WO2021192351A1 - 車上制御装置 - Google Patents
車上制御装置 Download PDFInfo
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- WO2021192351A1 WO2021192351A1 PCT/JP2020/032928 JP2020032928W WO2021192351A1 WO 2021192351 A1 WO2021192351 A1 WO 2021192351A1 JP 2020032928 W JP2020032928 W JP 2020032928W WO 2021192351 A1 WO2021192351 A1 WO 2021192351A1
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- board
- control device
- output
- arithmetic
- control unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1641—Error detection by comparing the output of redundant processing systems where the comparison is not performed by the redundant processing components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
- G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
- G06F11/2035—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant without idle spare hardware
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
- G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
- G06F11/2048—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant where the redundant components share neither address space nor persistent storage
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/0213—Electrical arrangements not otherwise provided for
- H05K1/0216—Reduction of cross-talk, noise or electromagnetic interference
- H05K1/0236—Electromagnetic band-gap structures
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/0213—Electrical arrangements not otherwise provided for
- H05K1/0254—High voltage adaptations; Electrical insulation details; Overvoltage or electrostatic discharge protection ; Arrangements for regulating voltages or for using plural voltages
- H05K1/0256—Electrical insulation details, e.g. around high voltage areas
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/14—Mounting supporting structure in casing or on frame or rack
- H05K7/1438—Back panels or connecting means therefor; Terminals; Coding means to avoid wrong insertion
- H05K7/1447—External wirings; Wiring ducts; Laying cables
- H05K7/1451—External wirings; Wiring ducts; Laying cables with connections between circuit boards or units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0006—Digital architecture hierarchy
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/14—Structural association of two or more printed circuits
- H05K1/141—One or more single auxiliary printed circuits mounted on a main printed circuit, e.g. modules, adapters
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
- H05K2201/09—Shape and layout
- H05K2201/09209—Shape and layout details of conductors
- H05K2201/09654—Shape and layout details of conductors covering at least two types of conductors provided for in H05K2201/09218 - H05K2201/095
- H05K2201/0979—Redundant conductors or connections, i.e. more than one current path between two points
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
- H05K2201/09—Shape and layout
- H05K2201/09818—Shape or layout details not covered by a single group of H05K2201/09009 - H05K2201/09809
- H05K2201/09972—Partitioned, e.g. portions of a PCB dedicated to different functions; Boundary lines therefore; Portions of a PCB being processed separately or differently
Definitions
- the present invention relates to an on-vehicle control device.
- Patent Document 1 discloses a bus configuration using a plurality of processors. More specifically, it is a multiprocessor system in which a common bus or an individual bus is formed by fitting the connectors arranged at predetermined intervals on one surface of the motherboard.
- Patent Document 1 has a bus configuration using a plurality of processors, it is not a means for realizing multiplexing by an independent system, and when multiplexing is forcibly performed with that configuration, a substrate or a subrack configuration is used. It becomes complicated or large. That is, the control unit and the common interface unit (hereinafter referred to as "common unit” or “common interface”) multiplexed by applying the technology of the multiprocessor system of Patent Document 1 are collectively stored in one subrack. In this case, there arises a problem that the wiring in the backboard becomes complicated and the mounting becomes difficult.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide an on-vehicle control device having a compact multi-system configuration.
- the present invention that solves the above problems is an on-board control device including a fail-safe arithmetic unit in which control units of a plurality of systems forming a redundant system complement each other with their respective calculation results, and the fail-safe arithmetic unit is arranged.
- the control unit is configured as an aggregate, and includes an arithmetic board that performs arithmetic processing for each of a plurality of systems and an output board that outputs the arithmetic results of the arithmetic processing by the arithmetic board, and corresponds to each of the plurality of systems.
- Common parts having a common interface connected to a plurality of output boards are aggregated in a specific area of a part of the aggregate, and in the aggregate, control units of a plurality of systems are arranged at equal distances from the common part. It is an on-board control device.
- FIG. 5 is a block diagram showing an interface configuration in which one of the dual systems is the main system and the other is the spare standby system with respect to the configuration of FIG.
- It is a block diagram for demonstrating the arrangement example of the on-vehicle control device 12C which put together the double system into one subrack.
- It is a block diagram for demonstrating the arrangement example of the on-vehicle control device 12D which usually configured a dual system with a built-in common part.
- 9 is a block diagram for explaining an arrangement example efficiently applied to the power supply division of the backboard of the on-board control device 12E of FIG. 9.
- the subrack that houses the electronic circuits that make up the on-board control device is a storage tool for printed circuit boards (PCBs, hereinafter also referred to as “circuit boards” or simply “boards”) that are oriented toward standards, and is generally used.
- PCBs printed circuit boards
- this storage device is also referred to as a card cage, a housing, a case, a cabinet, a chassis, or simply a rack.
- the aggregates 31 to 35 (collectively 30) shown in FIGS. 1A to 4 and 8 to 10 are electronic circuits constituting the on-vehicle control device, and are storage devices such as the subrack 101. Refers to everything stored in.
