WO2018198770A1

WO2018198770A1 - Calculation device, log recording method, log recording system

Info

Publication number: WO2018198770A1
Application number: PCT/JP2018/015183
Authority: WO
Inventors: 雄介宇治土公; 勇樹堀田; 成沢　文雄
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2017-04-27
Filing date: 2018-04-11
Publication date: 2018-11-01
Also published as: JP6703960B2; JP2018185709A; DE112018001810T5

Abstract

This calculation device is provided with: an execution unit which repeatedly executes an application, a count unit which takes, as one cycle, an interval in which the application is executed the prescribed number of times, and counts the number of cycles on the basis of execution of the application; and a recording unit which records, as an input log, an association of input data input to the application with the number of cycles at a time when the input data is input to the application.

Description

Arithmetic device, log recording method, log recording system

The present invention relates to an arithmetic device, a log recording method, and a log recording system.

∙ Since control applications that realize automatic driving are required to guarantee operation under all conditions, it is necessary to verify the operation by running in a large amount of real environments. The following methods are known as a method of reproducing a defect for efficiently solving a problem of an application that has occurred in a real environment run. In other words, it is a technique for reproducing a defect by recording data related to the surrounding environment or the like input to the application during traveling in a log, and reproducing the data from the log and inputting it to the application when a defect occurs. Patent Document 1 sets simulation means for simulating a virtual environment, one or more display means for displaying the results simulated by the simulation means in real time, and conditions for recording and saving the contents of the simulation. Record storage condition setting means, checkpoint file means for storing all the contents of the simulation in a checkpoint file based on the above conditions, and the time from the time when the checkpoint file is saved to the time when the next saving is performed Using the event log file means for saving only the difference in the simulated content changes in the event log file, the saved checkpoint file and the event log file, the simulated content at an arbitrary time is reproduced. A display unit for displaying on the display unit, and an integrated management unit for integrated management of the entire system. Distributed Simulation system characterized by comprising: means, is disclosed.

Japanese Patent Application No. 11-32461

In the invention described in Patent Document 1, it is impossible to accurately record the context of the timing at which an application is executed and the timing at which data is input to the application.

An arithmetic device according to a first aspect of the present invention includes an execution unit that repeatedly executes an application, a count unit that counts the number of sequences based on the execution of the application, with an interval at which the application is executed a predetermined number of times as one sequence. A recording unit that records, as an input log, a combination of the input data input to the application and the number of sequences at the time when the input data is input to the application.
The log recording method according to the second aspect of the present invention includes executing an application repeatedly, setting an interval at which the application is executed a predetermined number of times as one sequence, and counting the number of sequences based on the execution of the application, Recording the combination of the input data input to the application and the sequence number at the time when the input data is input to the application as an input log.
A log recording system according to a third aspect of the present invention is a log recording system including an application execution device and a log storage device connected by a network, wherein the application execution device repeatedly executes an application, An interval at which an application is executed a predetermined number of times is defined as one sequence, a counting unit that counts the number of sequences based on the execution of the application, an execution device communication unit that communicates with the log storage device, and an input that is input to the application A recording unit that records data and a combination of the number of sequences at the time when the input data is input to the application as an input log to the log storage device via the execution device communication unit, and the log storage device includes: , The input log from the application execution device Comprising a storage device communication unit for receiving, and a storage unit for the input log and the input log storage device communication unit is stored in association with the time of reception.

According to the present invention, it is possible to accurately record the relationship between the timing at which an application is executed and the timing at which data is input to the application.

The block diagram which shows the structure of the vehicle control system 1 2A shows a format of the log data 114A when the output value includes the time stamp, and FIG. 2B shows a format of the log data 114A when the output value does not include the time stamp. The figure which shows an example of the sequence log | history 115 Flow chart showing operation of sensor information acquisition unit 101 A flowchart showing the operation of the application execution management unit 102 A flowchart showing the operation of the log generation unit 103 A flowchart showing the operation of the log reproduction unit 104 Flow chart showing operation of log recording / reproducing apparatus 20 Diagram showing an example of log recording mode operation

-Embodiment-
Hereinafter, an embodiment of a vehicle control device which is an arithmetic device will be described with reference to FIGS.

(Definition of terms)
An “application” in the present embodiment is a program that is periodically executed. The “execution cycle” in the present embodiment is a target value of a time interval for executing a certain application. That is, the time interval at which an application is actually executed may not match the execution cycle. The execution timing of the application is determined by a method of measuring the time until the target value is reached each time the application is executed, and executing the application when the target value is reached. In this case, it is assumed that the target value does not coincide with the actual application execution time interval due to a timer error when measuring the elapsed time or a delay due to other processing load.

The “sequence” in the present embodiment is a time having a length delimited by the time when the reference application is actually executed. That is, the start time of each sequence is the time when the reference application is executed. The “sequence number” in the present embodiment is a numerical value that is counted up each time a reference application is executed.

