KR101690280B1 - Running performance test server, test system having the same, testing method using the same - Google Patents

Running performance test server, test system having the same, testing method using the same Download PDF

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KR101690280B1
KR101690280B1 KR1020150095532A KR20150095532A KR101690280B1 KR 101690280 B1 KR101690280 B1 KR 101690280B1 KR 1020150095532 A KR1020150095532 A KR 1020150095532A KR 20150095532 A KR20150095532 A KR 20150095532A KR 101690280 B1 KR101690280 B1 KR 101690280B1
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vehicle
running
data
ecus
vehicles
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Korean (ko)
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김종찬
박성우
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국민대학교산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/005—Testing of electric installations on transport means
    • G01R31/006—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/005—Testing of electric installations on transport means
    • G01R31/006—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks
    • G01R31/007—Testing of electric installations on transport means on road vehicles, e.g. automobiles or trucks using microprocessors or computers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C19/00—Electric signal transmission systems
    • G08C19/02—Electric signal transmission systems in which the signal transmitted is magnitude of current or voltage
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/04—Speaking

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Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technology for testing the performance of an electronic control unit (ECU) of a vehicle. The driving performance testing apparatus includes a memory for storing a vehicle running simulation program for simultaneously simulating the running of a plurality of vehicles, A running simulation program is executed to transmit vehicle state data and running condition data to a plurality of ECUs each having the same vehicle running algorithm embedded therein and receive vehicle control data from each of the plurality of ECUs to simultaneously simulate the running of the plurality of vehicles Lt; / RTI >

Description

TECHNICAL FIELD [0001] The present invention relates to a traveling performance test apparatus, a test system using the same, and a testing method using the same.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for testing the performance of an electronic control unit (ECU) of a vehicle, and more particularly, to a technique for testing a running performance of various electronic control units A performance test apparatus, a test system using the same, and a test method using the same.

A vehicle driving simulator (or a simulation program) can simulate the running of the vehicle according to a given condition and display simulation results on the screen. For example, it is possible to simulate the running of the vehicle by receiving a control command from a user through input means such as a car driving simulator keyboard, a mouse, and a wheel.

The car racing simulator is a type of car driving simulator and can provide racing between vehicles. Users can race with other users through the car racing simulator, or race with an AI driver.

Korean Patent Laid-Open No. 10-2013-0053574 relates to a simulation system for determining the operation possibility and a simulation method therefor. The simulation system includes a control device for driving a vehicle, a simulation mode selected from among a plurality of predetermined simulation modes, And a simulator controller for determining a head-up display for displaying a result of the simulation in the simulation mode, and for controlling the simulation mode displayed in the head-up display in cooperation with the operating device, It is possible to virtually operate the vehicle in the same situation as it is actually traveling and to check the driver's possibility or condition ahead of the actual driving and to prevent the accident in advance.

Korean Patent No. 10-0438584 is directed to an apparatus and method for driving a vehicle using a vehicle. More particularly, the present invention relates to an apparatus and method for driving a vehicle using a vehicle, An analog / digital converter for converting an operation signal detected by the sensor into a digital signal, an emulator box for receiving and emulating an operation signal as the digital signal, And a display unit for displaying a rating result, thereby realizing an automobile driving simulation apparatus in an actual vehicle to provide the same indoor space as a vehicle when a car driving simulation game or a driving practice is performed, thereby enhancing the sense of reality.

Korean Patent Publication No. 10-2013-0053574 (2013.05.24) Korean Patent No. 10-0438584 (June 23, 2004)

One embodiment of the present invention is to provide a running performance test apparatus capable of testing the running performance of various electronic control units through a vehicle running simulation program, a test system using the same, and a test method using the same.

An embodiment of the present invention is to provide a running performance test apparatus that can visually provide test results of an electronic control unit (ECU), a test system using the same, and a test method using the same.

The running performance test apparatus includes a memory for storing a vehicle running simulation program for simultaneously simulating the running of a plurality of vehicles and a memory for storing a vehicle running simulation program for executing the vehicle running simulation program so that a plurality of ECUs, And a processor for transmitting data and running condition data and receiving vehicle control data from each of the plurality of ECUs to simulate the running of the plurality of vehicles simultaneously.

In one embodiment, the vehicle running simulation program may correspond to a TORCS program.