- Form factors include, for example, 19-inch system standards, 19-inch Euroboard form factors or 19-inch plug-in units (PIUs).
- the 19-inch standard (EIA standard) is adopted for the dimensions of the rack and chassis in order to standardize the chassis that houses the circuit board.
- the following criteria (1) to (3) were set as a method of mounting the circuit board on the chassis of the 19-inch standard.
- the subrack 101 that houses the on-board control system is oriented toward the following standards (1) to (3) in principle, even if it is not a 19-inch standard.
- circuit board Unify the dimensions of the circuit board. (2) Since the circuit boards are interconnected by the backboard, the types of connectors that form the coupling mechanism are unified. (3) The circuit board is arranged vertically for heat dissipation.
- the backboard 112 shown in FIGS. 3, 4, 7 to 10 is a kind of circuit board (usually a printed circuit board), and a plurality of connectors are correctly connected to each other on the board (corresponding pins of each connector are connected to each other). It is connected and forms a bus. That is, the backboard 112 interconnects a plurality of circuit boards with connectors inserted and functions as a backbone constituting a computer system. Note that, in FIGS. 3, 4, 7 to 10, the connectors for connecting a plurality of circuit boards to the backboard 112 are not shown.
- the backboard 112 has no computing power on its circuit board, and the CPU is on the CPU board provided by the plug-in. Cables may be used to connect the boards to each other, but in general, a backboard is used to connect the circuit boards from the viewpoint of reliability, workability, and bus configuration.
- the on-board control device 12 for a railway train has a group of substrates on which electronic circuits are mounted and a subrack 101 (FIGS. 3 to 4 and 7 to 10) for storing the substrates as a form constituting the system. ) Is generally used.
- the electronic circuit on the board, the signal line connecting each element, the internal power supply used for the bus, etc., and the external power supply used for the interface to the vehicle or other equipment are clearly distinguished. ..
- a low voltage is applied to the internal power supply used for an electronic circuit
- a high voltage is applied to an external power supply used for a power supply for driving a vehicle or a lead wire between vehicles. The distinction is important.
- the external power supply may receive noise from high-voltage power supply circuits used in other equipment such as vehicles and main converters. If noise is drawn into the subrack 101 from this external power source, the on-board control device 12 may malfunction. Similarly, there is a possibility of affecting other devices by diffusing noise from the internal circuit of the on-board control device 12 via a signal line to the outside.
- the operating characteristics of the relay are suitable for the signals transmitted by electrical ON / OFF or Hi / Low.
- the on-board control device 12 may be a redundant system because of the need to improve reliability.
- the redundant system is configured with the smallest unit constituting the control unit as a system, and is configured as a multiple system so that even if one system fails, the other system can continuously execute control.
- a redundant system with such a multiplex configuration makes it possible to continue the operation of the entire system even when a part of the system failure occurs, and the reliability of the system can be improved.
- the multiple system configuration of the on-board control device 12 can be roughly divided into a redundant configuration in which butt output is performed by two types of inter-system butt logic.
- the first is a redundant configuration in which a plurality of systems operate and control at the same time.
- the second is a redundant configuration in which only one system normally operates, and when a failure occurs in the operating system, the standby system takes over and continues to operate.
- the on-vehicle control device 12 when the on-vehicle control device 12 is viewed from the external device via the external input / output device connected to the on-vehicle control device 12 or the vehicle interface 14 (FIGS. 1A, 1B, 2), the on-vehicle control device 12 I want to eliminate the need for extra consideration for the fact that is multiplexed. That is, for the external device, it is desirable that the on-board control device 12 has the same interface as the single system even if it is multiplexed.
- the on-board control device 12 constituting the multiple system has the logic that the output is requested from each system of the control units 10 and 20 to the external interface. , It has a common unit 16 that butt-outputs to the outside according to the inter-system butt logic.
- the on-vehicle control device 12 is housed in a dedicated subrack 101 that takes into consideration the common portion that has been enlarged according to the scale of the logic circuit, the size of a single element such as a relay, and the restrictions on the storage volume.
- the on-vehicle control device 12 solves the problem that the mounting becomes difficult due to the increase in the size of the entire device including the external input / output device and the vehicle interface 14 connected to the on-board control device 12.
- the on-vehicle control device 12 also eliminates the drawback that the cable in the conventional storage tool becomes large. That is, the on-board control device 12 also eliminates the frequent cables that are interposed for passing signals across a plurality of submarkets in the conventional storage device.
- the on-board control device 12 (including 12A to 12E) can reduce the total cost for the entire device including the incidental devices.
- the on-board control device 12 is housed in one sub-black 101 (FIGS. 3, FIG. 4, FIGS. 7 to 10) including ancillary devices. Solved the problem of reducing large-scale cables. Therefore, the following are being considered.
- the common part will be miniaturized as the element is miniaturized.