(System configuration)
FIG. 1 is a block diagram showing a configuration of a vehicle control system 1 including a vehicle control device 10 which is an arithmetic device according to the present invention. The vehicle control system 1 includes a vehicle control device 10, a log recording / reproducing device 20, an external sensor group 30, a vehicle sensor group 40, and an actuator group 50. The vehicle control device 10, the log recording / reproducing device 20, the external sensor group 30, the vehicle sensor group 40, and the actuator group 50 are connected by an in-vehicle network 60. The vehicle control system 1 is mounted on a vehicle, for example, recognizes the state of an obstacle such as a traveling road or a surrounding vehicle in the vicinity of the vehicle, determines driving behavior or vehicle control of the vehicle, and controls vehicle movement. This system realizes automatic driving.

The external sensor group 30 is a sensor group for recognizing obstacles in a certain range around the vehicle, such as other vehicles, pedestrians, objects, and features such as road signs and white lines. The outside world sensor group 30 includes, for example, a camera, a radar, a lidar, and the like. The outside world sensor group 30 outputs detected information on obstacles and features around the vehicle, such as relative distance and relative angle from the vehicle, to the in-vehicle network 60 to which the outside world sensor group 30 and the vehicle control device 10 are connected. To do. The vehicle control device 10 is configured to obtain an output result from the external sensor group 30 via the in-vehicle network 60. In the present embodiment, the external sensor group 30 is configured to detect an obstacle or a feature, but the vehicle control device 10 or the like is output using signals and data output from the external sensor group 30. These detection processes may be performed by another device.

The vehicle sensor group 40 is a device group that detects information related to vehicle movement, such as travel speed, steering angle, accelerator operation amount, brake operation amount, and the like. The vehicle sensor group 40 outputs these state quantities detected on the in-vehicle network 60, for example. The vehicle control device 10 and other devices connected to the in-vehicle network 60 acquire state quantities of various components output from the vehicle sensor group 40 through the in-vehicle network 60.

Actuator group 50 is a device group that controls control elements such as steering, brakes, and accelerators that determine the movement of the vehicle. The actuator group 50 controls the movement of the vehicle based on steering information such as a steering wheel, a brake pedal, and an accelerator pedal by the driver, and a target control value output from the vehicle control device 10.

(Configuration of vehicle control device)
The vehicle control device 10 is, for example, an ECU (Electronic Control Unit), and includes a processing unit 100, a storage unit 110, and a communication unit 120. The form of the vehicle control device 10 is not particularly limited. For example, the vehicle control device 10 may be integrated into the external sensor group 30. The vehicle control device 10 and the log recording / reproducing device 20 in the present embodiment have two operation modes, a log recording mode and a log reproduction mode. The vehicle control device 10 and the log recording / reproducing device 20 are mounted on the vehicle and record logs in the log recording mode. The vehicle control device 10 and the log recording / reproducing device 20 may be operated on the vehicle control system 1 in the log reproduction mode, but may be operated on a place physically separated from the vehicle control system 1, for example, an indoor desk. Good.

The storage unit 110 stores an application A (not shown), and this application A is a reference application in the present embodiment. That is, when the application A is executed, the sequence number is counted up. Details will be described later. Hereinafter, application A is also referred to as “application A”.

The processing unit 100 includes a CPU (Central Processing Unit) and a RAM (Random Access Memory), and the CPU expands a program (not shown) stored in the storage unit 110 to the RAM and executes the program. The following functions are realized. The processing unit 100 includes a sensor information acquisition unit 101, an application execution management unit 102, a log generation unit 103, and a log reproduction unit 104 as its functions. When a stop command is input from the outside to the vehicle control device 10, the processing unit 100 outputs a stop command to the sensor information acquisition unit 101, the application execution management unit 102, the log generation unit 103, and the log reproduction unit 104.

Sensor information acquisition unit 101 operates only in the log recording mode. The sensor information acquisition unit 101 acquires peripheral environment information related to the periphery of the vehicle and vehicle sensor information related to the movement of the vehicle, and stores these in the application input / output data group 111 as “output values”. Further, the sensor information acquisition unit 101 stores the output value and the output value in the log data buffer 114 in association with the time when the output value is stored in the application input / output data group 111. The sensor information acquisition unit 101 acquires output values from the external sensor group 30 and the vehicle sensor group 40. The surrounding environment information is, for example, information on obstacles present around the vehicle, information on features indicating road characteristics around the vehicle, and the like. Obstacles around the vehicle include, for example, other vehicles moving around the vehicle, moving objects such as bicycles and pedestrians, parked vehicles stationary on the road around the vehicle, and falling objects , Installations, etc. The vehicle sensor information is, for example, the position of the vehicle, travel speed, steering angle, accelerator operation amount, brake operation amount, and the like. The surrounding environment information and the vehicle sensor information acquired by the sensor information acquisition unit 101 are stored in the storage unit 110 as the application input / output data group 111.

The application execution management unit 102 operates in both the log recording mode and the log reproduction mode. The application execution management unit 102 reads the execution cycle of the application A from the application execution parameter group 112 stored in the storage unit 110, and causes the application A to be executed for each execution cycle. The application execution management unit 102 increments the sequence number every time the application A is executed, and records the sequence number and the time when the sequence was started in a sequence history 115 described later.

