WO2010073313A1 - 車両用電子制御システム、車両用電子制御ユニット、車両用制御同期方法 - Google Patents
車両用電子制御システム、車両用電子制御ユニット、車両用制御同期方法 Download PDFInfo
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- WO2010073313A1 WO2010073313A1 PCT/JP2008/073342 JP2008073342W WO2010073313A1 WO 2010073313 A1 WO2010073313 A1 WO 2010073313A1 JP 2008073342 W JP2008073342 W JP 2008073342W WO 2010073313 A1 WO2010073313 A1 WO 2010073313A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/52—Program synchronisation; Mutual exclusion, e.g. by means of semaphores
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- the present invention relates to a vehicle electronic control system to which a plurality of electronic control units are connected, and more particularly to a vehicle electronic control system and a vehicle electronic control unit that execute a plurality of closely related processes by separate electronic control units. And a vehicle control synchronization method.
- ECU electronice control unit
- Control required for an electronic control unit (hereinafter referred to as ECU) mounted on a vehicle is becoming highly functional and complex, and it is difficult to mount all functions in one ECU. For this reason, there is an increasing need to execute a process that is preferably executed by one ECU by using a separate ECU. However, since the two processes obtained by dividing the process that is preferably executed by the single ECU are closely related to each other, it is required to synchronize the processes.
- FIG. 1 is an example of a diagram schematically illustrating the synchronization of two processes.
- FIG. 1A is an example of a diagram illustrating a temporal relationship between two A processes and B process executed by one ECU. Since the A process and the B process are closely related, as shown in FIG. 1A, the ECU starts the execution of the B process after the A process (after a minimum time necessary for process switching or the like). The ECU controls, for example, the actuator A based on the processing result of the A process, and controls another related actuator B based on the processing result of the B process. By doing so, the two actuators are controlled in cooperation.
- the time allocated to the A process and the B process (hereinafter referred to as a control cycle) is determined, the control period A is a sufficient time necessary for the A process, and the control period B is a sufficient time necessary for the B process. Is given.
- FIG. 1B and FIG. 1C are examples of the time relationship between the A process and the B process when the A process is divided into ECU_A and the B process is divided into ECU_B. Note that ECU_A and ECU_B are electrically connected. If the processing is not synchronized between ECU_A and ECU_B, there may be time from the end of the A processing to the start of the B processing (FIG. 1B), or the B processing is not completed. The preferable temporal relationship between the A process and the B process is broken, such as starting (FIG. 1C). For example, in the former case, the control of the actuator B is delayed after the control of the actuator A. In the latter case, the B process controls the actuator B using the process result of the previous A process. Cannot control smoothly.
- Patent Document 2 discloses a parallel computer in which a master node transmits a synchronization signal to a slave node, waits for a transmission time measured in advance, and then executes processing simultaneously with the slave node.
- the transmission time is measured in advance.
- the slave node starts processing before the master node.
- the slave node may not be able to process using the processing result of the master node. That is, the synchronization technique described in Patent Document 2 has a problem in that it is not considered to execute a process that is preferably executed by one ECU using separate ECUs.
- the present invention provides a vehicle electronic control system, a vehicle electronic control unit, and a vehicle control synchronization that can improve synchronization accuracy in a plurality of electronic control units that respectively execute a plurality of closely related processes. It aims to provide a method.
- a vehicle electronic control system in which a first electronic control unit that executes a first control process and a second electronic control unit that executes a second control process inseparable from the first control process are connected.
- the first electronic control unit includes a synchronization signal transmission unit that transmits a synchronization signal to the second electronic control unit, and a first control that starts execution of the first control process after transmitting the synchronization signal.
- Processing execution means, and the second electronic control unit measures the second predetermined time after receiving the synchronization signal and the synchronization signal receiving means for receiving the synchronization signal from the first electronic control unit.
- a second control processing execution means for starting execution of the second control processing when the second predetermined time elapses.
- FIG. 10 is an example of a diagram schematically illustrating a procedure in which an electronic control system executes two processes in synchronization (Example 3).
- FIG. 10 is an example of a diagram schematically illustrating a procedure in which an electronic control system executes two processes in synchronization (Example 3).
- FIG. 2 is an example of a diagram schematically illustrating a procedure in which the electronic control system 100 of this embodiment executes two processes in synchronization.
- FIG. 2A shows a procedure when one electronic control unit (hereinafter referred to as an ECU (Electronic Control Unit)) 99 executes the A process and the B process shown for comparison.
- ECU Electronic Control Unit
- the A process and the B process are closely related, and the ECU_A repeats the execution of the A process and the B process with the execution of the A process and the B process as one cycle.
- the execution of the B process is started within a time of about time t 0 after the end of the A process.
- FIG. 2B schematically shows a procedure in which ECU_A executes an A process executed by one ECU 99 and ECU_B executes a B process.
- ECU_A of this embodiment transmits a synchronization signal to ECU_B. Then, ECU_A starts executing the A process after elapse of a predetermined waiting time t 1 with reference to the time when the synchronization signal is transmitted, and ECU_B starts with a predetermined waiting time t 2 based on the time when the synchronization signal is received. After the elapse of time, execution of the B process is started.
- the time t 1 and the time t 2 are set so that the execution of the B process is started.
- the time t 1 is a relatively short time such as transmitting a synchronization signal, but may be zero.
- the time t 2 is the total time of the time t 1 , the execution time of the A process, and the time for acquiring the process result of the A process (hereinafter referred to as A process data).
- the execution sequence of the A process and the B process is kept constant, and the same sequence (order and timing) as when the A process and the B process are executed by one ECU 99 can be realized by the two ECU_A and ECU_B. . Since the responsiveness of the entire system of A processing and B processing does not change, it is not necessary to review the processing contents (parameter values, etc.) of A processing and B processing even if the processing is separated into two ECU_A and ECU_B. Efficiency can be improved.
- FIG. 3 shows an example of a schematic configuration diagram of the electronic control system 100 to which a plurality of ECUs are connected.
- the ECU 99 is an ECU that executes the A process and the B process as a single unit.
- the A process is separated into the ECU_A and the B process is separated into the ECU_B.
- the structures of ECU_A and ECU_B are described in the same way, but they may be different. That is, when the functions are distributed from the ECU 99 to a plurality of (two in the drawing) ECU_A and ECU_B, the processing capacity of the hardware can be appropriately designed in consideration of the processing load of the A process and the B process.
- the ECU_A that transmits the synchronization signal is the master and the ECU_B that receives the slave is the slave. However, for convenience, the ECU_B can transmit the synchronization signal to the ECU_A or another ECU.
- the original ECU 99 is, for example, an engine ECU.
- the engine ECU is equipped with a power control function and an engine control function.