In one embodiment, the vehicle running simulation program includes a plurality of running modules respectively corresponding to the plurality of vehicles, for generating running data of the vehicle based on the received vehicle control data, and a plurality of running modules And a running simulator module for simulating the running of the plurality of vehicles simultaneously based on the running data of the vehicle.

In one embodiment, the traveling module includes a data receiving module for receiving vehicle control data transmitted from a specific ECU among the plurality of ECUs; And a vehicle running information generating module for generating running data of the vehicle based on the vehicle control data and the vehicle data.

In one embodiment, the traveling module may further include a data transmission module for transmitting the vehicle condition data and the running condition data to a specific ECU among the plurality of ECUs.

In one embodiment, the vehicle control data may include data for controlling at least one of a brake, an excel, a clutch, a steering, a gear and an angle of the vehicle.

In one embodiment, the vehicle data may include at least one of the vehicle's resources and response characteristics for an excel, clutch, steering, gear or angle control of the vehicle.

In one embodiment, the travel data may include at least one of an Excel drive value, a clutch drive value, a steering angle, a gear drive value, or an angle value.

In one embodiment, the driving simulation module can simulate the running of the plurality of vehicles over the same traveling path.

In one embodiment, the plurality of ECUs may be different kinds (different types) of ECUs.

Among the embodiments, the running performance test system includes a plurality of ECUs each having the same vehicle running algorithm embedded therein, and a plurality of ECUs connected to the plurality of ECUs via a network, respectively, and transmitting the vehicle condition data and the running condition data to the plurality of ECUs, And a test apparatus that receives vehicle control data from each of the plurality of ECUs and simulates the running of the plurality of vehicles simultaneously.

In one embodiment, the plurality of ECUs may be different kinds of ECUs.

In one embodiment, the test apparatus includes a memory for storing a vehicle running simulation program for simultaneously simulating the running of a plurality of vehicles, and a vehicle running simulation program for transmitting vehicle state data and running condition data to the plurality of ECUs And a processor for receiving vehicle control data from each of the plurality of ECUs and simulating the running of the plurality of vehicles simultaneously.

Among the embodiments, the running performance test method includes the steps of (a) transmitting vehicle state data and running condition data to a plurality of ECUs each having the same vehicle running algorithm embedded therein, (b) (C) simultaneously simulating the running of a plurality of vehicles based on each of the received travel control data, and (d) displaying a driving simulation result of each vehicle on the screen.

In one embodiment, the plurality of ECUs may be different kinds of ECUs.

The running performance test apparatus according to an embodiment of the present invention, the test system using the same, and the test method using the same can test the running performance of various vehicle running algorithms through a running simulation program.

The running performance test apparatus according to an embodiment of the present invention, the test system using the same, and the test method using the same can visually provide test results of an electronic control unit (ECU).

1 is a diagram illustrating a driving performance test system according to an embodiment of the present invention.
2 is a block diagram showing the configuration of the running performance test apparatus shown in Fig.
3 is a block diagram showing the configuration of a running performance test system for testing the running performance of the ECU.
4 is a flowchart illustrating a running performance test method performed in the running performance test system shown in FIG.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include " or "have" are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

The present invention can be embodied as computer-readable code on a computer-readable recording medium, and the computer-readable recording medium includes any type of recording device that stores data that can be read by a computer system . Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application.

1 is a diagram illustrating a driving performance test system according to an embodiment of the present invention.

1, the driving performance test system 100 includes a plurality of electronic control units (ECUs) 110a, 110b, and 110c, a test apparatus 120, and a display apparatus 130. As shown in FIG.

The ECU 110 is a control device for controlling the state of an engine of an automobile, a powertrain system (transmission, ABS, etc.). The ECU 110 includes a read only memory (ROM) in which data for controlling the state of an engine of an automobile, a power train system (transmission, ABS, etc.) is recorded.

Each of the plurality of ECUs 110a, 110b, and 110c is embedded with a vehicle running algorithm. In one embodiment, the respective ECUs 110a, 110b, and 110c are each embedded with the same vehicle running algorithm, and each of the ECUs 110a, 110b, and 110c may correspond to different types of ECUs. For example, the first ECU 110a, the second ECU 110b and the third ECU 110c use different types of ECUs, and the first ECU 110a, the second ECU 110b, The same vehicle driving algorithm can be embedded in the vehicle 110c. In this case, the running performance of various types of ECUs can be tested for the same vehicle driving algorithm.