The log generation unit 103 operates only in the log recording mode, and creates log data 114A based on an output value stored in the log data buffer 114 and time information. The log generation unit 103 stores the created log data 114A in the log data buffer 114, and transmits the log data 114A to the log recording / reproducing apparatus 20 via the communication unit 120. However, the log generation unit 103 may transmit the created log data 114 A to the log recording / reproducing apparatus 20 as it is without storing it in the log data buffer 114.

The log reproduction unit 104 operates only in the log reproduction mode, and extracts an output value from the log data 114A received from the log recording / reproduction device 20 via the communication unit 120. Then, the log generation unit 103 calculates the timing at which the output value should be stored in the application input / output data group 111 based on the analysis result of the log data 114A, and stores the output value in the application input / output data group 111 at that timing.

The storage unit 110 is, for example, an HDD (HARD Disk Drive) or a flash memory. However, it may be configured to include a ROM (Read Only Memory). The storage unit 110 stores a program executed by the processing unit 100 to realize its function, an application executed periodically, a data group necessary for the vehicle control apparatus 10 to operate, and the like. Specifically, the storage unit 110 stores an application input / output data group 111, an application execution parameter group 112, a log reproduction parameter group 113, a log data buffer 114, and an application A (not shown).

The application input / output data group 111 stores information input to the application A and information output from the application A. Specifically, the application input / output data group 111 stores peripheral environment information related to the periphery of the vehicle, vehicle sensor information related to the movement of the vehicle, and information processed by the application A. In the log recording mode, the sensor information acquisition unit 101 and the application A store data in the application input / output data group 111. In the log reproduction mode, the log generation unit 103 stores data in the application input / output data group 111.

The application execution parameter group 112 stores setting information related to the application A executed in the vehicle control device 10 and an operation mode that the vehicle control device 10 should execute at the next startup. The setting information related to the application A is, for example, the execution cycle of the application A and the initial delay time. The application execution management unit 102 manages application execution using the application execution parameter group 112. The application execution parameter group 112 can be rewritten from a terminal device (not shown) connected to the in-vehicle network 60. For example, when an operator finds a problem in the operation of the vehicle control device 10, the operation mode of the vehicle control device 10 is changed from the log recording mode to the log reproduction mode as follows. That is, the operator rewrites the operation mode stored in the application execution parameter group 112 to the log reproduction mode using the terminal device, and turns on the power of the vehicle control device 10 again.

The initial delay time included in the application execution parameter group 112 is a parameter that determines the initial execution timing of the application. However, the first time here is the first time each time the vehicle control device 10 is activated. For example, when the initial delay time is zero, the application is executed immediately after the vehicle control device 10 is activated. That is, when the initial delay time of an application is Td and the individual cycle is Ti, the application is executed at the times of Td, Td + Ti, Td + 2 × Ti, and Td + 3 × Ti, assuming that the time when the vehicle control device 10 is activated is zero. The However, in this embodiment, the initial delay time is zero.

The log reproduction parameter group 113 stores a storage delay sequence that is a parameter for determining the operation of the log generation unit 103 in the log reproduction mode. The storage delay sequence is a parameter used when determining the timing to store the log data 114A received by the communication unit 120 first in the application input / output data group 111 in the log reproduction mode. For example, when the storage delay sequence is “3” and the communication unit 120 receives the first log data 114A when the sequence number is “5” in the log reproduction mode, the following processing is performed. That is, the sequence number obtained by adding the storage delay sequence to the sequence number at the time of reception, that is, 5 + 3 = 8, and when the sequence number is “8”, the output value included in the first log data 114A is input to the application input / output data group 111 Is done. The log reproduction parameter group 113 may store parameters other than the storage delay sequence.

The log data buffer 114 stores log data 114A and information for creating the log data 114A in the log recording mode. The information for creating the log data 114 A is an output value and a time when the output value is input to the application input / output data group 111. The log data buffer 114 temporarily stores log data 114A received by the communication unit 120 from the log recording / reproducing device 20 in the log reproduction mode.

FIG. 2A is a diagram illustrating a format of log data 114A when the output value includes a time stamp, and FIG. 2B is a diagram illustrating a format of log data 114A when the output value does not include a time stamp. . As shown in FIG. 2A, the log data 114A includes four values: an output value, a sequence number, an offset value described later, and time stamp correction information. However, when the output value does not include a time stamp, the time stamp correction information is not provided as shown in FIG. If the output value includes a time stamp, the time stamp may be deleted from the output value because the time stamp is corrected as described later using the time stamp correction information. Returning to FIG. 1, the description will be continued.

The sequence history 115 stored in the storage unit 110 is information indicating the time when each sequence number is started. The sequence history 115 is created by the application execution management unit 102. The sequence history 115 may be transmitted to the log recording / reproducing apparatus 20 together with the log data 114A.

FIG. 3 is a diagram illustrating an example of the sequence history 115. The example shown in FIG. 3 shows a case where the execution period of the application A is 10 ms, and the sequence number is updated approximately every 10 ms, but is not strictly constant. Returning to FIG. 1, the description will be continued.

Application A (not shown) stored in the storage unit 110 is periodically executed by the application execution management unit 102. However, as shown in the sequence history 115 illustrated in FIG. 3, strictly speaking, there is some time lag, not every fixed time. Application A immediately reads the information written in application input / output data group 111. That is, the time when the output value is written to the application input / output data group 111 can be regarded as the time when the output value is input to the application A. In addition, when the application A writes to the application input / output data group 111, it outputs the same information to the log data buffer 114 and writes the output time to the log data buffer 114.