- power control functions tend to be diversified.
- the power control function is divided into ECU_A, the engine control function is divided into ECU_B, and the functions executed by one ECU 99 are divided to distribute the load.
- the power control function for example, can drive the starter motor by turning on the ignition to increase the engine speed, and turn on the switch between the fuel pump and the battery to start the fuel pump to supply fuel to the engine
- the engine control function controls the fuel injection timing of the engine whose rotational speed has increased and idles the engine.
- the power control function calculates the SOC (State of Chagfe) of the battery from the battery voltage and current, and controls the alternator adjustment voltage when it is determined that charging is insufficient according to the SOC. Increases the amount of charge by increasing the engine speed during idling.
- SOC State of Chagfe
- an ECU 50 called a hybrid ECU calculates the required torque to be output to the input shaft based on the amount of operation of the accelerator pedal by the driver and the vehicle speed.
- Each control amount is calculated (A processing).
- the engine ECU calculates the rotational speed and the like based on one control amount to control the engine (B processing), and the motor ECU calculates a current value to flow to the motor based on the other control amount (torque command).
- the inverter is switched by a PWM signal having a duty ratio determined according to the value (C processing).
- the processes A to C executed by the three ECUs 50 of the hybrid ECU, the engine ECU, and the motor ECU are closely linked to drive the vehicle.
- the synchronization signal of this embodiment makes it possible to synchronize the A process to the C process among the three ECUs 50.
- the functions (A process to C process) are not integrated, but the processes executed by the three ECUs 50 can be integrated into the two ECUs 50.
- the synchronization signal of the present embodiment is applicable not only when the processing of one ECU 99 is separated into a plurality of ECUs 50 but also when the ECUs 50 are integrated.
- the electronic control system 100 executes the A process and the B process which are closely related, in other words, inseparably related, by the separate ECU 50.
- Intimate or inseparable means, for example, that the B process is always required after the A process, and the start timing for starting the execution of the B process is a time starting from when the A process data of the A process is obtained. It means being restricted.
- an input / output interface 11A, an EEPROM 12A, a switch element 15A, an ASIC (Application ⁇ Integrated Circuit) 16A, and a CAN communication unit 14A are connected to the CPU 13A of the ECU_A via a bus.
- An input / output interface 11B, an EEPROM 12B, a switch element 15B, an ASIC 16B, and a CAN communication unit 14B are connected to the CPU 13B of the ECU_B via a bus. Since the configurations of ECU_A and ECU_B are the same, ECU_A will be described below.
- the EEPROM 12A includes an A processing program (not shown) corresponding to the A processing, data necessary for the A processing (including a time t 1 for waiting until the execution of the A processing is started after the synchronization signal is transmitted), and synchronization A synchronization signal program 20A for transmitting signals is stored.
- ECU_A since ECU_A does not execute only the A process (also executes a process not closely related to the B process), it stores a program (not shown) other than the A process program.
- the A processing program and the synchronization signal program 20A may be separate, or the A processing may be executed by one Main function, and the synchronization signal program 20A may be arranged in the Main function.
- the EEPROM12B (including time t 2 to wait from the reception of the synchronization signal to the start of the execution of the B process) not shown B processing program corresponding to the B process, and data required for treatment B, synchronization synchronization program 20B for reception of and time t 2 measurement signals are stored.
- the ECU_B since the ECU_B does not execute only the B process (also executes a process not closely related to the A process), it stores a program (not shown) other than the B process program.
- the switch element 15A is a MOSFET or IGBT (Insulated Gate Bipolar).
- the switch element 15A is connected to various switches, actuators, and solenoids.
- the ASIC 16A is mounted in correspondence with a specific calculation and control, and is connected to a motor and an actuator.
- the CAN communication unit 14A of the ECU_A is connected to the CAN communication unit 14B of the ECU_B via the CAN bus 18, and realizes communication between the plurality of ECUs 50 by time division multiplex communication.
- ECU_A and ECU_B may be connected by the direct connection line 17 instead of communication.
- the relationship between the CAN communication units 14A and 14B and the direct connection line 17 will be described later.
- FIG. 4 shows an example of a functional block diagram of ECU_A and ECU_B of the present embodiment.
- the CPU 13A in FIG. 3 is equipped with one or more CPU cores, and executes the A processing program and the synchronization signal program 20A stored in the EEPROM 12A.
- the A process execution unit 21 that executes the A process is realized by the CPU 13A of the ECU_A executing the A process program and the synchronization signal program 20A or by a logic circuit such as the ASIC 16A.
- the synchronization signal receiving unit 24 receives a synchronizing signal, the time measuring unit 25 and the B measures the time t 2
- the B process execution unit 26 that executes the process is realized.
- the A process execution unit 21 further includes a synchronization signal transmission unit 22 that transmits a synchronization signal and a time measurement unit 23 that measures time t 1 .
- the A process execution unit 21 notifies the time measurement unit 23 when the synchronization signal transmission unit 22 transmits the synchronization signal, and the time measurement unit 23 starts measuring the time t 1 when receiving the notification.
- the time measurement unit 23 measures the elapse of time t 1
- the time measurement unit 23 notifies the A process execution unit 21, so the A process execution unit 21 starts executing the A process.
- the time for the CPU 13A to execute the A process is substantially constant. If a slice time longer than this time is allocated, the execution of the A process is completed. Note that when the time t 1 is set to zero, the time measuring unit 23 is unnecessary.
- the A process is executed as a hard real-time process so that it always ends within the time t 2 after the synchronization signal is transmitted.
- the priority of the A process is set higher, and the OS scheduler guarantees hard real time by a method such as preferentially executing the A process or prohibiting interruption of other processes.
- B processing is the same as hard real-time processing.
- the A process is started when the CPU 13A detects some interruption, or is started at every cycle time or at a predetermined timing (for example, when the B process is finished). Moreover, the A process execution part 21 will transmit A process data of A process to ECU_B, when A process is complete
- the synchronization signal transmission unit 22 transmits a synchronization signal.
- the synchronization signal transmission unit 22 implemented in the form of a subroutine is called from the main function of the A process, and the synchronization signal transmission unit 22 transmits the synchronization signal. Since the synchronization signal transmission unit 22 notifies the Main function that the synchronization signal has been transmitted, the Main function of the A process calls the time measurement unit 23 implemented in the form of a subroutine, and the time measurement unit 23 measures the time t 1 . To start.
- the time measuring unit 23 uses the clock function of the CPU 13A to monitor the time from when the time measurement is started and continues to measure the time until the time reaches the time t 1 .
- the synchronization signal may be transmitted by a process different from the A process.
- the synchronization signal transmission unit 22 calls the time measurement unit 23 after transmitting the synchronization signal, and the time measurement unit 23 sets, for example, the time t 1 as a timer and starts the timer.