- the common portion which was conventionally positioned outside the board as an accessory device, is also rearranged so as to be mounted inside the board.
- the entire board including the boards mounted up to the common unit 16 is housed as an aggregate 31 and 32 in one subrack 101.
- the aggregate 35 and the aggregate 35 are collectively referred to as an aggregate 30, and all of them exemplify a form housed in one subrack 101.
- FIG. 1A is a block diagram showing a substrate arrangement of the on-board control device 12A according to the embodiment of the present invention, and is an example of symmetrical arrangement.
- the substrates of the control unit 1 system and the control unit 2 system are arranged symmetrically, and the common unit 16 (FIG. 2) is arranged in the center. , Form an aggregate 31.
- FIG. 1B is a block diagram showing an on-board control device 12B according to a modified example of FIG. 1A, and is a vertically symmetrical (upper and lower matched) arrangement example.
- the control units 10 and 20 of each system are arranged in the same upper and lower arrangement in the first and second systems, and the common unit 16 (FIG. 2) is placed at the end of the subrack 101 for each of the control units 10 and 20. It is arranged so as to be adjacent to and forms an aggregate 32.
- the on-board control system is configured to be housed in the subrack 101, and has a control unit 10 of the first system, a control unit 20 of the second system, and a common unit 16 (FIG. 2).
- the control units 10 and 20 that form each of the two systems include an arithmetic board that performs an operation and an output board that outputs an arithmetic result.
- the common unit 16 outputs the system output integrated into one according to the logic required by the system to the vehicle interface 14 with respect to the arithmetic output from each system in the redundant system. As a result, a redundant system is configured and the reliability of the entire system is improved.
- the on-vehicle control device 12 has a common portion 16 at one location in the subrack 101, and in FIG. 1A, the substrates of the respective systems constituting the two control units 10 and 20 are used.
- the common portion 16 is arranged symmetrically and the common portion 16 is arranged in the center.
- the substrates of the respective systems constituting the two control units 10 and 20 are arranged in the same arrangement on the upper and lower sides, and the common unit 16 is located at the end of the subrack 101 and is adjacent to each of the control units 10 and 20. Place in.
- FIG. 2 is a schematic explanatory view of an arrangement example in which the on-board control device 12 generalized for explanation is mounted on the vehicle.
- the on-board control device 12 of FIG. 2 includes the on-board control device 12A of FIG. 1A, the on-board control device 12B of FIG. 1B, the on-board control device 12 of FIGS. 3 and 4, and the on-board control device of FIG. 12C, the on-board control device 12D of FIG. 8, and the on-board control device 12E of FIGS. 9 and 10 are collectively referred to.
- the train 11 has an on-board control device 12, a vehicle power supply 13, and a vehicle interface 14.
- the on-board control device 12 has a function of performing speed check from an external signal and train speed.
- the vehicle power supply 13 supplies power to each device mounted on the train 11.
- the vehicle interface 14 has a function of transmitting an output signal from the on-board control device 12 to the vehicles forming the train 11 and also transmitting vehicle information to the on-board control device 12 as an input signal.
- the on-board control device 12 has control units 10 and 20 that perform fail-safe calculations, and a common unit 16 that transmits the output from the control units 10 and 20 to the outside.
- the control units 10 and 20 are composed of one or a plurality of systems depending on the device configuration, and the common unit 16 outputs the output from each of the control units 10 and 20 to the vehicle interface 14 according to the output logic required in the system configuration. ..
- FIG. 3 is a block diagram showing the on-board control device 12 of FIG. 2 in more detail.
- the on-board control device 12 in which the aggregate 33 is housed in the subrack 101 mounts the fail-safe arithmetic units 102 and 202 that perform highly safe arithmetic processing, and the fail-safe arithmetic boards 103 and 203.
- the aggregate 33 is formed around the center.
- the fail-safe arithmetic units 102 and 202 have failure detection circuits 104 and 204 capable of detecting a system failure including a failure of the arithmetic unit itself and outputting a failure detection signal.
- each functional unit for the fail-safe arithmetic boards 103 and 203 to execute input / output with the outside is mounted.
- dedicated buses 105 and 205 are used, and are connected to the safety output boards 106 and 206 by a multiplex configuration that maintains fail-safeness.
- the safety output boards 106 and 206 are composed of output circuits 107 and 207 for receiving output signals from the fail-safe arithmetic boards 103 and 203 and outputting them to the outside.
- the general-purpose input / output boards 108 and 208 have transmission / reception circuits 109 and 209, are connected to the fail-safe arithmetic units 102 and 202 by the general-purpose buses 110 and 210, and input / output to and from the outside according to instructions from the fail-safe arithmetic units 102 and 202. Run.
- an input / output board may be added by extending the general-purpose buses 110 and 210.
- the board connected to the general-purpose buses 110 and 210 is not limited to input / output, and may be a board on which a memory, a sensor, or the like is mounted.