The communication unit 120 communicates with other devices mounted on the vehicle based on various communication protocols. The communication unit 120 includes, for example, a network card compliant with a communication standard such as IEEE 802.3 or CAN (Controller Area Network). In addition, the connection form between the communication unit 120 and other devices mounted on the vehicle is not limited to wired connection such as Ethernet, but is not limited to Bluetooth (registered trademark) or wireless LAN (Local Area Network). It may be a short-range wireless connection. The communication unit 120 transmits the log data 114A output from the log generation unit 103 to the log recording / reproducing device 20 in the log recording mode. In the log reproduction mode, the communication unit 120 stores the log data 114A received from the log recording / reproducing device 20 in the log data buffer 114 and transmits the reception of the log data 114A to the log reproduction unit 104.

(Configuration of log recording / playback device)
The log recording / reproducing apparatus 20 is an ECU including a CPU, a ROM, and a RAM, for example. The log recording / reproducing apparatus 20 has two operation modes of a log recording mode and a log reproduction mode. The log recording mode exhibits a log recording function in the log recording mode and a log reproduction function in the log reproduction mode. The operation mode of the log recording / reproducing apparatus 20 can be changed by setting a DIP switch (not shown) or by communication from the outside. The log recording function is a function for recording the log data 114A output from the vehicle control device 10 to the in-vehicle network 60. The log reproduction function is a function for reproducing the log data 114A recorded by the log recording function and outputting it to the in-vehicle network 60. The log recording / reproducing apparatus 20 controls the output interval of the log data 114A at the time of log reproduction to be equal to that at the time of recording the log data 114A. The log recording / reproducing apparatus 20 includes a communication unit 220, a log data group 210, and a log recording / reproducing unit 200.

The communication unit 220 exchanges the log data 114A with the vehicle control device 10 based on various communication protocols. The communication unit 220 corresponds to a communication standard such as IEEE 802.3 or CAN (Controller Area Network), for example. The connection form between the communication unit 220 and another device is not limited to a wired connection, and may be a wireless connection such as Bluetooth (registered trademark) or a wireless LAN (Local Area Network).

The log data group 210 is, for example, an HDD or a flash memory. The log data group 210 stores log data 114A acquired from the vehicle control device 10 and the reception time of the log data 114A. The log data group 210 is written and read by the log recording / reproducing unit 200.

In the log recording mode, the log recording / reproducing unit 200 stores the log data 114A received from the vehicle control device 10 in the log data group 210 in association with the reception time. However, the communication unit 220 may record an interval of time when the log data 114A is received instead of the reception time. In the log reproduction mode, the log recording / reproducing unit 200 outputs the log data 114A stored in the log data group 210 to the in-vehicle network 60 at the same time interval as at the time of reception.

(Operation of vehicle control device)
The operations of the sensor information acquisition unit 101, the application execution management unit 102, the log generation unit 103, and the log reproduction unit 104 of the vehicle control device 10 will be described with reference to FIGS. Both operations are executed asynchronously.

FIG. 4 is a flowchart showing the operation of the sensor information acquisition unit 101. The execution subject of each step described below is the CPU of the vehicle control device 10. As described above, the sensor information acquisition unit 101 operates only in the log recording mode.

In step S301, the sensor information acquisition unit 101 acquires sensor data from the external sensor group 30 and the vehicle sensor group 40. There is no particular limitation on the timing at which the sensor information acquisition unit 101 acquires sensor data. The sensor data output from the external sensor group 30 or the vehicle sensor group 40 to the in-vehicle network may be detected and acquired each time. Or the sensor information acquisition part 101 may set a timer and acquire sensor data regularly irrespective of operation | movement of the external sensor group 30 or the vehicle sensor group 40. FIG.

In subsequent step S 302, the sensor information acquisition unit 101 stores the sensor data in the application input / output data group 111. In subsequent step S303, the sensor information acquisition unit 101 combines the current time and the same data as the sensor data stored in step S302, and stores them in the log data buffer 114. In the subsequent step S304, it is determined whether or not the vehicle control device 10 has received a stop command. If it is determined that the stop command has been received, the operation shown in FIG. The process returns to step S301.

FIG. 5 is a flowchart showing the operation of the application execution management unit 102. The execution subject of each step described below is the CPU of the vehicle control device 10. The application execution management unit 102 performs the same operation as described below regardless of the operation mode.

The application execution management unit 102 starts the processes of step S311 and step S321 in parallel when the vehicle control device 10 is activated. In step S311, the application execution management unit 102 substitutes zero for N, which is a variable indicating the number of sequences. In a succeeding step S312, it is determined whether or not the application A is executed. If it is determined that the application A has been executed, the process proceeds to step S313. If it is determined that the application A has not been executed, the process remains in step S312.

In step S313, the application execution management unit 102 increments the variable N, that is, increments the value of the variable N by one. In subsequent step S314, the application execution management unit 102 records the current time and the value of the variable N, that is, the current sequence number, in the sequence history 115. In subsequent step S317, the application execution management unit 102 determines whether or not a stop command has been received. If it is determined that the stop command has been received, the operation of the flowchart shown in FIG. If so, the process returns to step S312.

