injection amount calculators denoted by reference numerals 71 to 76. The accelerator Q calculator 71 calculates the injection amount according to the operation of the accelerator pedal 19 and outputs the result as data Q _APP . The idle Q calculator 72 calculates the injection amount required during idle operation, and the result is data.
Output as Q _IDL . The cruise Q calculation unit 73 calculates the injection amount required for traveling at a constant vehicle speed, and the result is output as data Q _CR . The full Q computing unit 74 computes and outputs data Q _FUL indicating a predetermined maximum injection amount characteristic in which the maximum value of the injection amount is determined as a function of the engine speed. The smoke Q calculator 75 is a data indicating the injection amount according to a predetermined smoke limit.
The Q _SMK is calculated and output, and the start Q calculation unit 76 calculates and outputs the injection amount data Q _ST indicating the increase in the starting amount.

The data Q _APP and Q _IDL are added by the addition unit 77, and the addition output data and the data Q _CR are input to the maximum value selection unit (MAX) 78, and the larger data is output. data
The selection data from Q _FUL , Q _SMK and the maximum value selection unit 78 is input to the minimum value selection unit (MIN) 79, and the data with the smallest value is taken out as the target injection amount data. This target injection amount data is applied when the engine is not started, and the data Q _ST is the target injection amount data when the engine is started. The switch 80 is controlled by the start signal ST output according to the operation of the start switch 21, and when the start signal ST is being output, the data Q _ST is selected, otherwise, the output data from the MIN79. To select.

The fuel temperature correction unit 81 multiplies the data selected by the switch 80 by a predetermined correction coefficient according to the fuel temperature at that time, so that even if the fuel temperature changes, an amount of fuel that is in accordance with the target injection amount data is used. The target injection amount data is corrected so that The data corrected by the fuel temperature correction unit 81 is input to the pump characteristic calculation unit 82, and after the pump characteristic calculation processing for converting the input injection amount data into position data according to the pump characteristic is output. Department
The final target position data P _out is output from 83, and this data P _pot is input to the servo circuit 28 via the D / A 26 as shown in FIG.

The injection timing control system 90 calculates a target injection timing according to the operating state of the engine and outputs a data T _LD showing the result, a load timer characteristic calculation unit 91, and an injection according to the cooling water temperature of the engine. A water temperature correction value calculation unit 92 for calculating correction data for timing correction and outputting data T _TW indicating the result, and water temperature correction data at the time of starting and outputting data T _TWS indicating the result It has a start-up water temperature correction value calculation unit 93 for
T _LD is added to the data T _TW or T _TWS in the adder 94. That is, the data T _TW and T _TWS have a configuration in which one of them is supplied to the addition unit 94 via the switch 95 which is switch-controlled by the start signal ST indicating whether or not the engine is in the start state, At the time of starting, the data T _TWS is selected and added to the data T _LD, and at the time other than the time of starting, the data T _TW is selected and added to the data T _LD .

The addition result from the addition unit 94 is input as the target injection timing data to the error calculation unit 96 to which the signal indicating the actual injection timing is input, and here, the target value and the actual value of the injection timing (timing) are compared. The difference is calculated, and the error data T _E indicating the result is input to the PID calculation unit 97 and
After data processing necessary for control is performed, data indicating the result is input to the pulse width modulation unit (PWM) 98.

The pulse width modulation unit 98 is supplied with calculation data from the drive frequency calculation unit 99 that calculates the frequency of the pulse signal that drives the timer 31, and the pulse width modulation unit 98 is supplied from the drive frequency calculation unit 99. A drive pulse signal for driving the timer 31 is output, which has a frequency according to the data described above and whose duty ratio changes according to the output data from the PID calculator 9. This drive pulse signal is applied as a timing control signal TCS to a control valve (not shown) in the timer 31 via the amplifier 30 (see FIG. 2).

Since each operation for control shown in FIG. 6 is executed by the microcomputer, the operation necessary for these controls is
It is organized as a control subroutine program,
FIG. 7 shows those control subroutine programs corresponding to FIG. In FIG. 7, the calculation contents are shown in the upper part of each block, and the control subroutine name is displayed in the lower part. These control subroutine programs are stored in the ROM of the first microcomputer 4 as a subroutine group.

Table 1 shows a list of control subroutine programs.

The execution time of these control subroutine programs varies, and the execution frequency required for control also differs. In order to efficiently execute such a subroutine program, one or a plurality of tasks of these control subroutine programs are defined, and in consideration of the execution priority of the task, a predetermined time interval is set for each task. It is configured to start the program in.

