WO2013069103A1 - 電子制御装置及びマイクロコンピュータの制御方法 - Google Patents
電子制御装置及びマイクロコンピュータの制御方法 Download PDFInfo
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- WO2013069103A1 WO2013069103A1 PCT/JP2011/075801 JP2011075801W WO2013069103A1 WO 2013069103 A1 WO2013069103 A1 WO 2013069103A1 JP 2011075801 W JP2011075801 W JP 2011075801W WO 2013069103 A1 WO2013069103 A1 WO 2013069103A1
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- microcomputer
- sleep state
- microcomputers
- electronic control
- control device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3234—Power saving characterised by the action undertaken
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3206—Monitoring of events, devices or parameters that trigger a change in power modality
- G06F1/3228—Monitoring task completion, e.g. by use of idle timers, stop commands or wait commands
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/32—Means for saving power
- G06F1/3203—Power management, i.e. event-based initiation of a power-saving mode
- G06F1/3234—Power saving characterised by the action undertaken
- G06F1/325—Power saving in peripheral device
- G06F1/3253—Power saving in bus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/50—Reducing energy consumption in communication networks in wire-line communication networks, e.g. low power modes or reduced link rate
Definitions
- the present invention relates to an electronic control device including a plurality of microcomputers and a control method for the plurality of microcomputers.
- a vehicle such as an automobile includes an electronic control device that constitutes a navigation system, an electronic control device that controls various in-vehicle devices such as an engine and a brake by a microcomputer, and a device such as a meter that displays various states of the vehicle.
- Many electronic control devices such as an electronic control device to be controlled are mounted.
- the electronic control devices are electrically connected by a communication line to form a vehicle network, and various vehicle data are transmitted and received between the electronic control devices via the vehicle network. ing.
- Patent Document 1 when the microcomputer does not need to perform processing, for example, when the vehicle is stopped, the power consumption is reduced by stopping the oscillation operation of the clock signal while maintaining the internal state. It is also under consideration to provide a microcomputer with a low power consumption mode that reduces power consumption. In an electronic control device including a microcomputer having such a low power consumption mode, the low power consumption mode and the normal power consumption mode can be switched according to the state of the vehicle, and the power consumed by the electronic control device can be reduced. Can be reduced.
- FIG. 12 it is also considered to provide a single electronic control device 10 with a plurality of microcomputers (control circuits) 50a and 50b that have been provided for each electronic control device. Yes.
- the electronic control device 10 including the plurality of microcomputers 50a and 50b one transceiver 30 that transmits and receives vehicle data is shared by the microcomputers 50a and 50b.
- an arbitration circuit 20 for arbitrating control signals output from the microcomputers 50a and 50b is provided between the transceiver 30 and the microcomputers 50a and 50b.
- the electronic control device 10 including the plurality of microcomputers 50a and 50b is provided with a function for reducing the power consumption, the microcomputers 50a and 50b are shifted to the low power consumption mode. For this reason, the function required for the arbitration circuit 20 must be more advanced. That is, when a plurality of microcomputers share the transceiver 30, the configuration of the electronic control device itself becomes complicated.
- the present invention has been made in view of such a situation, and an object of the present invention is to make it easier to reduce power consumed by the microcomputers while allowing a plurality of microcomputers to smoothly exchange signals.
- An object of the present invention is to provide an electronic control device and a microcomputer control method that can be realized based on the configuration.
- an electronic control device is an electronic control device that has a plurality of microcomputers and communicates with other devices via a communication line, and each of the plurality of microcomputers includes: As a mode to reduce the power consumption of the electronic control device, the microcomputer that has made a sleep request transitions to the sleep state. And having a low power consumption mode for transitioning the communication unit to the sleep state after all microcomputers have entered the sleep state.
- a microcomputer control method is a microcomputer control method for controlling a plurality of microcomputers of an electronic control device having a plurality of microcomputers and communicating with other devices.
- each of the plurality of microcomputers can share a communication unit that is provided between the communication lines and transmits and receives signals, and is a mode that reduces the power consumption of the electronic control device.
- a step of shifting to the power mode a first step of transitioning the microcomputer that has requested sleep to the sleep state and a second step of transitioning the communication unit to the sleep state after all the microcomputers have shifted to the sleep state. Steps.
- an electronic control device including one microcomputer and one communication unit
- the communication unit when the microcomputer transitions to the sleep state, the communication unit also transitions to the sleep state. Therefore, when one of the electronic control devices including a plurality of microcomputers that perform such control transitions to the sleep state, the communication unit transitions to the sleep state in conjunction with this, and this communication unit is Other shared microcomputers cannot continue communication.
- the communication unit does not transition to the sleep state only when one of the plurality of microcomputers constituting the electronic control device transitions to the sleep state. Therefore, other microcomputers in a normal operation state that has not transitioned to the sleep state can continue communication with other electronic control devices connected to the communication unit via the communication unit. .
- the communication unit transitions to the sleep state in conjunction with this. For this reason, transmission and reception of signals via the communication unit can be continued until all the microcomputers constituting the electronic control device transition to the sleep state.