In step S321, the application execution management unit 102 waits for the set initial delay time, and executes application A in the subsequent step S322. In subsequent step S323, the application execution management unit 102 waits for the execution cycle of the application A. In subsequent step S324, the application execution management unit 102 determines whether or not a stop command has been received. If it is determined that the stop command has been received, the operation of the flowchart shown in FIG. If so, the process returns to step S322.

FIG. 6 is a flowchart showing the operation of the log generation unit 103. As described above, the log generation unit 103 operates only in the log recording mode. The execution subject of each step described below is the CPU of the vehicle control device 10. There is no particular limitation on the timing at which the log generation unit 103 starts operation. For example, the log generation unit 103 may detect that the data and the storage time information are stored in the log data buffer 114, and may start the operation each time or may start the operation periodically.

In step S341, the log generation unit 103 reads the combination of the output value and the time stored in the log data buffer 114. In subsequent step S342, the log generation unit 103 reads the sequence history 115. In subsequent step S343, the log generation unit 103 identifies which sequence number corresponds to the time read in step S341. For example, if the sequence history 115 is as shown in FIG. 3 and the time is “25.67”, the sequence number is specified as “3” because it is between “20.03” and “29.99”. Is done. In subsequent step S344, the log generation unit 103 calculates an offset value. The offset value is a value indicating an elapsed time from the start time of the sequence. For example, when the time is “25.67”, since the sequence number is specified as “3” as described above, the offset value is “20. It is calculated as “5.64” obtained by subtracting “03”.

In subsequent step S345, the log generation unit 103 creates time stamp correction information. The time stamp correction information is calculated as the difference between the reception time and the time stamp included in the output value. For example, when the output value including the time stamp “25.00” is stored in the log data buffer 114 together with the time “25.67”, the time stamp correction information is “0.67”. However, this step is not executed if the output value does not include a time stamp. In subsequent step S346, the log generation unit 103 generates the log data 114A by combining the output value, the sequence number, the offset value, and the time stamp correction information. Then, the log generation unit 103 stores the created log data 114 A in the log data buffer 114 and transmits it to the log recording / reproducing device 20 via the communication unit 120. In addition, the log generation unit 103 deletes the combination of the output value and time information corresponding to the created log data 114 A from the log data buffer 114.

In subsequent step S347, the log generation unit 103 determines whether or not a stop command has been received. When determining that the stop command has been received, the log generation unit 103 ends the operation of the flowchart illustrated in FIG. 6 and determines that the stop command has not been received. In this case, the process returns to step S341.

FIG. 7 is a flowchart showing the operation of the log reproduction unit 104. The execution subject of each step of the flowchart described below is the CPU of the log recording / reproducing apparatus 20.

In step S371, the log reproduction unit 104 reads the storage delay sequence from the log reproduction parameter group 113. In subsequent step S372, the log reproducing unit 104 determines whether or not the communication unit 120 has received the first log data 114A. If the log reproduction unit 104 determines that it has been received, the process proceeds to step S373. If it is determined that it has not been received, the log reproduction unit 104 remains in step S372. In step S373, the log reproduction unit 104 substitutes the sequence number included in the received first log data 114A for the variable J. This variable J is referred to in step S383 described later. In subsequent step S374, the log reproduction unit 104 substitutes the current sequence number for the variable N, in other words, the sequence number at the time when the communication unit 120 received the first log data 114A. In subsequent step S375, the log reproducing unit 104 substitutes the sum of the value of the variable N substituted in step S374 and the storage delay sequence read in step S371 for the variable M.

In subsequent step S376, the log reproduction unit 104 determines whether or not the current sequence number is M. If it is determined that the current sequence number is M, the process proceeds to step S377. If it is determined that the current sequence number is not M, the process remains in step S376. In step S377, the log reproduction unit 104 stores the received output value of the first log data 114A in the application input / output data group 111. However, at this time, if the time stamp correction information is included in the log data 114A, the time stamp included in the output value of the log data 114A is corrected and stored in the application input / output data group 111. The detailed timing at which the log reproduction unit 104 stores the output value in the application input / output data group 111 follows the offset value included in the log data 114A. For example, when the offset value is “2.5”, the output value is stored in the application input / output data group 111 2.5 ms after the start of the sequence.

In subsequent step S381, the log reproduction unit 104 determines whether or not the communication unit 120 has received the next log data 114A. If it is determined that the next log data 114A has been received, the process proceeds to step S382. If it is determined that the next log data 114A has not yet been received, the process remains in step S381. In step S382, the sequence number included in the log data (hereinafter, “log data to be processed”) 114A confirmed to be received in step S381 is substituted into a variable K. In the subsequent step S383, the value of M + (K−J) is substituted for the variable L. In this calculation, the difference between the sequence number of the first log data 114A and the sequence number of the log data 114A to be processed is added to the sequence number for storing the first log data 114A in the application input / output data group 111. It is.

