JPH0814096A - Vehicle control device - Google Patents

Abstract

PURPOSE:To manage a control program through novel constitution and to improve the using efficiency of a memory. CONSTITUTION:An ECU 15 has a CPU 25, an ROM 26, and an RAM 27, of which a microcomputer 23 consists, and controls an engine according to detecting results from various sensors. The RAM 27 is provided with a status register (SR) group to represent the state of a control program and management data consisting of variables arranged according to a rank in the order of the magnitude of the starting period of a control program is set in the SR. The CPU 25 sets management data, corresponding to the control program having a highest starting period of control programs started at a current time, at the SR. The CPU 25 executes a control program corresponding to data based on management data and updates the management data so that the starting period is further decreased along with execution. Execution of the control program and updating of the management data are repeated until execution of the control program having a minimum starting period is completed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention executes a plurality of control programs each having a start cycle that is an integral multiple of each other, and performs vehicle control in accordance with a detection result of sensors indicating a driving state of the vehicle. It is about.

[0002]

2. Description of the Related Art Recent vehicles are equipped with a vehicle electronic control unit (ECU) for performing a total electronic control using a microcomputer. The vehicle electronic control unit is required to be highly accurate. It is becoming more diverse and complex. Therefore, conventionally, various control devices have been proposed for reducing the load on the microcomputer and improving the processing efficiency.

For example, in the vehicle control device disclosed in Japanese Patent Laid-Open No. 56-105507, the start cycles of a plurality of control programs having different start cycles are set to have an integer multiple relationship. The control program having a longer start cycle is managed by the number of times the control program having a smaller start cycle is executed. Also, R
The AM (memory) is provided with a status register (SR) group, and each bit of the SR group is assigned an activation flag for individually managing a control program having a different activation cycle. Then, in this vehicle control device, the load necessary for the start management for the control program having a long start cycle is reduced.

[0004]

However, the above-mentioned conventional vehicle control device has the following problems. That is, when activating control programs having different activation cycles, at least the same number of bits as the number of control programs is assigned to the activation flags because they are activated based on the state of the activation flag of each control program. Therefore, when the number of control programs is increased, a large amount of RAM area is required and a flag operation program ROM area is required.

The present invention has been made in view of the above problems, and it is an object of the present invention to manage a control program with a new configuration and improve the efficiency of memory usage. It is to provide a vehicle control device.

[0006]

In order to achieve the above-mentioned object, the invention according to claim 1 executes a plurality of control programs in which the start cycles have an integral multiple relationship with each other, and represents the operating state of the vehicle. A vehicle control device for performing vehicle control according to a detection result of a sensor, wherein management data for managing the control program is changed into variables that are associated in order of magnitude of a start cycle of the control program. And a memory for storing the selected variable as management data according to the activation cycle of the control program, and setting the selected variable in the memory by the management data setting means and the management data setting means. The gist is that the control program executing means for executing the control program based on the generated management data is provided.

According to a second aspect of the invention, in the vehicle control device according to the first aspect, the management data setting means is:
For each minimum activation cycle of the control program, among the control programs to be activated at that time, management data corresponding to the control program having the largest activation cycle is set in the memory, and the control program execution means A control program corresponding to the data is executed based on the management data in the memory, and the management data is updated so that the start cycle becomes shorter with the execution, and the execution of the control program and the update of the management data are performed. The control program with the minimum start cycle is repeated until it finishes executing.

According to a third aspect of the present invention, in the vehicle control apparatus according to the first aspect, the management data setting means is
While setting the first management data corresponding to the control program for each minimum activation cycle of the control program,
Of the control programs to be activated at that time, the second management data corresponding to the control program having the largest activation cycle is set in the memory, and the control program execution means sets the second management data based on the first management data. The control data corresponding to the data is executed, and the management data is updated so that the start cycle becomes longer with the execution,
The execution of the control program and the update of the management data are repeated until the control program corresponding to the second management data has finished executing.

According to a fourth aspect of the invention, a counter is used as the management data stored in the memory.