Each of the ECUs 110a, 110b, and 110c is connected to the test apparatus 120 through a CAN (Control Area Network) communication network. Each of the ECUs 110a, 110b, and 110c receives the vehicle condition data and the running condition data from the test apparatus 120, and transmits the vehicle control data generated in the vehicle running algorithm to the test apparatus 120 based on the received data.

The test apparatus 120 executes a vehicle driving simulation program to simultaneously simulate the running of a plurality of vehicles. The vehicle driving simulation program can be used to test the performance of a vehicle driving algorithm, such as each part of an automobile engine, a brake, a wheel, etc., and resources such as fuel, tire wear, etc., are implemented in a real environment.

The test apparatus 120 transmits the vehicle condition data and the running condition data to the ECUs 110a, 110b, and 110c, respectively. For example, the vehicle state data may include information about the current state of the vehicle, such as gear ratio, speed, fuel remaining, steering angle, or tire wear. The driving condition data may include information such as a road surface condition, a road condition, and the like, or a distance between the vehicle and the surrounding vehicle.

The test apparatus 120 receives the vehicle control data from the ECUs 110a, 110b, and 110c, and simulates the running of the vehicle corresponding to each ECU. In one embodiment, the test apparatus 120 may simulate the running of a plurality of vehicles simultaneously to race the vehicle.

The test apparatus 120 transmits the simulation situation to the display apparatus 130, and the display apparatus 130 displays the simulation situation on the screen in real time. The user can visually compare and confirm the performance of each vehicle driving algorithm through the race results displayed on the screen.

2 is a block diagram showing the configuration of the running performance test apparatus shown in Fig.

2, the test apparatus 120 includes a processor 210, a memory 220, a storage device 230, a network interface 240, a user interface input device 250, and a user interface output device 260 .

The processor 210 includes a simulator executor 212 and a memory manager 214. The simulator launcher 212 executes a vehicle driving simulation program. The memory manager 214 manages memory areas in the memory 220 that are read or written by the simulator executor 212.

The memory 220 may be written or erased by the simulator executor 212. The memory 220 may be implemented as a volatile or non-volatile memory. For example, when the vehicle running simulation program is executed by the simulator execution unit 212, data necessary for execution of the vehicle running simulation program can be recorded in the memory 220. [

The storage device 230 may be implemented as a nonvolatile memory such as a solid state disk (SSD) or a hard disk drive (HDD), and is used to store data necessary for the test apparatus 120. For example, the storage device 230 may store a vehicle driving simulation program.

The network interface 240 includes an environment for connecting with a plurality of ECUs 110a, 110b, and 110c through a network, and may include, for example, an adapter for CAN communication.

The user interface input device 250 includes an environment for receiving user input and may include adapters such as, for example, a mouse, trackball, touchpad, graphic tablet, scanner, touch screen, keyboard or pointing device . The user interface output device 260 includes an environment for outputting specific information to a user and may include an adapter of an output device such as a monitor or a touch screen, for example.

3 is a block diagram showing the configuration of a running performance test system for testing the running performance of the ECU.

Referring to FIG. 3, the ECUs 110a, 110b, and 110c are embedded with the same vehicle driving algorithm, and the ECUs 110a, 110b, and 110c may correspond to different types of ECUs. The first ECU 110a, the second ECU 110b, and the third ECU 110c, for example, have the same vehicle running algorithm A (302, 304, 306) embedded in each of the ECUs 110a, 110b, May correspond to ECUs having different specifications. For example, the first ECU 110a, the second ECU 110b, and the third ECU 110c may correspond to ECUs manufactured by different manufacturers.

The processor 210 of the test apparatus 120 includes a simulator executor 212 and the simulator executor 212 executes the vehicle running simulation program 310. [ In one embodiment, the vehicle driving simulation program 310 may correspond to a TORCS (The Open Racing Car Simulator) program.

The vehicle driving simulation program 310 includes a plurality of traveling modules 320, 330, 340 and a traveling simulation module 350. The travel modules 320, 330, and 340 correspond to the plurality of vehicles, respectively, and generate travel data of the vehicle based on the vehicle control data received from the ECU.