In subsequent step S384, the log reproduction unit 104 determines whether the current sequence number is L or not. If it is determined that the current sequence number is L, the process proceeds to step S385, and if it is determined that the current sequence number is not L, the process remains in step S384. In step S385, the output value included in the log data 114A to be processed is stored in the application input / output data group 111. However, at this time, when the time stamp correction information is included in the log data 114A to be processed, the time stamp included in the output value of the log data 114A is corrected and stored in the application input / output data group 111. The time stamp correction in this step is as follows.

The time of the time stamp after correction is Tsp, the time when the output value of the log data 114A is stored in the application input / output data group 111 is Top, the time of the time stamp before correction is Tsr, and the log data 114A in the log recording mode. If the time stored in the application input / output data group 111 is Tor, the time stamp is corrected so that the following Expression 1 is satisfied.
Top-Tsp = Tor-Tsr (1)

Here, the value on the right side of Equation 1 is stored in the log data 114A as time stamp correction information. Therefore, if Top is clarified, Tsp can be calculated. Here, Top can be calculated from the sequence number L calculated in step S383 and the offset value included in the log data 114A. However, here, the time of each sequence is calculated as the execution cycle itself of the application A, in other words, assuming that the application A is executed according to the execution cycle. Therefore, the corrected time stamp Tsp can be calculated from the calculated Top and time stamp correction information.

The detailed timing at which the log reproduction unit 104 stores the output value in the application input / output data group 111 follows the offset value included in the log data 114A. Details are as exemplified in step S377. In subsequent step S386, the log reproducing unit 104 determines whether or not a stop command has been received. When determining that the stop command has been received, the log reproducing unit 104 ends the operation of the flowchart shown in FIG. 7 and determines that the stop command has not been received. In this case, the process returns to step S381.

(Operation of log recording / playback device)
FIG. 8 is a flowchart showing the operation of the log recording / reproducing apparatus 20. The execution subject of each step of the flowchart described below is the CPU of the log recording / reproducing apparatus 20.

In step S351, the log recording / reproducing unit 200 determines whether the operation mode is set to the recording mode or the generation mode. When it is determined that the recording mode is set, the process proceeds to step S352, and when it is determined that the playback mode is set, the process proceeds to step S356.

In step S352, the log recording / reproducing unit 200 determines whether or not the communication unit 220 has received the log data 114A from the in-vehicle network 60 to which the vehicle control device 10 is connected. When the communication unit 220 determines that the log data 114A has been received, the process proceeds to step S353, and when it is determined that the log data 114A has not been received, the process stays at step S352 and waits for the next reception. In step S353, the log recording / reproducing apparatus 20 acquires the log data 114A received by the communication unit 220 and the reception time of the log data 114A. In subsequent step S354, the log recording / reproducing unit 200 stores the log data 114A and the reception time acquired in step S353 in the log data group 210. In subsequent step S355, the log recording / reproducing apparatus 20 determines whether or not a stop command has been received. When it is determined that the stop command has been received, the operation of the flowchart shown in FIG. 8 is terminated, and when it is determined that the stop command has not been received, the process returns to step S352.

In step S355, the log recording / reproducing unit 200 reads the log data group 210. In subsequent step S356, the log recording / reproducing unit 200 outputs the oldest log data 114A that is the log data 114A included in the log data group 210 and has not yet been transmitted. However, at this time, the transmission timing is adjusted so that the time interval with the log data 114A output immediately before is the same as the time interval when the log data 114A is received. For example, when the communication unit 220 sequentially receives the log data 114A at intervals of 8 ms, 5 ms, and 15 ms during recording, the log data 114A is similarly output to the in-vehicle network 60 at intervals of 8 ms, 5 ms, and 15 ms.

In subsequent step S357, the log recording / reproducing unit 200 determines whether or not the untransmitted log data 114A is included in the log data group 210. If it is determined that there is untransmitted log data 114A, the process returns to step S356. If it is determined that all log data 114A has been transmitted, the operation of the flowchart shown in FIG.

(Operation example)
FIG. 9 is a diagram illustrating an operation example of the vehicle control device 10 in the recording mode. In FIG. 9, time elapses from the left to the right in the figure, and the scale in the figure is shown every 10 ms. Squares A1 to A4 shown in FIG. 9 indicate the execution timing of the application A, and indicate that the application A is executed at the left end timing of the square. That is, the width of the square and the right end of the square have no special meaning. The downward arrows in the figure represent the timing at which the output values P1 to P4 are input to the application input / output data group 111. In the example shown in FIG. 9, the execution cycle of the application A is 10 ms. However, as shown in FIG. 9, the interval at which the application A is actually executed does not necessarily match 10 ms.

The sequence number is counted every time the application A is executed by the application execution management unit 102. In FIG. 9, the circled numbers indicate the sequence numbers, and the sequence breaks indicate the execution timing of the application A. That is, output values P1 and P2 belong to sequence number 1, and output values P3 and P4 belong to sequence number 3. If the sequence number is uniformly updated every 10 ms that is the execution cycle of the application A without considering the actual execution timing of the application A, the output value P2 generated after 10 ms is set to the sequence number 2, The output value P3 generated before 20 ms also belongs to the sequence number 2. That is, in that case, the sequence number cannot correctly represent the context between the execution timing of the application A and the timing at which the output value is input.