Although the task activation time interval is determined based on the task table, it is desirable to change the execution pattern according to the operating conditions of the engine because there are tasks that do not need to be started depending on the operating conditions. Therefore, in this device, as described above, there are three engine operating conditions: at startup (mode 0), at low speed region (mode 1), and at high speed region (mode 2). There are separate task tables for each mode. The task tables for each mode are shown in Tables 2-4.

The execution order of the tasks listed in these task tables will be described by taking the case of mode 0 as an example.

Each task is divided into task levels 0 to 8 in consideration of the required execution frequency, and each task level is also arranged from the left side in descending order of execution priority. The activation and execution of each task arranged in this way is performed as described below.

(B) Only one task is activated for each monitor interrupt that occurs at regular time intervals, and its execution is terminated before the next monitor interrupt occurs, while other tasks are executing. No interrupt processing of the task is performed.

(B) The order of tasks executed by the monitor interrupt is
Each task in the task level 0 is performed every two ^single monitor interrupts, each task of the task level 1 is performed every 2 ^two monitors interrupts, generally each task of the task level k is the monitor interruption Every 2 ^{k + 1} times.

(C) With respect to tasks within the same task level, the tasks arranged on the left side are sequentially activated each time the activation order reaches the task level.

Therefore, the task table indicates the execution order of the tasks, and which task is to be placed in which part of the task table is appropriately determined in consideration of the execution frequency required for the task and the execution priority. be able to.

FIG. 8 shows a detailed flowchart of a monitor interrupt program executed in the first microcomputer 4 in order to execute each task in order based on the task tables shown in Tables 2 to 4. There is. When the execution of the monitor interrupt is started, first, the value Y of the free running counter plus Δt is set to X as a process for generating a monitor interrupt at a period of time Δt (step 110). Since the free-running counter is configured to issue a monitor interrupt when the value Y at that time reaches a predetermined value X, the monitor interrupt is issued again after Δt time by the above-mentioned operation, and thereafter,
A monitor interrupt will be issued every Δt time.

Next, in step 111, it is checked whether or not the task activations are overlapped, and if they are overlapped, the currently executing task is continuously executed. On the other hand, if they do not overlap, the process proceeds to step 112. The flag to be described later is used to determine whether or not they overlap.
Performed by an office lady.

In step 112, it is determined whether or not an external event has occurred and there is a need for synchronization processing. If there is a synchronization processing request, the synchronization processing is performed in step 113, and the process proceeds to step 114. NO in step 112
In the case of, the process proceeds to step 114 without executing step 113.

In step 114, the flag OL indicating that the task is currently being executed is set to "1" and the value of the soft counter TCTR is incremented by one. Then, in the subsequent steps, each task is executed in a predetermined order by referring to the above-mentioned task table according to the contents of the soft counter TCTR.

Soft counter TCTR has an output of 8-bit binary, 2 ⁰
It has eight outputs ranging from 1 to 2 ⁷ digits. Steps 115-0 to 115-7 are steps for determining whether or not the value of each bit of the counter TCTR is "0", and in each of these steps 115-0 to 115-7, each bit is "0". Whether or not it is determined from the lowest digit to the highest digit in order. The determination result of step 115-0 is YES each time a monitor interrupt is performed twice, and generally, step 115-n is YES every 2 ^{n + 1} times. Moreover, the the determination result is NO in all of steps 115-0 to 115-7 is, in other words, each bit of the counter TCTR all become "1" are each 2 ⁹ times.

In steps 115-0 to 115-7, which level of the task in each task table should be selected is determined. As can be seen from the above description, the task level
0,1,0,2,0,1,0,3, ... will be sequentially selected.

In this way, after the task-level selection operation is executed, the columns of the task table are selected. Prior to explaining this, the address of the task shown in each task table is the RAM 6 and the microcomputer. of
Explain how it is stored and managed in ROM.

FIG. 9 shows the memory structure in the ROM and RAM. In the ROM of the first microcomputer, the addresses of the tasks shown in Table 2 are stored as data in the address area from addresses A000 to A099 as shown in the figure. What is shown in the upper part of each column of Table 2 is the task number, and in FIG. 9, this number is used to identify the task. Similarly, the tasks shown in Tables 3 and 4 are also stored in the address areas A100 to A199 and A200 to A299 in the ROM, respectively.

In order to manage this address, the variable PT is stored in RAM6.
R0 to PTR8 are provided, and the second
Any column j management of Tables to 4 is performed.