[0010]

According to the first aspect of the present invention, a plurality of control programs (for example, 4 ms processing, 16 ms processing, 128 ms processing) in which the start cycles are in an integral multiple relationship with each other are prepared. Then, the management data setting means selects a variable as the management data according to the activation cycle of the control program, and sets the selected variable in the memory. Also,
The control program executing means executes the control program based on the management data set in the memory by the management data setting means. In this case, the control program is managed by management data composed of variables that are associated in order of the size of the activation cycle. As a result, unlike the conventional technique in which the activation flag of each control program is individually assigned to the storage area of the memory, the area used by the memory for program management is reduced.

In a second aspect of the invention, the management data setting means sets the control program every minimum activation period.
Of the control programs to be activated at that time, the management data corresponding to the control program having the largest activation cycle is set in the memory. Further, the control program executing means executes the control program corresponding to the management data in the memory based on the management data in the memory, updates the management data so that the activation cycle becomes shorter with the execution, and executes the control program. And updating of the management data are repeated until the control program having the minimum start cycle has been executed. In this case, a plurality of control programs can be managed according to the activation cycle by changing one management data.

That is, taking the case of managing three control programs (4 ms processing, 16 ms processing, 128 ms processing) as an example, when the 4 ms processing and the 16 ms processing are activated, the management data setting means performs the 16 ms processing. Set the corresponding variable as management data. Then, the control program executing means continuously executes the 4 ms processing after executing the 16 ms processing. Further, when the 4 ms process, 16 ms process and 128 ms process are activated, the management data setting means sets a variable corresponding to the 128 ms process as management data. Then, the control program executing means 12
After executing the 8 ms process, the 16 ms process and the 4 ms process are continuously executed.

In the invention according to claim 3, the management data setting means sets the first management data corresponding to the control program for each minimum start cycle of the control program, and the control to be started at that time. The second management data corresponding to the control program having the largest start cycle among the programs is set in the memory. Further, the control program executing means executes the control program corresponding to the first management data based on the first management data, updates the management data so that the activation cycle becomes longer with the execution, and executes the control program of the control program. The execution and the update of the management data are repeated until the control program corresponding to the second management data has finished executing. In this case, by executing the control program with a short start cycle first, the control program that handles data with a large variation amount (control program with a short cycle) is prioritized in vehicle control, and highly accurate vehicle control can be realized.

That is, similarly to the above, when the case of managing three control programs (4 ms processing, 16 ms processing, 128 ms processing) is taken as an example, when 4 ms processing and 16 ms processing are activated, management data setting means Sets the variable corresponding to the 4 ms processing as the first management data, and sets the variable corresponding to the 16 ms processing as the second management data. Then, the control program executing means is
After executing the ms process, the 16 ms process is continuously executed. When the 4 ms process, the 16 ms process, and the 128 ms process are activated, the management data setting means sets the variable corresponding to the 4 ms process as the first management data, and sets the variable corresponding to the 128 ms process to the second. Set as management data. After executing the 4 ms process, the control program executing means continuously executes the 16 ms process and the 128 ms process.

According to the invention described in claim 4, since the counter is used as the management data stored in the memory, the management of the control program described in claims 1 to 3 is easily realized.

[0016]

【Example】

(First Embodiment) A first embodiment in which the vehicle control device of the present invention is embodied in an engine control device will be described below with reference to the drawings.

FIG. 1 is a diagram schematically showing the overall construction of the engine control system in this embodiment. As shown in the figure, the engine body 1 has a piston 3 in a cylinder 2, and the cylinder head 1 is provided above the piston 3.
A combustion chamber 4 defined by a and a cylinder block 1b is formed. A spark plug 21 is arranged in the combustion chamber 4. The combustion chamber 4 includes an intake valve 5 and an exhaust valve 6
It communicates with the intake pipe 7 and the exhaust pipe 8 via.