- the fail-safe dedicated buses 105 and 205 used for fail-safe output and the general-purpose buses 110 and 210 are separated to ensure safety.
- the subrack 101 has power supply boards 111, 211 that convert an input power source from the outside and distribute it to each internal board. Signals between each board and each power supply board are connected via the back board 112.
- the system unit of the on-board control device 12 is configured by the configuration shown in FIG. At this time, the smallest unit constituting the system is called a system. As a premise, the safety of the system is guaranteed by a single system. For the purpose of improving the operating rate of the system, a redundant system using a plurality of the same system is configured to configure a redundant system (multiple system).
- the devices outside the system exemplified by the vehicle interface 14 and the like do not have an interface suitable for the multiplex configuration of the on-board control device 12. Therefore, the output of each of the plurality of systems in the multiple system system (redundant system) is unified into the system output conforming to the system requirements and then output to the outside.
- any one of the multiple systems commands the brake output
- the brake output will be transmitted to the outside as a whole system.
- the other system is configured as a standby system
- the output to the outside of a system other than the operating system may be cut off.
- These logics are composed of a relay circuit 119 using a relay so as to exhibit fail-safeness in which the control output is switched to the safe side in the event of a failure or the like.
- This relay circuit 119 is mounted on the above-mentioned common portion 16 (FIGS. 1A, 1B and 2).
- the on-board control device 12 outputs a fail-safe output from the safety output boards 106 and 206 to the outside, but also in order to distinguish between the power supply inside the on-board control device 12 and the power supply used in the circuit mounted on the vehicle. It has a circuit for connecting the safety output and the signal line outside the system to perform inter-system butt logic. This circuit is mainly configured by using a relay, and is referred to as a common unit 16 because it is commonly used for the outputs of the control unit 10 of the first system and the control unit 20 of the second system.
- 106 and 206 distinguish between the circuit used for the bus from the fail-safe arithmetic units 102 and 202 and the circuit to the common unit 16.
- the fail-safe arithmetic units 102 and 202 output signals indicating the operating state to the outside.
- the fail-safe arithmetic units 102 and 202 detect a failure of themselves or the system, the failure information is output to the inside and outside of the system.
- the power supply at this time is divided into the power supplies 115 and 215 used for the bus 105 system and the bus 110 system, the bus 205 system and the bus 210 system, and the power supplies 116 and 216 used between the safety board and the common part 16. It is input to the relay circuit 119 in the common section 118 through the bus and output to the outside.
- the internal power supply and the external power supply are electrically insulated by the relay in the relay circuit 119.
- the output to the outside is performed on the front side of the subrack 101, and the power input is performed on the connectors 117, 217 or the connector 120, but it can be performed at a location other than the front as long as the configuration of the subrack 101 is not hindered.
- the constraint conditions of the board arrangement in the subrack 101 change depending on whether or not an area for developing the circuit pattern is sufficiently secured on the backboard 112. If the developed area of the circuit pattern is sufficient, there is no restriction, and if it is insufficient, there is a restriction. On the other hand, in order to achieve miniaturization and function consolidation of the device, it is required to increase the number of wirings and reduce the area of the backboard 112 as well.
- different power supplies are used for the power supply used for elements such as internal electronic circuits and the power supply used for external output.
- the wiring of the external power supply division and the internal power supply division are mixed, there is a possibility that they are affected by the noise contained in each other's power supply. Therefore, if the boards are arranged as shown in FIG. 3 and the pattern of the backboard 112 is configured, the power supply division between the inside and the outside can be clearly distinguished. As a result, the on-vehicle control device 12 can suppress the adverse effect of internal and external noise interfering with each other.
- FIG. 4 is a block diagram for explanation of efficiently arranging the on-board control device 12 of FIG. 2 in the subrack.
- FIG. 4 shows the substrate arrangement and power supply classification of the subrack 101.
- the aggregate 33 housed in one subrack 101 includes a power supply board 111, a fail-safe calculation board 103, general-purpose input / output boards 108 and 208, safety output boards 106 and 206, and a common portion 16.
- the power supply in the subrack 101 is divided into three categories.
- the first category is the internal power supplies 301 and 302.
- the second category is the common unit output power supplies 303 and 304.
- the third category is the external power supply 305.
- the internal power supplies 301 and 302 are used for the fail-safe arithmetic boards 103 and 203, the general-purpose input / output boards 108 and 208, and the safety output boards 106 and 206.
- the common unit output power supplies 303 and 304 supply power to both the safety output boards 106 and 206 and the common unit 16 (see FIGS. 1A, 1B and 2).
- the external power supply 305 is electrically isolated from the common unit output power supplies 303 and 304 in the common unit 16. As a result, the external power supply 305 and the internal power supplies 301 and 302 are separated, and the wiring areas of the internal power supplies 301 and 302 and the common unit output power supplies 303 and 304 are separated on the backboard 112, thereby affecting each other's noise. It can be configured to suppress. Further, the external power supply 305 is input to the general-purpose input / output boards 108 and 208, but is insulated from the internal power supplies 301 and 302 on the board.