The log generation unit 103 refers to the sequence history 115 generated by the application execution management unit 102 and identifies the sequence number to which each output value belongs. Then, the log generation unit 103 calculates the offset values of the output values P1 to P4 as Q1 to Q4 shown in FIG. 9 as the elapsed time from the start time of the sequence to which each belongs.

According to the embodiment described above, the following operational effects can be obtained.
(1) The vehicle control device 10 uses the application execution management unit 102 that repeatedly executes the application A, and the application execution management that counts the number of sequences based on the execution of the application, with the interval at which the application A is executed once as one sequence. And a log generation unit 103 that records information including a combination of an output value input to application A and a sequence number of times when the output value is input to application A as log data 114A. That is, the vehicle control apparatus 10 records the timing of data input to the application A using the number of sequences based on the number of executions of the application A. Therefore, it is possible to accurately record the relationship between the timing at which application A is executed and the timing at which data is input to application A.

(2) The vehicle control device 10 calculates, as an offset value, a log generation unit 103 that calculates a time from the start time of the sequence indicated by the number of sequences included in the input log to the time when the output value is input to the application A (FIG. 6 step S344). The log generation unit 103 records the output value, sequence number, and offset value in combination as shown in FIG. Therefore, the timing when data is input to the application A can be recorded in detail.

(3) The vehicle control apparatus 10 includes a log generation unit 103 (step S345 in FIG. 6) that calculates, as time correction information, the difference between the time information included in the output value and the time when the output value is input to the application A. . The log generation unit 103 records the output value and time stamp correction information in combination as shown in FIG. Therefore, information for correcting the time stamp included in the output value can be recorded together.

(4) The vehicle control device 10 includes a communication unit 120 that transmits the log data 114A. The log generation unit 103 records the log data 114 A in the log recording / reproducing device 20 via the communication unit 120. Therefore, even when the storage area of the vehicle control device 10 is scarce or when the vehicle control device 10 does not include a nonvolatile memory, the operation log of the vehicle control device 10 can be recorded.

(5) The vehicle control apparatus 10 includes a log storage unit in which a plurality of input logs are recorded, and a sequence in which output values included in the plurality of log data 114A stored in the log storage unit are combined with output values. A log reproduction unit 104 that inputs to the application A based on the number is provided. Therefore, the vehicle control device 10 can reproduce the front-rear relationship between the timing when the output value is input to the application A and the execution timing of the application A.

(6) The vehicle control apparatus 10 combines the output values included in the log data buffer 114 in which a plurality of input logs are recorded and the plurality of log data 114A stored in the log data buffer 114 into the output values. The log reproduction unit 104 is input to the application A based on the number of sequences and the offset value. Therefore, the vehicle control device 10 can reproduce the timing when the output value is input to the application A in detail. Thereby, the reproducibility of a defect can be improved, for example.

(7) The vehicle control device 10 sets the time information included in each output value included in the log data buffer 114 in which a plurality of input logs are recorded and the plurality of log data 114 A stored in the log data buffer 114. The log reproduction unit 104 corrects based on the stamp correction information and inputs the corrected output value to the application A based on the number of sequences combined with the output value. Therefore, the vehicle control apparatus 10 can reproduce the front-rear relationship between the timing when the output value is input to the application A and the execution timing of the application A after correcting the time stamp included in the output value.

(8) The communication unit 120 of the vehicle control device 10 receives a plurality of log data 114A, the log data buffer 114 in which the log data 114A received by the communication unit 120 is recorded, and the log data 114A that the communication unit 120 receives first. The log reproduction parameter group 113 storing the storage delay cycle, which is information indicating the interval from the time when the first log is received to the time when the output value included in the first log is input to the application A, and the communication unit 120 is the first Determine the initial log input sequence that is the sequence to input the output value included in the initial log to the application based on the number of sequences when the log is received and the storage delay cycle, and the output value included in the initial log in the initial log input sequence Is input to the application A. For this reason, the vehicle control apparatus 10 waits for the specified storage delay cycle before starting to reproduce the log, so to speak, buffering is performed, so that even if a problem occurs in the in-vehicle network 60, the log reproduction is adversely affected. Can be reduced.

(9) The log reproduction unit 104 of the vehicle control device 10 includes the output value included in the subsequent log that is the second and subsequent input logs received by the communication unit 120 in the number of sequences included in the initial log and the subsequent log. The number of sequences to be output and the output value included in the initial log are input to the application A in a sequence determined based on the sequence input to the application A. Therefore, after waiting for the storage delay cycle, the output value of the subsequent log data 114A can be input to the application input / output data group 111 so as to reproduce the log recording mode.

-Modification-
The embodiment described above may be modified as follows.
(1) The vehicle control device 10 may not include the application input / output data group 111, and the vehicle control device 10 may directly input an output value to the application A.
(2) The vehicle control device 10 may not record the offset value in the log recording mode. In this case, detailed determination of the timing for inputting the output value using the offset value to the application input / output data group 111 in the log reproduction mode is not performed.