- the timer interrupts the CPU 13A, so that the interrupt handler causes the CPU 13A to execute the A process, so that the A process execution unit 21 starts the time t 1 after the synchronization signal is transmitted.
- the execution of the A process can be started. Therefore, in the case of this aspect, the time t 1 can be measured by a hardware timer included in the CPU 13A.
- the description for the following interrupt is omitted.
- the synchronization signal is transmitted via CAN communication or the direct connection line 17.
- the direct connection line 17 is, for example, a wire harness that connects a terminal of the ECU_A (switch element 15A in FIG. 3) and a terminal of the ECU_B (input / output interface 11B in FIG. 3). Since the direct connection line 17 is used only by the ECU_A and the ECU_B, a transmission error such as a synchronization signal not reaching the ECU_B hardly occurs. However, since the direct connection line 17 needs to be newly mounted on the vehicle, the cost and the vehicle weight may be increased.
- CAN communication uses CSMA / CA (Carrier Sense MultipleCAccess / Collision Avoidance) as an access procedure, when the ECU_A transmits a synchronization signal, other ECUs 50 including the ECU_B use the CAN bus 18. The ECU_A may not be able to transmit a synchronization signal at a desired timing.
- CSMA / CA Carrier Sense MultipleCAccess / Collision Avoidance
- the synchronization signal is designed to be transmitted by CAN communication without mounting the direct connection line 17.
- the direct connection line 17 is mounted and designed to transmit a synchronization signal. That is, a suitable mounting example differs depending on the vehicle and the design policy, and both can be mounted.
- the synchronization signal transmitted using the direct connection line 17 is a Hi (for example, 5V) signal.
- the synchronization signal transmission unit 22 turns on one of the switches of the switch element 15A and transmits the Hi signal.
- the synchronization signal receiving unit 24 receives an I / O interrupt generated when the input / output interface 11B of the ECU_B detects a rising edge from Low to Hi as a synchronization signal.
- the synchronization signal transmitted using CAN communication is a CAN frame.
- the CAN communication data uses the next CAN frame as a transmission unit. "SOF; data ID field; RTR; DLC; data field; CRC field; ACK field; EOF"
- a data ID for identifying communication data is stored in the data ID field.
- a value indicating that a synchronization signal is stored is set.
- data for identifying the synchronization signal may be stored in the data field. Since the CAN frame for transmitting the synchronization signal has a fixed value in each field, it can be stored as fixed data in the synchronization signal program 20A.
- the CAN communication unit 14B of the ECU_B refers to the data ID of the CAN frame that is broadcast on the CAN bus 18, and receives that it is a CAN frame that the ECU_B should receive.
- the synchronization signal receiving unit 24 receives a reception interrupt requested by the CAN communication unit 14B as a synchronization signal.
- Execution of the B process is started when time t 2 has elapsed since the ECU_B received the synchronization signal.
- the synchronization signal receiving unit 24 receives the synchronization signal by the direct connection line 17 or CAN communication.
- the time t 2 is approximately the same as the time from when the ECU 99 starts executing the A process until the B process starts when the single ECU 99 executes the A process and the B process.
- the synchronization signal receiving unit 24 receives the synchronization signal.
- the CAN communication unit 14B interrupts the reception of the CPU 13B
- the synchronization signal receiving unit 24 receives the synchronization signal.
- I / O interrupts and reception interrupts are not distinguished and are simply referred to as “synchronization signal interrupts”.
- the B treatment there is a mode in which another process measures the elapse of time t 2.
- the time t 2 includes the time from when the synchronization signal is received until the A process is completed, it is relatively long, and it is preferable that the CPU 13B does not execute the process while waiting for the elapse of the time t 2. Absent.
- an independent time measuring unit 25 different from the B process measures the elapse of time t 2 .
- the synchronization signal receiving unit 24 causes the CPU 13B to activate the time measuring unit 25.
- the time measuring unit 25 sets the time t 2 as a timer and starts the timer. At this point, the time measuring unit 25 ends.
- the timer interrupts the CPU 13B, so that the CPU 13A executes the B process, so that the B process execution unit 26 performs the B process with the time t 2 after the synchronization signal is transmitted as the start timing. Can start running. In this way, ECU_B may perform other processing not related to A processing even during the time t 2.
- the time measuring unit 25 from the Main function of B treated implemented in the form of a subroutine is called, it may be aspects time measuring unit 25 measures the time t 2.
- the B process execution unit 26 starts executing the B process when the time t 2 has elapsed.
- the time for the CPU 13B to execute the B process is almost constant. If a slice time longer than this time is allocated, the execution of the B process is completed.
- the time of the A process and the time of the B process are approximately the same, but the time of the A process and the B process need not be approximately the same.
- B process execution part 26 will transmit B process data which is a process result of B process to ECU_A, when B process is completed. This is a case where ECU_A requires B process data for the A process or other processes, and the B process data does not necessarily have to be transmitted.
- FIG. 5 shows an example of a flowchart showing the characteristic part of the operation procedure of the electronic control unit system.
- ECU_A and ECU_B each independently execute processing, since the A processing and B processing are closely related to control, the operation according to the flowchart of FIG. 5 starts when the ECU_A starts the A processing, for example.
- the A process execution unit 21 starts executing the A process (S10).
- the synchronization signal transmission unit 22 transmits a synchronization signal to the ECU_B, and the time measurement unit 23 measures the time until the time t 1 elapses.
- time time measuring unit 23 measures the time t 1 is the time t 1 or more, A processing execution unit 21 starts execution of the processing A.
- time t 1 is zero, it is not necessary to measure the time.
- ECU_B is performing other processing until it receives the synchronization signal or is in an idle state (S110, S120).
- the time measuring unit 25 starts measuring a time t 2 (S130 ).
- the time measuring unit 25 sets the time t 2 in the timer, starts the timer, and ends it.
- ECU_B can execute processes other than B process until time t 2 elapses.
- B processing executing unit 26 starts executing the B processing (S150). Since the A process is completed before the time t 2 elapses, the B process executing unit 26 can execute the B process using the A process data of the A process if necessary.
- the ECU_A and the ECU_B wait for the times t 1 and t 2 after the ECU_A transmits the synchronization signal, respectively. It is possible to prevent the execution of the B process from starting or the execution of the B process from a long time after the A process ends. Therefore, the ECU_B can execute the B process without delay with respect to the closely related A process, and can solve the situation where the B process is not executed during one control cycle B as in the prior art. Since the responsiveness of the entire system of A processing and B processing does not change, it is not necessary to review the processing contents (parameter values, etc.) of A processing and B processing even if the processing is separated into two ECU_A and ECU_B. Efficiency can be improved.