- the control circuit that manages the operation state of each microcomputer and the signal transmitted from each microcomputer is provided with the communication unit and the microcomputer. It is not necessary to provide between. For this reason, it becomes possible to make the electronic control device having a plurality of microcomputers a simpler configuration. As a result, signals can be smoothly exchanged by the microcomputer, and the power consumed by the microcomputer can be reduced with a simpler configuration.
- each of the plurality of microcomputers includes a standby terminal that is selectively set to a logic level “H”, “L”, and high impedance with the communication unit.
- the communication unit transitions to a sleep state when any of the standby terminals of the plurality of microcomputers is set to a logic level “L”.
- the microcomputer that transitions to the sleep state When shifting to the power consumption mode, the output of the standby terminal is set to high impedance.
- the communication unit transitions to a sleep state in conjunction with this.
- the logic level “L” is superior to the logic level “H”
- the logic level By treating “L” with priority, the communication unit may transition to the sleep state. That is, the logic level is “H”, and the communication unit that relays the signal of the microcomputer may shift to the sleep state even though the microcomputer is communicating.
- the communication unit shifts to the sleep state in conjunction with the high impedance. There is nothing. That is, a part of the microcomputers can be shifted to the sleep state without affecting the operation state of the communication unit.
- the standby terminal of the microcomputer that transitions to the sleep state lastly after each standby terminal of the plurality of microcomputers is gradually shifted to high impedance upon transition to the low power consumption mode. Transition to logic level “L”.
- each of the microcomputers is provided with a standby terminal that is selectively set to a logic level “H”, “L”, and high impedance with the communication unit, and the communication
- the standby state of each of the plurality of microcomputers is shifted to a sleep state when a standby terminal of the plurality of microcomputers is set to a logic level “L”.
- the standby terminals of the microcomputer that transits to the sleep state are sequentially set to high impedance, and only the standby terminal of the microcomputer that transits to the sleep state at the end is transited to the logic level “L”. Then, the communication unit transitions to the sleep state when the standby terminal of the microcomputer that finally transitions to the sleep state transitions to the logic level “L”. Therefore, the operation state of the communication unit is accurately maintained until the standby terminal of the microcomputer that finally transits to the sleep state becomes the logic level “L”, and the communication state via this communication unit can be accurately maintained. It becomes possible. This makes it possible to accurately control the operation state of the communication unit using the logic level and state that can be set at the standby terminal of the microcomputer.
- the standby terminals of the plurality of microcomputers are simultaneously set to the logic level “L”. Transition to.
- each of the microcomputers is provided with a standby terminal that is selectively set to a logic level “H”, “L”, and high impedance with the communication unit, and the communication
- the standby state transitions to a sleep state when any of the standby terminals of the plurality of microcomputers is set to a logic level “L”, and the first step causes the plurality of microcomputers to transition to the sleep state simultaneously.
- the standby terminals of the plurality of microcomputers are simultaneously shifted to a logic level “L”.
- the standby terminals of the microcomputers collectively transition to the logic level “L”. Therefore, even when the microcomputers simultaneously transition to the sleep state, the communication unit can transition to the sleep state in conjunction with the sleep state of the microcomputer.
- each of the plurality of microcomputers is connected to a dedicated communication line and transmits information indicating that the microcomputer transits to the sleep state on the dedicated communication line. Based on information transmitted through a dedicated communication line, the microcomputer monitors the operating state of another microcomputer that shares the communication unit, and based on the monitored operating state, the microcomputer detects the transition to the sleep state.
- the state of the standby terminal to be set is determined to be either high impedance or logic level “L”.
- each of the plurality of microcomputers is connected to a dedicated communication line, and each microcomputer is caused to transmit information indicating the transition to the sleep state on the dedicated communication line.
- the operation state of the other microcomputer is monitored based on the information transmitted on the dedicated communication line, and the state of the standby terminal to be set by the microcomputer upon the transition to the sleep state based on the monitored operation state Is determined to be either high impedance or logic level "L".
- each microcomputer can monitor the operating state of another microcomputer sharing the communication unit based on a signal transmitted via a dedicated communication line connecting the microcomputers. It becomes possible. For this reason, each microcomputer can always monitor whether or not other microcomputers sharing the communication unit are in the sleep state. Based on the monitoring result, each microcomputer enters the sleep state. When the transition is made, it is possible to determine whether the standby terminal is set to high impedance or logic level “L”. As a result, it is possible to accurately determine the state of the standby terminal of each microcomputer, and thus it is possible to more accurately manage the operation state of the communication unit that transitions to the sleep state according to this state. .
- the sleep state of the corresponding microcomputer is canceled and transmitted from an electronic control device different from the electronic control device in the sleep state.
- the communication unit receives the received signal, the low power consumption mode of the electronic control device in the sleep state is canceled.
- the step of canceling the sleep state of the corresponding microcomputer is executed, and the electronic control is different from the electronic control device in the sleep state.
- the communication unit receives a signal transmitted from the device, the step of canceling the low power consumption mode of the electronic control device in the sleep state is executed.
- the microcomputer when a signal is emitted from a controlled object controlled by the microcomputer, the microcomputer is released from the sleep state, and various controls based on the signal input from the controlled object are executed by the microcomputer.