- FIG. 5 is a block diagram showing an interface configuration of each system and a common part in the on-board control device 12 of FIG. 3, and is an example of a system in which dual systems operate in parallel.
- the redundant system In the on-board control device 12 of FIG. 5, the redundant system always operates in parallel, and the relay of the final stage outputs the output of either one of the redundant systems to the outside.
- the common part is configured to operate according to the output logic required by the system.
- FIG. 6 is a block diagram showing an interface configuration in which one of the dual systems is the main system and the other is the spare standby system with respect to the configuration of FIG. That is, the on-vehicle control device 12 of FIG. 6 normally operates on one side as the main system, and when the operating main system fails, control shifts to the standby system. In order to realize this, the output of the slave system is suppressed when the main system is normal, and the output of the main system is suppressed when the main system fails.
- This logic consists of failure detection outputs from fail-safe arithmetic units 102 and 202 of each system. These logics are realized only in the common part. That is, by replacing the common part according to the system, it is possible to switch the logic without changing the other board or the backboard 112.
- the common part acquires failure information from each system in addition to the output from each system. It is also possible to add a board on which additional functions such as serial communication and digital input are mounted in the control units 10 and 20.
- a fail-safe board or other input / output board may also be equipped with an interface such as Ethernet or serial transmission that allows external system judgment based on the content of the application or telegram. In this case, it is not necessary to combine these signal lines by relay logic.
- the common part was arranged outside the control units 10 and 20 in the form of a subrack 101 or a relay board.
- the output from the output board has a structure in which the output from the output board is output to the common portion 118 via the connector 120.
- FIG. 7 is a block diagram for explaining an arrangement example of the on-board control device 12C in which the dual system is integrated into one subrack and the common portion is composed of one subrack. Since the on-board control device 12C shown in FIG. 7 uses a large relay, the common unit 118 is arranged outside, so that a cable is required for exchanging signals between the control units 10 and 20 and the common unit. Become. For this reason, the device configuration of the system becomes large, which leads to an increase in the cost of the overall hardware configuration. In addition, since the devices are exchanged with each other by a cable, they are easily affected by external noise.
- FIG. 8 is a block diagram for explaining an arrangement example of the on-vehicle control device 12D in which a common part is built in and the dual system is configured in the same arrangement.
- the on-vehicle control device 12D shown in FIG. 8 is configured such that the aggregate 34 is housed in one subrack 101.
- the assembly 34 constituting the on-vehicle control device 12D can be installed inside the substrate.
- the output board transmits an output signal to the common portion via the backboard 112.
- the backboard pattern of each system related to the basic bus can be made the same, but the wiring that straddles each system increases because the wiring is done in the common part. As a result, the backboard pattern becomes complicated, and there is a risk that the signal lines inside the subrack 101 are affected by noise.
- the backboard pattern refers to a wiring pattern of a backboard formed of a printed circuit board.
- FIG. 3 exemplifies a configuration in which the dual system by the on-board device 12 according to the embodiment of the present invention described above is arranged symmetrically.
- the system composed of the left system is referred to as the control unit 10 of the first system
- the system composed of the system on the right is referred to as the control unit 20 of the second system.
- the common unit is mounted in the same subrack 101 as the control units 10 and 20.
- Each system shall be composed of the above-mentioned substrate arrangement, and the common part shall be arranged in the center and each system shall be arranged symmetrically.
- Each system has a common structure except that they are arranged symmetrically.
- the pattern on the backboard 112 has a symmetrical structure as well.
- the left and right systems have separate power supplies, and the power supply systems are separated on the backboard 112.
- the buses of the left and right systems do not intersect with each other and are not affected by each other.
- an external interface board such as a serial board
- the output board and the common part are adjacent to each other so that the external interface and the internal bus do not intersect.
- the power supply classification of the backboard 112 there is a power supply classification on the backboard 112. Since the two power supply divisions affect each other, it is necessary to separate the power supply divisions. By separating the dedicated bus system (bus line) and the bus system close to the external output, mutual influence can be suppressed.
- the external line in the backboard 112 and the internal line can be separated.
- the number of input / output boards increases, the number of boards can be increased without changing the configuration of the backboard 112 by extending the internal line and the external line.
- both systems are arranged symmetrically and the common part is arranged in the center, so that the signals from each system are simply aggregated in the common part.
- FIG. 9 is a block diagram for explaining an arrangement example of the on-board control device 12E in which the double system of FIG. 8 is vertically symmetrical.
- the on-vehicle control device 12E shown in FIG. 9 is configured such that the aggregate 35 is housed in one subrack 101.
- a common portion is arranged at one end of the same side of each of the dual systems.
- the common part receives the boards of each system and collates the information inside the boards, so that the backboard 112 wiring of the upper and lower systems can be received.
- the board is configured to straddle the upper and lower boards, but if signals between the back boards 112 can be exchanged with each other, individual relay boards may be used in the upper and lower systems.