- an electronic control system 100 will be described in which the ECU_A transmits a synchronization signal and A processing data to the ECU_B before or after the end of the A processing.
- FIG. 6A is an example of a diagram schematically illustrating the synchronization of two processes.
- ECU_A transmits a synchronization signal and A process data to ECU_B at the end of the A process or before and after the end of the A process.
- the ECU_B executes the B process using a synchronization signal interrupt generated by receiving the synchronization signal as a start timing.
- the ECU_A transmits the synchronization signal and the A processing data to the ECU_B before the elapse of the time t 2 of the first embodiment, preferably when the time “t 2 -t 0 ” elapses, the ECU 99 performs the A processing and the B processing.
- System responsiveness can be the same as when executed.
- the same sequence as the case where the A process and the B process are executed by one ECU 99 can be realized by the two ECU_A and the ECU_B while keeping the execution order of the A process and the B process constant. Therefore, ECU_B can always execute the B process using the A process data of the A process.
- ECU_B will transmit B process data to ECU_A, if B process data are obtained by B process. Up to this point, that is, one cycle from when the ECU_A starts executing the A process until the B process data is received. The ECU_A finishes the preprocessing before the next A processing.
- the pre-processing of ECU_B refers to processing related to synchronization signal interruption, communication processing of the CAN communication unit 14B, expansion processing of A processing data, and the like.
- the pre-processing of ECU_A refers to processing related to reception interruption, communication processing of CAN communication unit 14A, expansion processing of B processing data, and the like.
- FIG. 6B shows another example of a diagram that schematically illustrates the synchronization of two processes.
- the ECU_A may transmit the synchronization signal and the A processing data to the ECU_B at different timings.
- the A processing data is transmitted before the synchronization signal is transmitted.
- the ECU_B since the ECU_B executes the B process by setting the reception of the synchronization signal as the synchronization signal interrupt, the execution order of the A process and the B process is kept constant, and the A process and the B process are executed by one ECU.
- the same sequence as that in the case of the two can be realized by two ECU_A and ECU_B. Details will be described below.
- FIG. 7 shows an example of a functional block diagram of ECU_A and ECU_B of the present embodiment. 7, the same parts as those in FIG. 4 are denoted by the same reference numerals, and the description thereof is omitted.
- the ECU_A of the present embodiment includes a data transmission unit 27, a preprocessing execution unit 28, and a data reception unit 32, and the ECU_B includes a preprocessing execution unit 29, a data reception unit 30, and a data transmission unit 31.
- the synchronization signal transmission unit 22 transmits a synchronization signal to the ECU_B at any timing before the A process ends in the A process, at the end of the A process, or after the A process ends.
- the synchronization signal transmission unit 22 transmits a synchronization signal to the ECU_B at the same timing as one ECU 99 ends the A process and starts executing the B process. This timing corresponds to time t 2 in the first embodiment. Note that, for example, the transmission may be limited within the time “t 2 -t 0 ” so that the start timing of the B process is not delayed.
- the synchronization signal is transmitted at time t 2
- the time “t 2 -t 0 ] Within.
- the synchronization signal transmission unit 22 can transmit the synchronization signal by calling the synchronization signal transmission unit 22 implemented in the form of a subroutine from the main function of the A process.
- the synchronization signal is transmitted from either the direct connection line 17 or the CAN communication units 14A and 14B, or both.
- the mode data transmission unit 27 that transmits at the same timing as the synchronization signal stores the A processing data in the CAN frame that transmits the synchronization signal when the synchronization signal transmission unit 22 transmits the synchronization signal by CAN communication. By doing so, the data transmission unit 27 can transmit the A processing data at the same timing as the synchronization signal.
- the data transmission unit 27 receives a notification that the synchronization signal has been transmitted from the synchronization signal transmission unit 22, and receives the notification from the CAN communication unit 14A. Send processing data. Even if the timing is not exactly the same, the data transmission unit 27 can transmit the A processing data at almost the same timing as the synchronization signal.
- the data transmission unit 27 receives a notification that the synchronization signal has been transmitted from the synchronization signal transmission unit 22, and receives the A processing data from the CAN communication unit 14A within a predetermined time. Send. This predetermined time is about the time required for the ECU_B to interrupt the synchronization signal of the synchronization signal. By doing so, the data transmission unit 27 can transmit the A processing data immediately after transmitting the synchronization signal.
- the mode data transmission unit 27 that transmits asynchronously with the synchronization signal is immediately after the transmission of the A processing data becomes possible in the A processing, or at the stage when a part of the A processing necessary for the B processing is completed. , A processing data is transmitted to ECU_B. By doing so, the ECU_B can finish the preprocessing at an early stage. As described above, when the A processing data is transmitted asynchronously with the synchronous signal, the B processing is performed at the latest, for example, preferably within the time “t 2 -t 0 ” so that the A processing data can be used. Send by time t 2 in Example 1.
- the data receiving unit 30 is, for example, the CAN communication unit 14B of the ECU_B, and receives the A processing data (both when the synchronization signal and the A processing data are integrated).
- the CAN communication unit 14B interrupts the CPU 13B upon reception of the A processing data (reception interrupt).
- the CPU 13B activates the preprocessing execution unit 29.
- the preprocessing execution unit 29 refers to processing related to the synchronization signal interrupt, communication processing of the CAN communication unit 14B, decompression processing of the A processing data, and the like.
- the preprocessing execution unit 29 temporarily stores the preprocessed A processing data in the RAM or nonvolatile memory.
- the CAN communication unit 14A of the ECU_A receives the B processing data, it interrupts the CPU 13A (reception interrupt). As a result, the CPU 13A activates the preprocessing execution unit 28.
- the content of the process is the same as that of ECU_B.
- the B process execution unit 26 starts executing the B process at the start timing when the synchronization signal is received.
- the B process execution unit 26 performs the process as it is when the preprocess execution unit 29 ends. Execute the process. Therefore, the B process execution unit 26 is mounted integrally with the preprocess execution unit 29 in a form that is called from the preprocess execution unit 29.
- the preprocessing and the B processing are not necessarily executed continuously.
- the preprocessing execution unit 29 executes the preprocessing regardless of the B processing.
- step B B processing data is transmitted to ECU_A.
- the B process is always started at the start timing when the synchronization signal is received, the same sequence as the case where the A process and the B process are executed by one ECU 99 is realized by the two ECU_A and ECU_B. it can. It can be prevented that the execution of the B process is started in the middle of the A process or the B process is executed after an unnecessary time has elapsed after the A process.
- the start timing of the A process is the same as that in the first embodiment. That is, the A process is started when the CPU 13A detects any interruption, or is started at every cycle time or when the B process data is received from the B process, for example.