A throttle valve 9 is arranged in the intake pipe 7, and a throttle sensor 10 is connected to the valve 9. The throttle sensor 10 is for detecting whether or not the throttle valve 9 is opened at a predetermined opening or more, or whether or not the opening speed of the throttle valve 9 is faster than a predetermined value. Further, in the intake pipe 7, a vane type air flow meter 11 is arranged on the upstream side of the throttle valve 9, and a negative pressure sensor 12 is also arranged on the downstream side.
Is provided. The air flow meter 11 detects an intake air amount to the engine and generates a voltage corresponding to the detected value. The negative pressure sensor 12 detects the intake pipe negative pressure and generates a voltage corresponding to the detected value.

The water temperature sensor 13 is a water jacket 1c.
The temperature of the cooling water circulating in the water jacket 1c is detected and a voltage corresponding to the detected value is generated. The starter switch 14 is closed when driving a starter motor (not shown), and generates a signal indicating that the engine is in a starting (cranking) state. Then, the output voltages from the air flow meter 11, the negative pressure sensor 12, and the water temperature sensor 13, and the signals from the starter switch 14 and the Stroll sensor 10 are sent to an electronic control unit (hereinafter referred to as ECU) 15 described later.

The distributor 16 is provided with a reference position sensor 17 and a crank angle sensor 18 which generate an angular position signal each time the distributor shaft 16a rotates by a predetermined angle. In the case of the present embodiment, the reference position sensor 17 and the crank angle sensor 18 generate angular position signals for every 360 ° CA and 30 ° CA converted into crank angles, and these two kinds of angular position signals are ECU15.
Sent to.

An ignition signal output from the ECU 15 is sent to the ignition device 19, and a power transistor (not shown) in the ignition device 19 is caused by this signal to the ignition coil 20.
Controls the energization and interruption of the primary current. Ignition coil 20
The high voltage secondary current obtained from the distributor 16
It is sent to the spark plug 21 via.

FIG. 2 is a block diagram showing an electrical configuration of the ECU 15. As shown in the figure, the microcomputer 23 provided in the ECU 15 has the input / output port 2
4, CPU (Central Processing Unit) 25, ROM (Read Only Memory) 26, RAM (Random Access Memory) 2
7 and an ignition control circuit 28. These constituent elements are connected via a bus 29, and input / output data is transferred via this bus 29. In the ROM 26, an ignition timing calculation interrupt processing program, other processing programs, and various data necessary for the calculation processing are stored in advance.

The voltage signals from the air flow meter 11, the negative pressure sensor 12 and the water temperature sensor 13 are sent to an A / D converter 30 including an analog multiplexer. Then, after that, the voltage signal is sequentially converted into a binary signal at a predetermined conversion period by the A / D converter 30, and the input / output port 2
It is sent to 4. The signals from the starter switch 14 and the throttle sensor 10 are input to the input buffer 31 and then sent to the input / output port 24. The angular position signals of the crank angles 360 ° CA and 30 ° CA from the reference position sensor 17 and the crank angle sensor 18 are waveform-shaped by the waveform shaping circuit 32 into a rectangular reference position signal and a crank angle signal, and then input / output. It is sent to port 24.

The ignition control circuit 28 is a circuit for generating an ignition signal from the output data regarding the energization start timing of the ignition coil 20 calculated by the CPU 25 and the energization end timing, that is, the output data regarding the ignition timing of the spark plug 21. Then, the ignition signal generated by the ignition control circuit 28 is sent to the ignition device 19 via the output circuit 33.

The RAM 27 is provided with a group of status registers (hereinafter referred to as SR) representing the status of control programs and the like, and the configuration thereof is shown in FIG. In FIG. 3, SR1 to SRn are used for various calculations, for example, SR1
Is used to calculate the intake air amount, SR2 is used to calculate the engine speed, and SR3 is used to calculate the ignition timing. Further, management data KD for managing the processing (control program) required for the above-described various calculations at each activation cycle is assigned to each of SR1 to SRn. The management data KD is
The control program is composed of variables that correspond in order to the size of the activation cycle of the control program, and in the present embodiment, it comprises a 3-bit counter.