In one embodiment, each of the travel modules 320, 330, and 340 may be implemented by modifying the TORCS program. The TORCS program includes a plurality of artificial intelligence driver algorithms that control the driving of a plurality of artificial intelligence vehicles by a user vehicle and a plurality of artificial intelligence (AI) vehicles. The present invention can be implemented in such a manner that vehicle control data is received from a vehicle driving algorithm embedded in a plurality of ECUs instead of a user vehicle control module and a plurality of artificial intelligent driver algorithms to race a plurality of vehicles.

For example, in the case of a user vehicle control module, a context structure capable of receiving control data from a user through input means such as a keyboard, a mouse, a wheel, etc. is a structure for receiving data from an ECU connected via a network. .

In the case of AI driver algorithms, the TORCS program may be modified by removing a plurality of AI drivers and adding a context structure to receive input data from the AI instead of an instruction to receive data from the AI driver algorithm. In other words, the TORCS program must be modified to access vehicle structure variables that can control vehicles such as excel, clutch, brake, gear, etc. only by the context structure receiving input data from the outside.

Referring again to FIG. 3, each of the traveling modules 320, 330, and 340 includes data receiving modules 322, 332, and 342 and vehicle driving information generating modules 324, 334, and 344.

The data receiving modules 322, 332 and 342 include a context structure for receiving input data from the outside and receive vehicle control data transmitted from a specific ECU among the plurality of ECUs 110a, 110b and 110c.

The vehicle running information generating modules 324, 334 and 344 generate the running data of the corresponding vehicle based on the vehicle control data and the vehicle data. In one embodiment, the vehicle control data may include data that controls at least one of a brake, an excel, a clutch, a steering, a gear and an angle of the vehicle. In one embodiment, the vehicle data includes at least one of the vehicle's resources and response characteristics for the vehicle's excel, clutch, steering, gear or angle control, and the running data includes at least one of an Excel drive value, a clutch drive value, And may include at least one of a driving value and an angle value.

In one embodiment, the travel modules 320, 330, and 340 may further include a data transmission module that transmits vehicle status data and driving condition data to a specific ECU among the plurality of ECUs 110a, 110b, and 110c.

The driving simulation module 350 simulates the traveling of a plurality of vehicles simultaneously based on the traveling data of each vehicle received from the plurality of traveling modules 320, 330, and 340. The driving simulation module 350 can simulate the running of a plurality of vehicles with respect to the same traveling path so as to race the vehicle.

The driving simulation module 350 transmits the simulation situation to the display device 130, and the display device 130 displays the simulation situation on the screen in real time. For example, the driving simulation module 350 transmits the driving situation of each vehicle according to a simulation result to the display device 130, and the display device 130 can display the driving situation of each vehicle on the screen. The user can visually compare and confirm the performance of each ECU through the race results displayed on the screen. With this configuration, the driving performance test system can test the running performance of the ECU.

4 is a flowchart illustrating a running performance test method performed in the running performance test system shown in FIG.

The processor 210 of the test apparatus 120 may execute a vehicle running simulation program to test the running performance of the vehicle running algorithm or the ECU. The test apparatus 120 transmits the vehicle condition data and the running condition data to a plurality of ECUs in which the vehicle running algorithm is embedded (step S410). The test apparatus 120 and each ECU are connected via a CAN communication network.

In one embodiment, the same vehicle driving algorithm is embedded in each ECU, and each ECU can correspond to another kind of ECU.

The test apparatus 120 receives the running control data from each of the plurality of ECUs (step S420), and simultaneously simulates the running of the plurality of vehicles based on each of the received running control data and the vehicle data of each vehicle (step S430) . In one embodiment, the test apparatus 120 may simulate the running of each vehicle through a modified TORCS program and race the vehicle. The contents of the modified TORCS program are as described in FIG.

The test apparatus 120 transmits the simulation situation to the display apparatus 130, and the display apparatus 130 displays the simulation situation in real time on the screen (step S440). For example, the test apparatus 120 transmits the driving situation of each vehicle to the display apparatus 130 according to the simulation result, and the display apparatus 130 can display the driving situation of each vehicle on the screen.