- FIG. 8 shows an example of a flowchart showing the characteristic part of the operation procedure of the electronic control unit system. This flowchart shows an operation procedure when ECU_A transmits both the synchronization signal and the A processing data as shown in FIG. 6A. The operation according to the flowchart of FIG. 8 starts when the ECU_A starts the A process, for example.
- the A process execution unit 21 starts executing the A process (S210).
- the synchronization signal transmission unit 22 transmits a synchronization signal to the ECU_B at any timing before the A process is completed in the A process, at the end of the A process, or after the A process is completed.
- the data transmission unit 27 transmits the A processing data at the same timing as the synchronization signal (S220).
- the ECU_B is executing another process until it receives the synchronization signal and the A process data, or is in an idle state (S310, S320).
- the preprocessing execution unit 29 starts executing the preprocessing (S330).
- the synchronization signal receiving unit 24 receives the synchronization signal substantially at the same time as the reception of the A processing data (Yes in S320)
- the B processing execution unit 26 follows the preprocessing (as soon as the preprocessing is completed) B processing. Is started (S340).
- the data transmission unit 31 transmits the B process data to the ECU_A at any timing immediately after the B process data can be transmitted in the B process, at the end of the B process, or after the B process ends (S350).
- FIG. 9 shows an example of a flowchart showing the characteristic part of the operation procedure of the electronic control unit system. This flowchart shows an operation procedure when ECU_A asynchronously transmits a synchronization signal and A processing data as shown in FIG. 6B.
- the data transmission unit 27 finishes a part of the A processing necessary for the B processing immediately after the transmission of the A processing data becomes possible in the A processing.
- the A processing data is transmitted to ECU_B (S420).
- the synchronization signal transmission unit 22 transmits a synchronization signal to the ECU_B at a predetermined timing (S430).
- ECU_B is executing another process until it receives A process data or is in an idle state (S510, S520), and when data receiving unit 30 receives A process data from ECU_A (Yes in S520), the previous The process execution unit 29 starts executing the preprocess (S530). Therefore, the pre-process necessary for the B process can be finished early.
- the ECU_B can execute processes other than the B process until the preprocess executing unit 29 receives the synchronization signal after executing the preprocess, and can improve the processing efficiency of the CPU 13B.
- the B process execution unit 26 starts executing the B process (S550).
- the B process execution unit 26 transmits the B process data to the ECU_A at any timing immediately after the B process data can be transmitted in the B process, at the end of the B process, or after the B process ends ( S560).
- the electronic control system 100 transmits the synchronization signal and the A process data to the other ECU_B before and after the A process, so that the execution order of the A process and the B process is kept constant.
- the same sequence as when the B process is executed can be realized by two ECU_A and ECU_B. That is, the functions executed by one ECU 99 can be executed by two ECU_A and ECU_B without changing the responsiveness of the system (A process and B process).
- the synchronization of the two ECU_A and the ECU_B has been described, but the synchronization can be similarly performed between the three or more ECUs 50.
- FIG. 10 is an example of a diagram schematically illustrating a procedure in which the electronic control system 100 according to the present embodiment executes two processes in synchronization.
- FIG. 10A shows a procedure in the case where one ECU 99 executes the A process, the B process, and the C process shown for comparison.
- the A process and the B process, the A process and the C process (or the B process and the C process) are closely related, and the ECU_A performs the A process, the B process, and the C process as one cycle, Repeat the process and the C process.
- the process A is a process for determining the required torque for driving the vehicle
- the process B is a process for determining the engine speed
- the process C is a process for determining the gear ratio of the transmission.
- the execution of the B process is started within the time t about the time t 0 a after the end of the A process, and the time t 0 b is completed after the end of the B process.
- the execution of the C process is started within the time.
- FIG. 10B schematically shows a procedure in which ECU_A executes an A process executed by one ECU 99, an ECU_B executes a B process, and an ECU_C executes a C process.
- ECU_A of this embodiment transmits a synchronization signal to ECU_B and ECU_C. Then, ECU_A starts executing the A process after elapse of a predetermined waiting time t 1 with reference to the time when the synchronization signal is transmitted, and ECU_B starts with a predetermined waiting time t 2 based on the time when the synchronization signal is received. starts executing the B treatment after, ECU_C is based on the time of receiving the synchronous signal, it starts execution of the C-treated after the predetermined waiting time t 3 has elapsed.
- the execution of the B process is started after the time t 0 a has elapsed from the end of the A process
- the execution of the C process is started after the time t 0 b has elapsed from the end of the B process.
- Time t 1 , time t 2 and time t 3 are set.
- the functional block diagram of the ECU_C is the same as the ECU_B in FIG. 4 of the first embodiment, and the processing procedure of the ECU_C is the same as that of the ECU_B of the first embodiment, and therefore will be omitted. Further, the processing procedure of ECU_B is the same as that of the first embodiment, but ECU_B needs to finish the processing B before the execution of the processing C is started. Therefore, the B process is executed as a hard real-time process so that it always ends within the time t 3 after receiving the synchronization signal.
- FIG. 11 is an example of a diagram schematically illustrating the synchronization of processing when the same procedure as in the second embodiment is executed by the three ECUs 50.
- the ECU_A transmits a synchronization signal to the ECU_B at any timing before the A process ends in the A process, at the end of the A process, or after the A process ends. Further, ECU_A transmits the A process data to ECU_B immediately after the A process data can be transmitted in the A process or at a stage when a part of the A process necessary for the B process is completed.
- the ECU_B executes the B process with the reception of the synchronization signal as a synchronization signal interrupt.
- the ECU_B transmits a synchronization signal to the ECU_C at any timing before the B process ends in the B process, at the end of the B process, or after the B process ends.
- this timing is a timing corresponding to a time t 3 from the start of the execution of the A process to the start of the execution of the C process when one ECU 99 executes the A process to the C process.
- the ECU_B transmits the B process data to the ECU_C immediately after the B process data can be transmitted in the B process or when a part of the B process necessary for the C process is completed. For example, for example, preferably in the time "t 3 -t 0 b" in, and transmits at the latest by the time t 3.
- ECU_C sets the reception of the synchronization signal as a synchronization signal interrupt and starts executing the C process.
- the ECU_C transmits the C process data to the ECU_B immediately after the C process data can be transmitted in the C process or at a stage when a part of the C process required for the A process is completed.
- the functional block diagram of the ECU_C is the same as the ECU_B in FIG. 7 of the second embodiment, and the ECU_B of the present embodiment has a synchronization signal transmission unit 22 and a data transmission unit 27. Since the processing procedure of ECU_C is the same as that of ECU_B of the second embodiment, the description thereof is omitted.