Further, in order to manage the selection of the task table, a variable TBLPTR is provided in RAM6. When TBLPTR is TBLTOP0, the mode 0 table shown in Table 2 is selected, and when TBLPTR is TBLTOP1. In addition, the mode 1 table shown in Table 3 is selected, and when TBLPTR is TBLTOP2, the mode 2 table shown in Table 4 is selected. In addition, a variable TCTR is provided in RAM6 to manage any i row in each table.
According to the value of, the i-th row is designated.

Returning to FIG. 8 again, description will be made. It has already been described that the i row of the task table is sequentially designated in steps 115-0 to 115-7 based on the value of the counter TCTR. Therefore, now j when i = 1 is selected
The column selection operation will be described. Which of the above-mentioned three task tables is selected depends on the content of TBLPTR defined by the task of mode judgment. now,
If it is operating in mode 0, TBLPTR = TBLTOP0, and if PTR1 = 0, the value of A becomes A010 from FIG. (Step 116-1) Since the content of the address (A010 + 2) is the address of T0041, it is different from 0000H (Step 117-1).
The operation of R1 ← + 2 is executed (step 118-1). If the contents of address A + 2 are 0000H, step 119-
Proceed to 1 and PTR1 ← 0.

When the content of the address A is determined in this way, the address is jumped to in step 120 (step 12).
0). Therefore, in the above example, the address T00040 is jumped to, and the task T00040 is activated and executed (step 121). After that, the flag OL is set to "0" (step 122), and the monitor interrupt ends. In the above, the case of i = 1 has been described, but the operation is the same in cases other than i = 1, therefore, only the reference numerals are attached to the other steps and the description thereof is omitted.

The monitor interrupt operation described above is performed every Δt time, and each time the required task is activated and executed according to the requirements defined in the required task table.

In the above, the monitor interrupt program of the first microcomputer 4 has been described. Next, activation of a task in the second microcomputer 5 will be described with reference to FIGS. 10 and 11.

The second microcomputer 5 stores a calculation subroutine program, and each of these programs is started and executed by a command from the first microcomputer 5. In the illustrated embodiment, four subroutines shown in Table 5 are prepared as calculation subroutine programs, and the calculation process required when the control subroutine program is executed by the first microcomputer 4 is the second microcomputer. It is executed in 5.

When a certain task is being executed in the first microcomputer 4, first, the operation data necessary for executing the task is searched (step 200). Next, in step 201, it is judged whether or not the command code buffer of the RAM 6 is empty. If there is no empty buffer, the counter TCTR is decremented by 1 (step 202) and the task is ended. Therefore, at the next monitor interrupt, the same task is activated again. In this way, it waits until the buffer area becomes empty.

If the determination result in step 201 is YES, the command code is RA
The data is transferred to M6 and the start address ETOP of the block in which no data is stored is updated (step 203). Step 203
Before the transfer of the data in step (4), it is determined whether all the buffers are empty (thus, in the present state, whether or not the buffer stores only one data).
Is determined in. If the determination result is YES, the second microcomputer 5 remains in the idle state,
Send a calculation start signal to the second microcomputer
An interrupt NMI is applied to the microcomputer 5 (step 205). If the determination result of step 204 is NO, the process of the task ends without executing step 205. The second microcomputer 5 sets the empty flag indicating that the buffer is empty to 0 by executing the interrupt NMI.
To indicate that there is data in the buffer (step 30
1).

If the buffers are all empty, the second microcomputer remains in the idle state, and responds to the empty flag being set to 0 by the interrupt NMI (step 302).
An interrupt NMI is applied to the microcomputer 4 to issue a bus request, and the RAM 6 which is a common memory is connected to the second microcomputer 5 by the bus (step 303). That is, the interrupt NMI causes the first microcomputer 4 to disconnect the bus line 22, so that the second microcomputer 5 is connected to the RAM 6 via the bus line 22.
During this time, the first microcomputer 4 is in a waiting state. After that, RA where the required data is transferred
Data is read from address BUFi in M6 and BTOP0 is updated. (Step 304). That is, when the data of the block of BUFi is read, BTOP ← BUF (i + 1). However, as can be seen from FIG. 11, since four buffer blocks are linked in a ring, i + 1 = 4
Then BTOP ← BUF0.

In this way, it is determined whether or not all the buffers are empty as a result of reading the data (step 30
5) If the determination result is YES, the empty flag is set to "1" (step 306) and the bus line 22 is disconnected (step 307). In this case, the state of waiting for the interrupt NMI again occurs. On the other hand, if the determination result in step 305 is NO, step 306 is not executed, and the process proceeds to step 307, and only the bus line 22 is disconnected.