In this embodiment, the CPU 25 constitutes the management data setting means and the control program executing means, and the RAM 27 (SR group) constitutes the memory. Hereinafter, the operation of the engine control device configured as described above will be described.

FIG. 4 is a flowchart showing a base routine executed by the CPU 25 when the power is turned on. Now, when the routine of FIG. 4 starts, CPU2
5. First, in step 100, initialization processing is executed. At this time, as shown in the initialization routine of FIG.
Management data KD of SR1 to SRn in 10 to 140
Are sequentially cleared to “0”, all the SR groups in the RAM 27 are initialized.

Thereafter, the CPU 25 calculates the intake air amount in step 200 and the engine speed in step 300, and responds to the engine operating state in step 400 based on the calculation result (intake air amount, engine speed). Calculate the ignition timing. Although not shown, in this base routine, the calculation of the fuel injection amount by the injector and the calculation of the control amount of the ISC valve and the like are executed in addition to the calculation processing of steps 200 to 400.

Next, the calculation process of the intake air amount shown in step 200 of FIG. 4 will be described in detail based on the subroutine shown in FIG. The routine of FIG. 6 executes a plurality of processes having different activation cycles. Specifically, the intake air amount calculation process (step 207) and the intake air amount correction process (step 209) are executed at a cycle of 4 ms, and the water temperature correction term calculation process (step 203) and the negative pressure correction term The calculation process (step 205) is executed in a cycle of 100 ms. These processes are managed by the management data KD set in SR1. FIG. 7 shows a management data setting routine for setting the management data KD every 4 ms interrupt.

The management data setting routine of FIG. 7 will be described. In FIG. 7, the CPU 25 increments the timer counter Ct by “1” in step 500, and determines in subsequent step 510 whether the timer counter Ct is “25”. If Ct ≠ “25”, CP
The U25 sets the management data KD to "3" in step 520. If Ct = “25”, the CPU 25 sets the management data KD to “1” in step 530, and clears the timer counter Ct to “0” in subsequent step 540. That is, according to FIG. 7, the timer counter Ct is counted every 4 ms, and KD = “3” is set each time. Also, KD = “1” is set only when 100 ms has elapsed.

On the other hand, in the intake air amount calculation routine of FIG. 6, the CPU 25 determines in step 201 the management data KD.
Is ‘0’, and if KD = “0”, this routine is finished. If KD ≠ “0”, the CPU 25 activates a process according to the management data KD in steps 202 to 209.

Specifically, the CPU 25 causes the step 202
In step 203, it is determined whether or not KD = “1”. If KD = “1”, the water temperature correction term is calculated based on the detection result of the water temperature sensor 13 in step 203 (100 ms processing is started). . The CPU 25 makes KD = at step 204.
It is determined whether or not “2”, and if KD = “2”,
In step 205, a negative pressure correction term is calculated based on the detection result of the negative pressure sensor 12 (100 ms processing is started). The CPU 25 determines in step 206 whether KD = “3”. If KD = “3”, in step 207 the intake air amount is calculated based on the detection result of the air flow meter 11 (4 ms process). Will be started).
Further, the CPU 25 determines KD = “4” in step 208.
If KD = “4”, the intake air amount is corrected based on the water temperature correction term and the negative pressure correction term in step 209 (4 ms processing is started).

Thereafter, the CPU 25 increments the management data KD by "1" in step 210, and determines in step 211 whether the management data KD is "5" or more. In this case, if KD <“5”, CPU2
5 ends this routine as it is, and if KD ≧ “5”, sets the management data KD to “0” in step 212, and then ends this routine.

In summary, according to the routines of FIGS. 6 and 7, when the timer counter Ct = “1” to “24”, KD = “3” is set in step 520 of FIG. In steps 207 and 209 of FIG. 6, 4 ms processing (calculation processing of intake air amount, correction processing of intake air amount) is executed. At this time, steps 207 and 209 of FIG. 6 are continuously executed by the loop of FIG.