- FIG. 10 is a block diagram for explaining an arrangement example efficiently applied to the power supply division of the backboard of the on-board control device 12E of FIG.
- the on-vehicle control device 12 can simplify the wiring, and can reduce the influence of noise by dividing each wiring line between the inside and the outside of the subrack 101.
- the on-board control device 12 of FIG. 10 can be adapted to the backboard 112 having the same pattern configuration for each of the upper and lower systems. Is. As a result, the cost can be reduced by contributing to the standardization and standardization of parts.
- the on-vehicle control device 12 includes fail-safe arithmetic units 102 and 202 in which control units 10 and 20 of a plurality of systems forming a redundant system complement each other with their respective calculation results.
- the control units 10 and 20 in which the fail-safe arithmetic units 102 and 202 are arranged include arithmetic boards 17 and 27, output boards 18 and 28, and a common unit 16.
- the arithmetic boards 17 and 27 perform arithmetic processing for each system.
- the output boards 18 and 28 output the calculation results for each of the calculation boards 17 and 27.
- the common unit 16 has a common interface connected to a plurality of output boards 18 and 28.
- the output boards 18 and 28 output the calculation results generated there to the outside via a common interface.
- the fail-safe arithmetic units 102 and 202 are configured as a set of aggregates 30, and the common portion 16 is aggregated in a specific area in the aggregate 30.
- the control units 10 and 20 of the plurality of systems aggregate the interface with the common unit 16 at one end in the substrate arrangement.
- the common unit 16 is arranged between the control unit 10 and the control unit 20
- the control unit 10 and the control unit 20 are arranged symmetrically, and the interface with the common unit 16 is also arranged in the center.
- the wiring from the common unit 16 located in the center to the control units 10 and 20 is sufficient in the shortest distance, and the frequency of straddling different wiring can be suppressed.
- Aggregate 30 is a general term for various aggregates 31 to 35 shown in each figure. That is, the aggregate 30 is the aggregate 31 of FIG. 1A, the aggregate 32 of FIG. 1B, the aggregate 33 of FIGS. 3 and 4, the aggregate 34 of FIG. 8, and the aggregate of FIGS. 9 and 10. It is a general term for 35. That is, the aggregates 31 to 35 (collectively 30) shown in FIGS. 1A to 4 and 8 to 10 are electronic circuits constituting the on-vehicle control device 12, and are stored including the subrack 101. It means everything that is stored in the ingredients.
- the on-board control device 12 of FIG. 2 includes the on-board control device 12A of FIG. 1A, the on-board control device 12B of FIG. 1B, the on-board control device 12 of FIGS. 3 and 4, and the on-board control device 12 of FIG.
- the control device 12C, the on-board control device 12D of FIG. 8, and the on-board control device 12E of FIGS. 9 and 10 are collectively referred to.
- the on-vehicle control device 12 having a form different from that of FIG. 2 is configured by accommodating different aggregates 30 in one subrack 101.
- the common interface can be integrated in a certain place of the assembly 30.
- the multiplex configuration of the on-board control device 12 can be made compact.
- control units 10 and 20 having a multiple system configuration for example, a dual system configuration
- a power supply, an input / output terminal, etc. by providing a common unit 16 for each, they are integrated into one system. This is advantageous because it saves space and resources.
- a configuration in which two systems from the common portion 16 are arranged symmetrically allows a plurality of submersibles (housings) in a conventional on-board control device.
- the vehicle-mounted control device 12 according to the embodiment of the present invention can be assembled into a group 30 and stored in one subrack (housing) 10. ..
- the on-board control device 12 aggregates the redundant systems constituting the fail-safe arithmetic units 102 and 202 into a group 30.
- the control units 10 and 20 of a plurality of systems and the common unit 16 coexist in the aggregate 30.
- the arrangements of the control units 10 and 20 of the plurality of systems are arranged so that the positions of the common interfaces are concentrated on one end.
- the output signals can be integrated into the common unit 16 with simple wiring. More details are as illustrated below.
- the control units 10 and 20 include a plurality of circuits and signals in the device, but the two sets have the same configuration in the board arrangement and the circuit configuration.
- an interface with the common unit is arranged at one end so that the outputs to the common unit 16 can be efficiently aggregated.
- the control unit is arranged (line) symmetrically with respect to the common unit 16.
- the interfaces to the common unit 16 are concentrated at one end in the control units 10 and 20, and the same effect as in FIG. 1A can be obtained.
- the assembly 30 is housed in one housing (subrack) 101.
- the assembly 30 includes a backboard 112 and a plurality of circuit boards 103 and 203 that are electrically connected to the backboard 112 via a coupling mechanism such as a connector and can be fitted and removed one by one.
- a coupling mechanism such as a connector
- the backboard 112 is fixed to the inner part of the housing (subrack) 101 so that the circuit boards 103 and 203 can be fitted and detached via a coupling mechanism such as a connector, and a power supply and a signal are connected.