- the execution sequence of the A process, the B process, and the C process is kept constant, and the same sequence as that in the case where the A process, the B process, and the C process are executed by one ECU 99 is changed to three ECU_A , ECU_B and ECU_C.
- the electronic control system 100 maintains a constant execution order of the B process that is closely related to the A process, and executes the A process and the B process by one ECU 99.
- the same sequence (order and timing) can be realized by two ECU_A and ECU_B. Since the responsiveness of the entire system of A processing and B processing does not change, it is not necessary to review the processing contents (parameter values, etc.) of A processing and B processing even if the processing is separated into two ECU_A and ECU_B. Efficiency can be improved.
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Abstract
Description
12A、12B EEPROM
13A、13B CPU
14A、14B CAN通信部
15A、15B スイッチ素子
16A,16B ASIC
17 直接接続線
18 CANバス
20A 同期信号プログラム
20B 同期用プログラム
24 同期信号送信部
25 同期信号受信部
50 ECU
100 電子制御システム
ハイブリッド車の例ではそれぞれの機能(A処理~C処理)を統合していないが、3つのECU50が実行する処理を2つのECU50に統合することもできる。例えば、A処理とB処理をECU_Aに、C処理をECU_Bに統合することで、2つのECU50間で本実施例の同期信号により同期をとることが可能となる。すなわち、本実施例の同期信号は、1つのECU99の処理を複数のECU50に分離する場合だけでなく、ECU50を統合した場合にも適用可能である。
Transistor)等を実体とし、スイッチ素子15Aには各種のスイッチ、アクチュエータやソレノイドが接続されている。ASIC16Aには、特定の演算や制御に対応して実装されモータやアクチュエータが接続されている。ECU_AのCAN通信部14Aは、CANバス18を介してECU_BのCAN通信部14Bと接続されており、時分割多重通信による複数のECU50間の通信を実現する。なお、ECU50間の通信にCANでなくFlexRayなどの他の通信方法を用いてもよい。また、通信でなく、直接接続線17でECU_AとECU_Bを接続してもよい。CAN通信部14A、14Bと直接接続線17の関係については後述する。
A処理実行部21は、さらに同期信号を送信する同期信号送信部22及び時間t1を計測する時間計測部23を有する。A処理実行部21は、同期信号送信部22が同期信号を送信すると時間計測部23に通知し、時間計測部23は通知を受けると時間t1の計測を開始する。時間計測部23は時間t1の経過を計測するとA処理実行部21に通知するので、A処理実行部21はA処理の実行を開始する。CPU13AがA処理を実行する時間はほぼ一定であり、この時間よりも長めのスライスタイムを配分しておけばA処理の実行が終了する。なお、時間t1をゼロとした場合、時間計測部23は不要である。
上記のように、A処理の実行を開始する前に、同期信号送信部22が同期信号を送信する。例えば、A処理のMain関数からサブルーチンの形態で実装された同期信号送信部22が呼び出され、同期信号送信部22が同期信号を送信する。同期信号送信部22は同期信号を送信したことをMain関数に通知するので、A処理のMain関数はサブルーチンの形態で実装された時間計測部23を呼び出し、時間計測部23が時間t1の計測を開始する。時間計測部23は、CPU13Aが有する時計機能を利用して、時間の計測を開始した時からの時間を監視し、その時間が時間t1になるまで時間の計測を継続する。
同期信号について説明する。同期信号はCAN通信又は直接接続線17を介して送信される。直接接続線17とは、ECU_Aの端子(図3ではスイッチ素子15A)とECU_Bの端子(図3では入出力インターフェイス11B)を接続する例えばワイヤーハーネスである。直接接続線17では、ECU_AとECU_Bだけが使用するものなので、同期信号がECU_Bに到達しないなどの送信エラーが生じにくい。しかしながら、直接接続線17を新たに車載する必要があるのでコスト増、車両重量増となるおそれがある。
「SOF;データIDフィールド;RTR;DLC;データフィールド;CRCフィールド;ACKフィールド;EOF」
このうち、データIDフィールドに通信データを識別するデータIDが格納されている。このデータIDには同期信号を格納していることを示す値が設定される。データフィールドには本来、送信対象のデータが格納されるが、本実施例ではECU_Aが同期のタイミングをECU_Bに通知できればよいので、データフィールドにデータを格納する必要はない。なお、複数の異なる同期信号をECU_Aが送信する場合、同期信号を識別するデータをデータフィールドに格納してもよい。同期信号を送信するCANフレームは、各フィールドの値が固定となるので、同期信号プログラム20A内に固定データとして記憶しておくことができる。
B処理はECU_Bが同期信号を受信した時から時間t2が経過すると、実行が開始される。同期信号受信部24は、直接接続線17又はCAN通信により同期信号を受信する。時間t2は、1つのECU99でA処理とB処理を実行していた際に、ECU99がA処理の実行を開始してからB処理の実行を開始するまでの時間と同程度である。
図5は、電子制御ユニットシステムの動作手順の特徴部を示すフローチャート図の一例を示す。ECU_AとECU_Bはそれぞれ独自に処理を実行しているが、A処理とB処理は制御に密接な関係があるため、図5のフローチャート図による動作は例えばECU_AがA処理を開始するとスタートする。