When the timer counter Ct = “25”, KD = “1” is set in step 530 of FIG. 7, and then 100 ms processing (calculation of the water temperature correction term) is performed in steps 203 and 205 of FIG. Processing and calculation processing of the negative pressure correction term) are executed,
ms processing (intake air amount calculation processing, intake air amount correction processing) is executed. At this time, step 203 of FIG.
205, 207, and 209 are continuously executed by the loop of FIG. As described above, using the management data KD,
Control programs with different startup cycles are managed.

The engine control device of this embodiment, which has been described in detail above, has the following effects. Less than,
(1) Usage amount of RAM 27, (2) Usage amount of ROM 26, and (3) Processing time will be described while comparing their effects with the prior art.

(1) Amount of RAM 27 used In the present embodiment, management of control programs having different start cycles is managed by one management data K in SR (status register).
It was done in D. More specifically, the management data K
Let D be a variable that changes in the range of “0” to “5”, and SR1
3 bits are allocated to the management data KD (counter). In this case, the number of bits can be reduced as compared with the conventional control device in which the activation flag is assigned to each control program. That is, as described above, the four control programs (steps 203, 205, 207, 20 in FIG. 6) are
In the case of managing 9), conventionally, a 4-bit (processing number × 1 bit) activation flag was required for the management, but in the present embodiment, 3 bits are sufficient and 1 bit can be deleted. This reduction in the number of bits is more effective as the number of control programs increases, and the amount of RAM 27 used can be reduced.

(2) Amount of ROM 26 used In the present embodiment, since each management data KD is assigned to SR1 to SRn, initialization processing at power-on (FIG. 5)
Processing), initialization can be completed with one instruction for each SR. In this case, in the conventional technique, each SR
At the time of initialization of the control program, one start flag was cleared for each control program, so if the number of control programs was 4, four instructions (the number of processes x 1 instruction) were required. Can be reduced.

Further, in this embodiment, in the intake air amount calculation routine of FIG. 6, the management data KD set in SR1 is set.
Was used to manage the startup of control programs with different startup cycles. In this case, in the conventional technique, it is necessary to determine the activation flag for each control program and to clear the activation flag after the control program is executed. Therefore, the number of control programs and the number of instructions also increase. It was On the other hand, in the present embodiment, the instruction corresponding to the conventional clearing of the activation flag is always the step 210 in FIG.
˜212, and the increase in the number of instructions is suppressed even when the number of control programs increases.

Further, in this embodiment, in the 4 ms interrupt process of FIG. 7, the management data KD is set by one instruction regardless of the number of control programs executed at that time (step 520 or 530 in FIG. 7). ). In this case, in the conventional technique, an instruction to set the activation flag according to the number of control programs executed at that time was required, but the number of instructions can be significantly reduced.

(3) Processing Time In this embodiment, the amount of ROM 26 used is greatly reduced as described above, so that the processing time can be shortened according to the reduction in the number of instructions in various programs. That is, the reduction of the initialization time of SR1 to SRn in FIG. 5, the reduction of the control program management time in FIG. 6, the reduction of the execution time of the regular interrupt processing in FIG.

Further, in the calculation process of the intake air amount of FIG. 6, according to the prior art, any control program (4 ms
Processing, 100 ms processing), a confirmation command for all activation flags is required every time even when the activation is not performed.
Since only the instruction of step 201 in FIG. 6 is required, the processing time each time can be greatly reduced. In the present embodiment, the processing time for each time is shortened as described above, but the processing time for updating or determining the management data KD is determined when the control program is activated (when the determination in step 201 in FIG. 6 is affirmative). Will be needed. However, since the number of times the control program is started up is small compared to the total number of times of processing by the loop of FIG. 4, there is no problem. The impact can be reduced.