The user can visually compare and confirm the running performance of each electronic control device through the vehicle race result displayed on the screen.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the present invention as defined by the following claims It can be understood that

110: ECU (Electronic Control Unit)
120: Test device
130: Display device

Claims (15)

An apparatus for testing a running performance by simulating running of a vehicle, comprising:
In the TORCS program, instead of the algorithm for controlling the user vehicle and the plurality of artificial intelligence vehicles, the vehicle data is received from a plurality of heterogeneous ECUs (hereinafter, referred to as a plurality of ECUs) each embedded with the same vehicle running algorithm through the context structure, A memory for storing a vehicle running simulation program for simulating the running of the vehicle; And
A processor that executes the vehicle running simulation program and transmits vehicle state data and running condition data to each of the plurality of ECUs and receives vehicle control data from the plurality of ECUs to simulate the running of the plurality of vehicles simultaneously Including a test device.
delete The vehicle driving simulation program according to claim 1,
A plurality of traveling modules respectively corresponding to the plurality of vehicles and generating traveling data of the vehicle based on the received vehicle control data; And
And a running simulator module for simulating the running of the plurality of vehicles simultaneously based on the running data of each vehicle received from the plurality of running modules.
4. The apparatus of claim 3, wherein the traveling module
A data receiving module for receiving vehicle control data transmitted from a specific ECU among the plurality of ECUs; And
And a vehicle running information generating module for generating running data of the vehicle based on the vehicle control data and the vehicle data.
5. The apparatus of claim 4, wherein the traveling module
Further comprising a data transmission module for transmitting the vehicle condition data and the running condition data to a specific ECU among the plurality of ECUs.
5. The method according to claim 4, wherein the vehicle control data
And data for controlling at least one of a brake, an excel, a clutch, a steering, a gear and an angle of the vehicle.
5. The method according to claim 4,
And at least one of reaction characteristics of the vehicle's resources and control of an excel, clutch, steering, gear or angle of the vehicle.
5. The method according to claim 4,
An accelerator opening value, an accelerator opening value, an excel driving value, a clutch driving value, a steering angle, a gear driving value, or an angle value.
4. The method according to claim 3, wherein the driving simulation module
And simulating the running of the plurality of vehicles with respect to the same running route.
delete 1. A test system for simulating running of a vehicle to test running performance, comprising:
A plurality of heterogeneous ECUs (hereinafter, referred to as a plurality of ECUs) each having the same vehicle running algorithm embedded therein;
A memory for storing a vehicle driving simulation program for simultaneously receiving a vehicle data from the plurality of ECUs via a context structure instead of an algorithm for controlling a user vehicle and a plurality of artificial intelligence vehicles in a TORCS program and simulating the running of a plurality of vehicles simultaneously; And
A processor that executes the vehicle running simulation program and transmits vehicle state data and running condition data to each of the plurality of ECUs and receives vehicle control data from the plurality of ECUs to simulate the running of the plurality of vehicles simultaneously And a test apparatus including the test apparatus.
delete delete 1. A test method performed in a test apparatus for simulating running of a vehicle,
(a) In the TORCS program, instead of the algorithm for controlling the user vehicle and the plurality of artificial intelligence vehicles, a plurality of heterogeneous ECUs (hereinafter, referred to as a plurality of ECUs) each embedded with the same vehicle driving algorithm through the context structure, Transmitting condition data;
(b) receiving driving control data from each of the plurality of ECUs;
(c) simultaneously simulating the running of the plurality of vehicles based on the received running control data; And
(d) displaying a driving simulation result of each vehicle on a screen.
delete
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CN107976621A (en) * 2017-12-25 2018-05-01 苏州睿艾迪汽车科技有限公司 FCT test equipments based on resistance simulation
KR101996230B1 (en) * 2018-02-26 2019-07-04 (주)에스더블유엠 Method and apparatus for providing test information for simulation of autonomous vehicle
KR102012230B1 (en) * 2018-02-26 2019-08-21 (주)에스더블유엠 Method and apparatus for verifying operation of autonomous vehicle by test section
KR20220040056A (en) * 2020-09-23 2022-03-30 주식회사 다산네트웍스 System for testing electronic control unit

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KR101996230B1 (en) * 2018-02-26 2019-07-04 (주)에스더블유엠 Method and apparatus for providing test information for simulation of autonomous vehicle
KR102012230B1 (en) * 2018-02-26 2019-08-21 (주)에스더블유엠 Method and apparatus for verifying operation of autonomous vehicle by test section
KR20220040056A (en) * 2020-09-23 2022-03-30 주식회사 다산네트웍스 System for testing electronic control unit
KR102440254B1 (en) * 2020-09-23 2022-09-06 주식회사 다산네트웍스 System for testing electronic control unit

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