(3) The application A may not read the information input to the application input / output data group 111 immediately, but may read it as necessary.
(4) The vehicle control device 10 may also periodically execute applications other than the application A. In this case, the number of sequences may be counted by the repetition unit calculated by the common multiple of the execution cycle of each application. For example, when two applications having an execution cycle of 20 ms and 50 ms are executed, the least common multiple is 100 ms. Therefore, the sequence number is counted up based on the number of executions of the application executed with every 100 ms as a target. That's fine.
(5) The vehicle control device 10 may count up on condition that the application A is executed twice or more.

The vehicle control device 10 may include an input / output interface (not shown), and a program may be read from another device via a medium that can be used by the input / output interface and the vehicle control device 10 when necessary. Here, the medium refers to, for example, a storage medium that can be attached to and detached from the input / output interface, or a communication medium, that is, a wired, wireless, or optical network, or a carrier wave or digital signal that propagates through the network. Also, part or all of the functions realized by the program may be realized by a hardware circuit or FPGA. The plurality of modifications described above may be combined. Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

The disclosure of the following priority application is hereby incorporated by reference.
Japanese Patent Application 2017-088069 (filed April 27, 2017)

DESCRIPTION OF SYMBOLS 1 ... Vehicle control system 10 ... Vehicle control apparatus 20 ... Log recording / reproducing apparatus 60 ... In-vehicle network 100 ... Processing part 101 ... Sensor information acquisition part 102 ... Application execution management part 103 ... Log generation part 104 ... Log reproduction part 110 ... Storage part 111 ... Application input / output data group 112 ... Application execution parameter group 113 ... Log playback parameter group 114 ... Log data buffer 115 ... Sequence history 120 ... Communication unit 200 ... Log recording / playback unit 210 ... Log data group

Claims

An execution unit that repeatedly executes the application;
An interval at which the application is executed a predetermined number of times as one sequence, and a counting unit that counts the number of sequences based on the execution of the application;
An arithmetic device comprising: a recording unit that records, as an input log, a combination of the input data input to the application and the number of sequences at the time when the input data is input to the application.
The arithmetic unit according to claim 1,
An offset calculation unit that calculates a time from the start time of the sequence indicated by the number of sequences included in the input log to the time when the input data is input to the application as an offset value;
The said recording part is an arithmetic unit which records the said offset value further combining in the said input log.
The arithmetic unit according to claim 1,
A correction calculation unit that calculates a difference between time information included in the input data and a time when the input data is input to the application as time correction information;
The said recording part is an arithmetic unit which records the said time correction information further combining in the said input log.
The arithmetic unit according to claim 1,
A communication unit for transmitting the input log;
The said recording part is an arithmetic unit which records the said input log on another apparatus via the said communication part.
The arithmetic unit according to claim 1,
A log storage unit in which a plurality of the input logs are recorded;
An arithmetic device further comprising: a log reproduction unit that inputs each of the input data included in the plurality of input logs stored in the log storage unit to the application based on the number of sequences combined with the input data.
The arithmetic unit according to claim 2,
A log storage unit in which a plurality of the input logs are recorded;
A log reproduction unit for inputting each of the input data included in the plurality of input logs stored in the log storage unit to the application based on the number of sequences combined with the input data and the offset value; Arithmetic unit provided.
In the arithmetic unit according to claim 3,
A log storage unit in which a plurality of the input logs are recorded;
The time information included in each of the input data included in the plurality of input logs stored in the log storage unit is corrected based on the time correction information, and the corrected input data is combined with the input data. An arithmetic device further comprising: a log reproduction unit that inputs to the application based on the number of sequences.
The arithmetic unit according to claim 4,
The communication unit receives a plurality of the input logs,
A log storage unit in which the input log received by the communication unit is recorded;
Stored is a storage delay time that is information indicating an interval from the time when the communication unit first receives the initial log, which is the input log, to the time when the input data included in the initial log is input to the application. A parameter storage unit,
Determine the initial log input sequence that is the sequence for inputting the input data included in the initial log to the application based on the number of sequences when the communication unit receives the initial log, and the storage delay time,
A computing device further comprising: a log reproducing unit that inputs the input data included in the initial log to the application in the initial log input sequence.
The arithmetic unit according to claim 8,
The log reproduction unit includes the input data included in the subsequent log that is the second and subsequent input logs received by the communication unit, the number of sequences included in the initial log, and the sequence included in the subsequent log. And an arithmetic unit for inputting to the application in the sequence determined based on the number and the initial log input sequence.
Running the application repeatedly,
An interval at which the application is executed a predetermined number of times as one sequence, and counting the number of sequences based on the execution of the application;
A log recording method including recording as input log a combination of input data input to the application and the number of sequences at a time when the input data is input to the application;
A log recording system including an application execution device and a log storage device connected via a network,
The application execution device
An execution unit that repeatedly executes the application;
An interval at which the application is executed a predetermined number of times as one sequence, and a counting unit that counts the number of sequences based on the execution of the application;
An execution device communication unit for communicating with the log storage device;
A recording unit that records the input data input to the application and the combination of the number of sequences at the time when the input data is input to the application as an input log to the log storage device via the execution device communication unit; Prepared,
The log storage device
A storage device communication unit that receives the input log from the application execution device;
A log recording system comprising: the input log; and a storage unit that stores the input log in association with a time when the storage device communication unit receives the input log.