- the backboard 112 is provided with general-purpose buses 110 and 210 and fail-safe dedicated buses 105 and 205 for connecting the power supply and signals.
- fail-safe arithmetic boards 103 and 203 are exemplified as representatives from among many types.
- failure detection circuits 104, 204, safety output boards 106, 206, output circuits 107, 207, general-purpose input / output boards 108, 208, transmission / reception circuits 109, 209, and power supply boards 111, 211 can be listed.
- the subrack 101 is suitable as the housing 101 for accommodating the on-vehicle control device 12.
- the on-board control device 12 includes two control units 10 and 20 having the same configuration, that is, a control unit 10 of the first system and a control unit 20 of the second system in one subrack 101. Is good.
- the on-board control device 12 constitutes a dual system fail-safe arithmetic unit 102, 202 that uses the calculation result of the other system for control when one of the first system and the second system fails. ..
- the on-board control device 12 has a common interface for connecting the calculation results generated by the control boards 10 and 20 of the control unit 10 of the first system and the control unit 20 of the second system to the outside.
- This common interface is a structure implemented in one place of the aggregate 30.
- control units 10 and 20 have arithmetic boards 17 and 27 and output boards 18 and 28, respectively. That is, the arithmetic board 17 and the output board 18 are arranged in the control unit 10 of the first system. Similarly, the arithmetic board 27 and the output board 28 are arranged in the control unit 20 of the second system.
- the output boards 18 and 28 that output the calculation results independently are connected to the calculation boards 17 and 27 of the two systems.
- the calculation result is connected to the outside from a common interface implemented in one place of the aggregate 30.
- the control units 10 and 20 and the common interface coexist in the subrack 101.
- This common interface is integrated into a common part 16 provided at one place of the aggregate 30.
- the output signal can be connected to the outside with simpler wiring.
- the on-board control device 12 includes an arithmetic board 17 and an output board 18 constituting the control unit 10 of the first system, and an arithmetic board 27 and an output board 28 constituting the control unit 20 of the second system. It is preferable to arrange them symmetrically in the subrack 101. In that case, the common unit 16 having a common interface is preferably arranged between the control unit 10 of the first system and the control unit 20 of the second system.
- the (line) symmetry shown in FIG. 1A means an arrangement that matches when folded (at the virtual center line on the figure).
- (Line) In the control unit the control units 10 and 20 are equidistant from the common unit 16 including the center line. Therefore, the output boards 18 and 28 are arranged near the common interface located near the center of symmetry. As a result, the output signal can be connected to the outside with simpler wiring.
- the control units 10 and 20 are equidistant from the common unit 16. In this case, although it is not line-symmetrical, an action and effect similar to the arrangement shown in FIG. 1A can be obtained.
- the on-board control device 12 includes an arithmetic board 17 and an output board 18 constituting the control unit 10 of the first system, and an arithmetic board 27 and an output board 28 constituting the control unit 20 of the second system. It is preferable to arrange them so that they have the same arrangement at the top and bottom in the subrack 101. In that case, the common interface is equidistant from the control unit 10 of the first system and the control unit 20 of the second system, and is directly connected to the output boards 18 and 28, respectively. It is preferably placed at the end of 101. As a result, the output signal can be connected to the outside with simpler wiring.