まず、本実施例の同期信号の送信について説明する。同期信号送信部22は、A処理においてA処理が終了する前、A処理終了時、又は、A処理終了後、いずれかのタイミングで同期信号をECU_Bに送信する。同期信号送信部22は、1つのECU99がA処理を終了してB処理の実行を開始したタイミングと同じタイミングで、同期信号をECU_Bに送信する。このタイミングは実施例1の時間t2に相当する。なお、B処理のスタートタイミングが遅延しないよう、例えば、時間「t2-t0」内に送信されるよう制限してもよい。A処理データを先に送信し同期信号を後で送信する態様では時間t2に同期信号を送信し、A処理データと同期信号を同程度のタイミングで送信する態様では時間「t2-t0」内に送信する。
データ送信部27が、A処理データを送信する態様は、図6Aに示したように、同期信号と同じタイミングで送信する態様、同期信号の送信後速やかに送信する態様と、図6Bに示したように同期信号と非同期に送信する態様がある。
データ送信部27は、CAN通信により同期信号送信部22が同期信号を送信する場合、同期信号を送信するCANフレームにA処理データを格納する。こうすることで、データ送信部27は、同期信号と同じタイミングでA処理データを送信することができる。また、同期信号送信部22が直接接続線17を介して同期信号を送信する場合、データ送信部27は同期信号送信部22から同期信号を送信した旨の通知を受け、CAN通信部14AからA処理データを送信する。完全に同じタイミングとはならなくても、データ送信部27は、同期信号とほぼ同じタイミングでA処理データを送信することができる。
データ送信部27は同期信号送信部22から同期信号を送信した旨の通知を受け、予め定められた所定時間内にCAN通信部14AからA処理データを送信する。この所定時間は、ECU_Bが同期信号の同期信号割込みに必要な時間程度である。こうすることで、データ送信部27は、同期信号の送信後、速やかにA処理データを送信することができる。
データ送信部27は、A処理においてA処理データの送信が可能となった直後、又は、B処理が必要とするA処理の一部の処理が終了した段階で、A処理データをECU_Bに送信する。こうすることで、ECU_Bは、早期に前処理を終了させることができる。なお、上記のように、A処理データを同期信号と非同期に送信する場合、B処理がA処理データを利用できるよう、例えば、好ましくは時間「t2-t0」内に、遅くても実施例1の時間t2までに送信する。
データ受信部30は、例えばECU_BのCAN通信部14Bを実体とし、A処理データ(同期信号とA処理データが一体の場合は両方)を受信する。A処理データの受信によりCAN通信部14BはCPU13Bに割込みする(受信割込み)。これにより、CPU13Bは前処理実行部29を起動する。上記のように、前処理実行部29は、同期信号割込みに関係した処理、CAN通信部14Bの通信処理、及び、A処理データの伸長処理等を言う。前処理実行部29は、前処理を施したA処理データをいったんRAMや不揮発メモリに記憶する。
B処理実行部26は、同期信号を受信した時をスタートタイミングにB処理の実行を開始する。同期信号とA処理データを同じタイミングで受信した場合、又は、同期信号の受信後、速やかにA処理データを受信した場合、B処理実行部26は、前処理実行部29が終了すると、そのままB処理を実行する。したがって、B処理実行部26は、前処理実行部29から呼び出されるような形態で前処理実行部29と一体に実装される。
A処理のスタートタイミングは実施例1と同様である。すなわち、A処理は、CPU13Aが何らかの割込みを検知することで開始されたり、サイクル時間毎、又は、例えばB処理からB処理データを受信したタイミングで開始される。
図8は、電子制御ユニットシステムの動作手順の特徴部を示すフローチャート図の一例を示す。このフローチャート図は、図6AのようにECU_Aが同期信号とA処理データを共に送信する場合の動作手順を示す。図8のフローチャート図による動作は例えばECU_AがA処理を開始するとスタートする。
図9は、電子制御ユニットシステムの動作手順の特徴部を示すフローチャート図の一例を示す。このフローチャート図は、図6BのようにECU_Aが同期信号とA処理データを非同期に送信する場合の動作手順を示す。
Claims (19)
- 制御処理Aを実行する第1の電子制御ユニットと、前記制御処理Aと不可分の制御処理Bを実行する第2の電子制御ユニットと、が接続された車両用電子制御システムであって、
前記第1の電子制御ユニットは、
同期信号を前記第2の電子制御ユニットに送信する同期信号送信手段と、
前記同期信号を送信した後、前記制御処理Aの実行を開始する第1の制御処理実行手段と、を有し、
前記第2の電子制御ユニットは、
前記同期信号を前記第1の電子制御ユニットから受信する同期信号受信手段と、
前記同期信号を受信してから所定時間Tbを計測する第1の時間計測手段と、
前記所定時間Tbが経過すると前記制御処理Bの実行を開始する第2の制御処理実行手段と、を有する、
ことを特徴とする車両用電子制御システム。 - 制御処理Aを実行する第1の電子制御ユニットと、前記制御処理Aと不可分の制御処理Bを実行する第2の電子制御ユニットと、が接続された車両用電子制御システムであって、
前記第1の電子制御ユニットは、
前記制御処理Aの実行を開始する第1の制御処理実行手段と、
前記制御処理Aの実行終了の前、実行終了時又は後に、前記第2の電子制御ユニットに同期信号を送信する同期信号送信手段と、
前記制御処理Aの実行終了の前、実行終了時又は後に、前記制御処理Aにより得られる処理データAを前記第2の電子制御ユニットに送信する第1のデータ送信手段と、を有し、
前記第2の電子制御ユニットは、
前記同期信号を前記第1の電子制御ユニットから受信する同期信号受信手段と、
前記処理データAを受信する第1のデータ受信手段と、
前記同期信号を受信すると、前記処理データAを用いて前記制御処理Bの実行を開始する第2の制御処理実行手段と、を有する、
ことを特徴とする車両用電子制御システム。 - 前記制御処理Aと前記制御処理Bは、1つの電子制御ユニットで実行されていた制御処理である、
ことを特徴とする請求項1又は2記載の車両用電子制御システム。 - 前記制御処理Aと前記制御処理Bが、1つの電子制御ユニットで実行されていた制御処理である場合、
前記第1の時間計測手段が計測する前記所定時間Tbは、1つの電子制御ユニットで前記制御処理Aの実行が開始されてから前記制御処理Bの実行が開始されるまでの時間である、
ことを特徴とする請求項1記載の車両用電子制御システム。 - 前記制御処理Aと前記制御処理Bが、1つの電子制御ユニットで実行されていた制御処理である場合、
前記同期信号送信手段は、1つの電子制御ユニットで前記制御処理Bの実行を開始したタイミングと同じタイミングで、前記第2の電子制御ユニットに同期信号を送信する、
ことを特徴とする請求項2記載の車両用電子制御システム。 - 前記第1の電子制御ユニットは、走行用モータのトルクを制御する電子制御ユニットであり、
前記第2の電子制御ユニットは、内燃機関の出力を制御する電子制御ユニットである、
ことを特徴とする請求項1又は2記載の車両用電子制御システム。 - 前記第2の電子制御ユニットは、
前記処理データAに前処理を施す前処理手段を有し、
前記同期信号を受信する前に前記第1のデータ受信手段が前記第1の処理データを受信した場合、前記前処理手段は前記同期信号を受信する前に前記処理データAに前処理を施しておく、
ことを特徴とする請求項2記載の車両用電子制御システム。 - 前記第1の電子制御ユニットと前記第2の電子制御ユニットは、通信線とは別に、信号線を介して接続されている、