As a modification of the first embodiment described above,
The following modes are mentioned. For example, in the intake air amount calculation routine of FIG. 6, control programs (steps 203 and 205, steps 207 and 209) of the same cycle may be managed by the same management data KD. That is, the management data KD that manages steps 203 and 205 (100 ms processing) is set to "1", and the management data KD that manages steps 207 and 209 (4 ms processing) is set to "2". In this case, the management data KD is set to "0"-
The variable that changes in the range of “3” can be configured by 2 bits of SR1. (Second Embodiment) Next, a second embodiment of the present invention will be described focusing on the differences from the first embodiment. In the first embodiment, when the start timings of the control programs having different start cycles overlap, the control programs having the largest start cycle are executed in sequence, but in the second embodiment, the control programs having the smallest start cycle are executed in sequence. I am trying.

FIG. 8 is a flow chart showing an arbitrary subroutine in the base routine of FIG. 4, and this flow corresponds to FIG. 6 of the first embodiment. Figure 8
It has a 4 ms process that is started in a 4 ms cycle (for example, a calculation process of the intake air amount in FIG. 6) and a 100 ms process that is started in a 100 ms cycle (for example, a calculation process of the water temperature correction term in FIG. 6). . Further, FIG. 9 shows a management data setting routine which is a 4 ms interrupt, and this routine corresponds to FIG. 7 of the first embodiment. In this embodiment, the first management data KD1 and the second management data KD2 are set in SR1.

The management data setting routine of FIG. 9 will be described. In FIG. 9, the CPU 25 sets the first management data KD1 to “1” in step 700, and continues to step 71.
At 0, the timer counter Ct is incremented by "1".
After that, the CPU 25 determines in step 720 whether or not the timer counter Ct is “25”. And C
If t ≠ “25”, the CPU 25 sets the second management data KD2 to “1” in step 730. Also, Ct =
If it is "25", the CPU 25 makes a second determination in step 740.
The management data KD2 of the above is set to "2", and the timer counter Ct is cleared to "0" in the following step 750.
That is, in FIG. 9, KD2 = “2” is set every 100 ms, and KD2 = “1” is set every 4 ms.

On the other hand, in FIG. 8, the CPU 6 determines in step 600 whether or not the first management data KD1 is "0". If KD1 = "0", the CPU 6 terminates this routine and KD1 If ≠ “0”, steps 610
At 640, the process corresponding to the first management data KD1 is activated.

More specifically, the CPU 25 causes the step 610.
Determines whether KD1 = “1”, and KD1 =
If it is "1", a 4 ms process is executed in step 620. Further, the CPU 25 sets KD1 = in step 630.
It is determined whether or not it is “2”, and if KD1 = “2”, 100 ms processing is executed in step 640.

Thereafter, the CPU 25 determines in step 650 whether KD1 ≧ KD2. In this case, K
If D1 <KD2, the CPU 25 increments the first management data KD1 by “1” in step 660, and then ends this routine. If KD1 ≧ KD2, the CPU 25 sets the first management data KD1 to “0” in step 670, and then ends this routine.

In short, according to the routines of FIGS. 8 and 9, KD1 = 4 every 4 ms in step 700 of FIG.
The value becomes "1", and the 4 ms process shown in step 620 of FIG. 8 is executed. Then, the timer counter Ct = "1"-
In the case of "24", KD2 = in step 730 of FIG.
By setting "1", the control program having the largest activation cycle among the control programs activated at that time is the 4 ms process corresponding to KD1 = "1". Therefore, in this case, 4 m shown in step 620 of FIG.
Only the s process is activated.

When the timer counter Ct = “25”, KD2 = “2” is set in step 740 of FIG. 9, so that the control program having the largest activation cycle corresponds to KD1 = “2”. 100 ms processing.
Therefore, in this case, 4 shown in step 620 of FIG.
After the ms processing is started, KD1 = “2”, and the 100 ms processing shown in step 640 of FIG. 8 is started.

According to the second embodiment, since the first and second management data KD1 and KD2 are set in SR1, the first
Although the area of SR1 is larger than that of the embodiment, it is possible to reduce the memory usage area as a whole when compared with the conventional technology in which the number of control programs is increased in a multiplying manner according to the number of control programs.