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Abstract
Description
本実施形態の説明に必要な用語を定義しておく。ここで車上制御装置を構成する電子回路を収容するサブラックとは、標準規格を指向したプリント基板(PCBs、以下「回路基板」又は単に「基板」ともいう)の収納具であり、一般的に金属性の筐体やフレームをいう。この収納具は、図3、図4、図7~図10に示すサブラック101のほか、カードケージ、ハウジング、ケース、キャビネット、シャーシ、又は単にラックとも呼ばれる。また、図1A~図4、図8~図10に示した集合体31~35(まとめて30)とは、車上制御装置を構成する電子回路であり、サブラック101を始めとする収納具に収納される全部をいう。
(2)回路基板の相互接続はバックボードで行うため、結合機構を形成するコネクタの種類を統一する。
(3)放熱のために回路基板は垂直に配置する。
鉄道列車用の車上制御装置12(図2)は、システムを構成する形態として、電子回路を実装した基板群とそれらを格納するサブラック101(図3~図4、及び図7~図10)の単位で構成することが一般的である。この場合、基板上の電子回路、及び各素子間を接続する信号線と、バス等に用いられる内部電源と、車両や他機器へのインターフェースに用いられる外部の電源と、は明確に区別される。一般的に、電子回路に使用される内部電源には低電圧が適用され、車両を駆動させるための電源や車両間の引き通し線等に使用される外部電源には高電圧が適用される、という区別は重要である。
以下、本発明の実施形態に係る車上制御システムについて、各図の順に詳細な説明する。図1Aは、本発明の実施形態に係る車上制御装置12Aの基板配置を示すブロック図であり、左右対称の配置例である。図1Aに示すように、車上制御装置12の構成要素は、制御部1系及び制御部2系の各系統の基板が左右対称に配置され、共通部16(図2)は中央に配置され、集合体31を形成する。
[1]この車上制御装置12は、冗長系統を形成する複数系統の制御部10,20がそれぞれの演算結果で相互補完するフェイルセーフ演算器102,202を備えている。フェイルセーフ演算器102,202が配設された制御部10,20は、演算基板17,27と、出力基板18,28と、共通部16と、を備える。
Claims (6)
- 冗長系統を形成する複数系統の制御部がそれぞれフェイルセーフ演算器を備えた車上制御装置であって、
前記フェイルセーフ演算器が配設された前記制御部は一まとめの集合体に構成され、
前記複数系統それぞれについて演算処理を行う演算基板と、
該演算基板による演算処理の演算結果を出力する出力基板と、
を備え、
前記複数系統にそれぞれ対応した複数の出力基板に接続される共通のインターフェースを有する共通部が前記集合体の一部特定領域に集約されている、
車上制御装置。 - 前記複数系統の制御部は、1つの筐体に配置されており、
該筐体の奥部に固定され結合機構を介して回路基板を嵌脱自在にするとともに電源及び信号を接続するバックボードと、
該バックボードに結合機構を介して電気接続され1枚毎に嵌脱自在である複数の前記回路基板と、
を備える、
請求項1に記載の車上制御装置。 - 前記筐体はサブラックである、
請求項2に記載の車上制御装置。 - 同一構成の演算基板を2つ備え、
該演算基板をそれぞれに有する第1系統の制御部及び第2系統の制御部が一つのサブラック内に配置され、
前記第1系統と前記第2系統のうち一方の系統が故障した場合に、他方の系統の演算結果を制御に用いる2重系統のフェイルセーフ演算器を構成し、
それぞれの系統に演算処理を行う演算基板と、前記演算結果を出力する出力基板を有し、
前記第1系統の制御部と前記第2系統の制御部それぞれの制御基板で生成された演算結果を外部と接続するための共通インターフェースを有し、
該共通インターフェースが前記集合体の1か所に実装される、
請求項3に記載の車上制御装置。 - 前記第1系統の制御部を構成する前記演算基板及び前記出力基板と、
前記第2系統の制御部を構成する前記演算基板及び前記出力基板と、
を前記サブラック内で左右対称に配置し、
前記第1系統の制御部と前記第2系統の制御部との間に前記共通インターフェースが配置される、
請求項4に記載の車上制御装置。 - 前記第1系統の制御部を構成する前記演算基板及び前記出力基板と、
前記第2系統の制御部を構成する前記演算基板及び前記出力基板と、
を前記サブラック内で上下に同じ配列となるように配置し、
前記第1系統の制御部及び前記第2系統の制御部それぞれに隣接するように前記共通インターフェースが前記サブラックの端部に配置される、
請求項4に記載の車上制御装置。
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JP2022509222A JP7260713B2 (ja) | 2020-03-23 | 2020-08-31 | 車上制御装置 |
EP20927718.5A EP4129740A4 (en) | 2020-03-23 | 2020-08-31 | CONTROL BOARD DEVICE |
US17/795,608 US20230058249A1 (en) | 2020-03-23 | 2020-08-31 | On-vehicle control device |
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WO2019054170A1 (ja) * | 2017-09-12 | 2019-03-21 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP2019104398A (ja) * | 2017-12-13 | 2019-06-27 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP2020014380A (ja) * | 2019-09-26 | 2020-01-23 | 日立オートモティブシステムズ株式会社 | 電動駆動装置 |
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JPS60207918A (ja) * | 1984-03-30 | 1985-10-19 | Shin Meiwa Ind Co Ltd | プログラマブルコントロ−ラ |
US6154373A (en) * | 1999-03-24 | 2000-11-28 | Lucent Technologies Inc. | High density cross-connection system |
JP4397109B2 (ja) * | 2000-08-14 | 2010-01-13 | 富士通株式会社 | 情報処理装置及びクロスバーボードユニット・バックパネル組立体の製造方法 |
JP2010026726A (ja) * | 2008-07-17 | 2010-02-04 | Toshiba Corp | 変換装置及び制御システム |
DE102017210151A1 (de) * | 2017-06-19 | 2018-12-20 | Zf Friedrichshafen Ag | Vorrichtung und Verfahren zur Ansteuerung eines Fahrzeugmoduls in Abhängigkeit eines Zustandssignals |
US11214273B2 (en) * | 2017-06-23 | 2022-01-04 | Nvidia Corporation | Method of using a single controller (ECU) for a fault-tolerant/fail-operational self-driving system |
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JP2019104398A (ja) * | 2017-12-13 | 2019-06-27 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP2020014380A (ja) * | 2019-09-26 | 2020-01-23 | 日立オートモティブシステムズ株式会社 | 電動駆動装置 |
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