ことを特徴とする請求項1又は2記載の車両用電子制御システム。 - 前記同期信号送信手段と前記第1のデータ送信手段は、同期信号と前記第1の処理データを略同時に送信する、
ことを特徴とする請求項2記載の車両用電子制御システム。 - 前記第1のデータ送信手段は、前記制御処理Aにより前記処理データAが得られた直後、前記同期信号送信手段が同期信号を送信する前に、前記処理データAを前記第2の電子制御ユニットに送信する、
ことを特徴とする請求項2記載の車両用電子制御システム。 - 前記第1の電子制御ユニットは、
前記同期信号を送信してから所定時間Taを計測する第2の時間計測手段を有し、
前記第1の制御処理実行手段は、前記所定時間Taが経過すると前記制御処理Aの実行を開始する、
ことを特徴とする請求項1記載の車両用電子制御システム。 - 前記制御処理Aと不可分の制御処理Cを実行する第3の電子制御ユニットを有し、
前記第1の同期信号送信手段は、前記同期信号を前記第3の電子制御ユニットに送信し、
前記第3の電子制御ユニットは、
前記同期信号を前記第1の電子制御ユニットから受信する第2の同期信号受信手段と、
前記同期信号を受信してから所定時間Tcを計測する第3の時間計測手段と、
前記所定時間Tcが経過すると前記制御処理Cの実行を開始する第3の制御処理実行手段と、を有する、
ことを特徴とする請求項1記載の車両用電子制御システム。 - 前記制御処理Aと不可分の制御処理Cを実行する第3の電子制御ユニットを有し、
前記第2の電子制御ユニットは、
前記制御処理Bの実行終了の前、実行終了時又は後に、前記第3の電子制御ユニットに前記同期信号を送信する第2の同期信号送信手段と、
前記制御処理Bにより得られる処理データBを前記第3の電子制御ユニットに送信する第2のデータ送信手段と、を有し、
前記第3の電子制御ユニットは、
前記同期信号を前記第2の電子制御ユニットから受信する第3の同期信号受信手段と、
前記処理データBを受信する第2のデータ受信手段と、
前記同期信号を受信すると、前記処理データBを用いて前記制御処理Cの実行を開始する第3の制御処理実行手段と、を有する、
ことを特徴とする請求項2記載の車両用電子制御システム。 - 同期信号を当該車両用電子制御ユニットに送信する同期信号送信手段と、
前記同期信号を送信した後に、制御処理Aの実行を開始する第1の制御処理実行手段と、を有する第2の車両用電子制御ユニットと、接続される車両用電子制御ユニットであって、
前記同期信号を前記第2の車両用電子制御ユニットから受信する同期信号受信手段と、
前記同期信号を受信してから所定時間Tbを計測する第1の時間計測手段と、
前記所定時間Tbが経過すると、前記制御処理Aと不可分の制御処理Bの実行を開始する第2の制御処理実行手段と、
を有することを特徴とする車両用電子制御ユニット。 - 同期信号を当該車両用電子制御ユニットから受信する同期信号受信手段と、
前記同期信号を受信してから所定時間Tbを計測する第1の時間計測手段と、
前記所定時間Tbが経過すると制御処理Aと不可分の制御処理Bの実行を開始する第2の制御処理実行手段と、を有する第2の車両用電子制御ユニットと、接続される車両用電子制御ユニットであって、
前記同期信号を前記第2の電子制御ユニットに送信する同期信号送信手段と、
前記同期信号を送信した後に、前記制御処理Aの実行を開始する第1の制御処理実行手段と、
を有することを特徴とする車両用電子制御ユニット。 - 制御処理Aの実行を開始する第1の制御処理実行手段と、
前記制御処理Aの実行終了の前、実行終了時又は後に、当該車両用電子制御ユニットに同期信号を送信する同期信号送信手段と、
前記制御処理Aの実行終了の前、実行終了時又は後に、前記制御処理Aにより得られる処理データAを当該車両用電子制御ユニットに送信する第1のデータ送信手段と、を有する第2の車両用電子制御ユニットと、接続される車両用電子ユニットであって、
前記同期信号を前記第2の車両用電子制御ユニットから受信する同期信号受信手段と、
前記処理データAを受信する第1のデータ受信手段と、
前記同期信号を受信すると、前記処理データAを用いて前記制御処理Aと不可分の制御処理Bの実行を開始する第2の制御処理実行手段と、
を有することを特徴とする車両用電子制御ユニット。 - 同期信号を当該車両用電子制御ユニットから受信する同期信号受信手段と、
当該車両用電子制御ユニットから処理データAを受信する第1のデータ受信手段と、
前記同期信号を受信すると、前記処理データAを用いて制御処理Aと不可分の制御処理Bの実行を開始する第2の制御処理実行手段と、を有する第2の車両用電子制御ユニットと接続される、車両用電子制御ユニットにおいて、
前記制御処理Aの実行を開始する第1の制御処理実行手段と、
前記制御処理Aの実行終了の前、実行終了時又は後に、前記第2の車両用電子制御ユニットに同期信号を送信する同期信号送信手段と、
前記制御処理Aの実行終了の前、実行終了時又は後に、前記制御処理Aにより得られる前記処理データAを前記第2の車両用電子制御ユニットに送信する第1のデータ送信手段と、
を有することを特徴とする車両用電子制御ユニット。 - 制御処理Aを実行する第1の車両用電子制御ユニットと、前記制御処理Aと不可分の制御処理Bを実行する第2の車両用電子制御ユニットと、が接続された車両用電子制御システムの車両用制御同期方法であって、
前記第1の車両用電子制御ユニットは、
同期信号送信手段が、同期信号を前記第2の電子制御ユニットに送信するステップと、
前記同期信号を送信した後、第1の制御処理実行手段が、前記制御処理Aの実行を開始するステップと、を有し、
前記第2の車両用電子制御ユニットは、
同期信号受信手段が、同期信号を前記第1の電子制御ユニットから受信するステップと、
第2の時間計測手段が、前記同期信号を受信してから所定時間Tbを計測するステップと、
第2の制御処理実行手段が、前記所定時間Tbが経過すると前記制御処理Bの実行を開始するステップと、
を有することを特徴とする車両用制御同期方法。 - 制御処理Aを実行する第1の車両用電子制御ユニットと、前記制御処理Aと不可分の制御処理Bを実行する第2の車両用電子制御ユニットと、が接続された車両用電子制御システムの車両用同期制御方法であって、
前記第1の車両用電子制御ユニットは、
第1の制御処理実行手段が、前記制御処理Aの実行を開始するステップと、
同期信号送信手段が、前記制御処理Aの実行終了の前、実行終了時又は後に、前記第2の電子制御ユニットに同期信号を送信するステップと、
第1のデータ送信手段が、前記制御処理Aの実行終了の前又は後に、前記制御処理Aにより得られる処理データAを前記第2の電子制御ユニットに送信するステップと、
前記第2の車両用電子制御ユニットは、
同期信号受信手段が、前記同期信号を前記第1の電子制御ユニットから受信するステップと、
第1のデータ受信手段が、前記処理データAを受信するステップと、
第2の制御処理実行手段が、前記同期信号を受信すると、前記処理データAを用いて前記制御処理Bの実行を開始するステップと、を有する、
ことを特徴とする車両用同期制御方法。
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