Further, according to the second embodiment, the control program having a short start cycle is executed first, so that the control program (control program having a short cycle) that handles data having a large variation amount is given priority in vehicle control. Thus, highly accurate vehicle control can be realized.

As a modification of each of the above embodiments, the following modes can be mentioned. In each of the above-described embodiments, the 4 ms process and the 100 ms process are executed in the routine of FIG. 6 or FIG. 8. However, three or more processes can be combined, such as further adding 400 ms process.

Further, in each of the above embodiments, FIG.
Although the management data is changed by incrementing the management data set in SR1 in the routine of (1), the management data may be changed to a decrementing structure.

[0055]

According to the first aspect of the present invention, it is possible to manage the control program with a new structure and to improve the memory use efficiency. In this case, the greater the number of control programs to be managed, the greater the effect.

According to the second aspect of the invention, by changing one management data, it is possible to more efficiently manage a plurality of control programs according to the activation cycle.

According to the third aspect of the present invention, the control program having a short start-up cycle is executed first, so that the control program for handling the data having a large variation amount is prioritized in the vehicle control, and the highly accurate vehicle control is performed. Can be realized.

According to the invention described in claim 4, it is possible to easily realize the management of the above-mentioned control programs having different start cycles.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an outline of an engine control device in an embodiment.

FIG. 2 is a block diagram showing an electrical configuration of an ECU and its peripheral devices.

FIG. 3 is a configuration diagram showing a status register group in a RAM.

FIG. 4 is a flowchart showing a base routine executed by a CPU.

FIG. 5 is a flowchart showing an initialization routine executed by a CPU.

FIG. 6 is a flowchart showing an intake air amount calculation routine executed by a CPU in the first embodiment.

FIG. 7 is a flowchart showing a management data setting routine executed by a CPU in the first embodiment.

FIG. 8 is a flowchart showing a subroutine executed by a CPU in the second embodiment.

FIG. 9 is a flowchart showing a management data setting routine executed by a CPU in the second embodiment.

[Explanation of symbols]

10 ... Throttle sensor forming sensors, 11 ... Air flow meter forming sensors, 12 ... Negative pressure sensor forming sensors, 13 ... Water temperature sensor forming sensors, 14 ... Starter switch forming sensors, 17 ... Sensors Reference numeral position sensor, 18 ... Crank angle sensor forming sensor, 25 ... CPU as control data setting means, control program executing means, 27 ... RAM as memory.

Claims (4)

[Claims] 1. A vehicle control device that executes a plurality of control programs having start-up cycles having an integral multiple relationship with each other and performs vehicle control in accordance with a detection result of sensors indicating a driving state of the vehicle, wherein: A memory for storing management data for managing a program in a variable that is sequentially associated in the order of the size of the start cycle of the control program, and a variable as management data according to the start cycle of the control program. Management data setting means for selecting and setting the selected variable in the memory; and control program executing means for executing a control program based on the management data set in the memory by the management data setting means. And a vehicle control device. 2. The vehicle control device according to claim 1, wherein the management data setting unit has a control program to be activated at a minimum start cycle of the control program for each minimum start cycle of the control program. Management data corresponding to a large control program is set in the memory, and the control program execution means executes the control program corresponding to the data based on the management data in the memory, and the start cycle is further increased in accordance with the execution. A vehicle control device that updates management data so as to be small, and repeats the execution of the control program and the update of the management data until the control program having the minimum start cycle is completed. 3. The vehicle control device according to claim 1, wherein the management data setting unit sets the first management data corresponding to the control program for each minimum start cycle of the control program, and The second management data corresponding to the control program having the largest start cycle among the control programs to be started at this time is set in the memory, and the control program executing means sets the data based on the first management data. The control data corresponding to the second management data is executed, and the management data is updated so that the activation cycle becomes longer with the execution, and the execution of the control program and the update of the management data correspond to the second management data. A vehicle control device that repeats until the control program finishes execution. 4. The vehicle control device according to claim 1, wherein a counter is used as the management data stored in the memory.