Next, in step 308, the operation code read from the buffer is decoded, and according to the result, division processing (step 309), two-dimensional interpolation processing (step 310), 3
Dimensional interpolation processing (step 311) or PID processing (step 31)
One of the operations in 2) is executed.

When the required calculation is completed, an interrupt NMI is again issued to the first microcomputer 4 to request the bus (step 313), and the calculation result is returned to the data block B in the RAM 6.
Store in UF4, (step 314), return to step 302,
It waits until the interrupt NMI is issued from the first microcomputer 4.

As described above, the respective tasks are sequentially activated based on the task table, the required control subroutine programs constituting the respective tasks are executed in the first microcomputer 4, and the necessary arithmetic subroutines at that time are the second subroutine.
It is executed by the microcomputer 5. As described above, by executing each task in sequence,
The desired vehicle control will be achieved.

Effect According to the present invention, each task (program) is set to a predetermined time longer than the longest time of each execution time of the task according to the contents of the table which is the execution pattern data regarding the execution order determined in advance. Since it is executed sequentially at a fixed time interval, it is not necessary to provide a soft timer for determining the activation interval for each task.
Since one task does not receive an interrupt from another task during execution, each task is surely executed in a predetermined cycle which is predetermined for each event. In addition, since each task is not interrupted during execution, useless time is greatly reduced, and the control program is executed with high efficiency.

Further, since each task is composed of one or a plurality of control subroutine programs, it is possible to set the contents of each task so that the execution time of each task is almost equal. As a result, the extremely appropriate execution cycle can be set, so that the dead time can be further reduced, the control speed can be improved, and the control efficiency can be greatly improved. Further, in developing the control program, a so-called modularization method can be applied, which has an advantage that the program development can be divided into labor and maintenance can be prepared.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing the basic concept of the present invention, FIG. 2 is an overall configuration diagram of a control system of an embodiment of a vehicle control device according to the present invention, and FIG. 3 is a first configuration shown in FIG. Microcomputer program configuration diagram, FIG. 4 (a) and FIG.
2B is a waveform diagram of the apparatus shown in FIG. 2, FIG. 5 is a program configuration diagram of the second microcomputer shown in FIG. 2, and FIG. 6 shows the contents of control executed by the first microcomputer. FIG. 7 is an explanatory diagram of a control subroutine program in which FIG. 7 shows a control subroutine program for performing control calculation of each part of the control system shown in FIG. 6 in comparison with FIG. 6, and FIG. 3 is a detailed flowchart of the monitor interrupt program shown in FIG. 3, FIG. 9 is a diagram showing a memory structure in each memory of the apparatus shown in FIG. 4, and FIG. 10 is a diagram for explaining the operation of the second microcomputer. FIG. 11 is a flow chart of the first and second microcomputers, and FIG. 11 is a diagram showing a memory structure for explaining the operation of the first and second microcomputers. 1,400 ... Vehicle control device, 4 ... First microcomputer, 5 ... Second microcomputer, 6 ... Random access memory (RAM), 402 ... Memory means,
403 ... reading means, 404 ... calculation means, 405 ... store means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kyoichi Fujimori 3-13-26, Yasumicho, Higashimatsuyama City, Saitama Prefecture Diesel Equipment Co., Ltd. Higashimatsuyama Factory (56) Reference JP-A-56-111901 (JP, A) JP-A-59-38806 (JP, A)

Claims (1)

[Claims] 1. A vehicle control device configured to control a vehicle by executing a plurality of control subroutine programs for controlling a vehicle device, wherein the plurality of control subroutine programs are stored. The storing means, the plurality of tasks constituted by one or a plurality of control subroutine programs having the same execution priority so that their execution times are substantially uniform, and their respective execution priorities Memory unit that stores task level data indicating the degree of execution and stores a plurality of task tables for determining the execution priority of these plurality of tasks according to the operating conditions, and the execution time of each of the tasks. Based on the task level data, the task level data is set at a predetermined fixed time interval that is set to be longer than the long execution time. As the task as the execution frequency execution priority is high as indicated by the data becomes high,
In addition, a designation means for periodically designating the tasks to be executed one after another so that the plurality of tasks are executed at least once in one predetermined execution cycle, and the task designated by the designating means. A control subroutine program for executing the control subroutine program from the storing means and executing the control subroutine program without interruption.