- the communication unit receives a signal from another electronic control device connected to the communication line, the low power consumption mode of the electronic control device is canceled.
- control according to the signal which the communication part received is performed by each microcomputer which comprises the said electronic controller. Therefore, the sleep state of each microcomputer is maintained until various controls by the microcomputers constituting the electronic control device are required, while the sleep state of each microcomputer is required after various controls are required. Is released, and control to be executed by each microcomputer is performed.
- it is possible to maintain a function required for the electronic control device while ensuring a period in which the electronic control device can execute the low power consumption mode and reducing the power consumption.
- the microcomputer to which the signal is input based on a signal being input from a control target controlled by any of the plurality of microcomputers The step of canceling the sleep state and the step of canceling the sleep state of the microcomputer to which no signal is input from the control target are sequentially executed.
- Steps for canceling the sleep state of the microcomputer are sequentially executed.
- the sleep state of the communication unit to which this signal is input is changed. Canceled. Next, the sleep state of each microcomputer sharing the communication unit is released. For this reason, when a signal is input from the different electronic control device to the electronic control device, the sleep state of the communication unit and each microcomputer constituting the electronic control device is appropriately canceled, and based on the signal input from the control target Various controls can be executed by the electronic control unit. As a result, it is possible to more smoothly execute various controls by the microcomputer from which the sleep state is released while releasing the sleep state of the microcomputer at an appropriate timing.
- the block diagram which shows an example of the vehicle network comprised by the electronic control apparatus provided with the microcomputer about one Embodiment of the electronic control apparatus concerning this invention, and the control method of a microcomputer.
- the block diagram which shows schematic structure of an electronic control apparatus provided with a some microcomputer.
- the flowchart which shows the switching procedure to the low power consumption mode of the embodiment.
- the flowchart which shows an example of the regular transmission procedure of the data frame by a microcomputer.
- the sequence diagram which shows the switching aspect of an operation mode when the microcomputer which comprises an electronic controller makes a sleep request
- the sequence diagram which shows the switching aspect of an operation mode when the microcomputer which comprises an electronic controller makes a sleep request
- the sequence diagram which shows the return
- the sequence diagram which shows the return
- the time chart which shows.
- the block diagram which shows schematic structure of the conventional electronic control apparatus.
- a vehicle C is configured as a standard system equipped with electronic control units (ECUs) 100A to 100F that electronically control various in-vehicle devices such as engines and brakes, and a communication line BS1.
- ECUs electronice control units
- the vehicle C includes a body network composed of electronic control devices 100G to 100I that control body devices such as a meter and an air conditioner that display various states of the vehicle and a communication line BS2 as a basic system.
- the vehicle C includes an information system network including electronic control devices 100J to 100M of various information equipment systems such as a car navigation system that performs route guidance from the current location to the destination and the communication line BS3. ing.
- the electronic control devices 100A to 100F constituting the control system network can operate, for example, both when the vehicle is turned off and when the ignition is turned on.
- the electronic control devices 100G to 100I constituting the body network for example, cannot operate when the vehicle is turned off, but can operate when the ignition is turned on.
- the electronic control devices 100J to 100M constituting the information network for example, cannot operate when the accessory of the vehicle is off, but can operate when the accessory is on.
- These networks are electrically connected via a gateway 100N that is also used for relaying data communication with a wireless communication device, for example.
- a gateway 100N that is also used for relaying data communication with a wireless communication device, for example.
- various display support for the driver is performed based on the information about the vehicle operation acquired from various electronic control devices such as the engine control device and the brake control device.
- the communication lines BS1 (BS2, BS3) to which the electronic control device 100A is connected are multiplex communication lines that perform multiplex communication in a time division manner. It has a pair of communication lines BS1a and BS1b composed of CANH and CANL whose ends are connected to each other by a terminating resistor.
- the communication line BS1 is a CAN (control area network) that performs data transmission using two BS1a and BS1b, and performs bus communication based on the differential voltage of each communication line BS1a and BS1b according to a predetermined communication protocol.
- the electronic control unit 100A includes, for example, a first microcomputer 110 and a second microcomputer 120 that perform various arithmetic processes.
- the first microcomputer 110 and the second microcomputer 120 perform different control processes according to their functions.
- the electronic control device 100A is connected to the communication lines BS1a and BS1b and communicates with the communication bus driver 130, which is a communication unit that exchanges data via the communication lines BS1a and BS1b. And an internal memory ROM and RAM for storing data.
- the communication bus driver 130 is shared by the microcomputers 110 and 120.
- the microcomputers 110 and 120 control the communication bus driver 130 to generate a differential voltage corresponding to the transmission data in the communication lines BS1a and BS1b during data transmission, and receive data demodulated by the communication bus driver 130. To do.
- the microcomputers 110 and 120 include communication controllers 111 and 121 that control transmission and reception of signals transmitted and received by the microcomputers 110 and 120, respectively.
- Communication controllers 111 and 121 provided in the microcomputers 110 and 120 are connected to each other via a communication line 140.
- the communication controllers 111 and 121 are connected to the communication controller 131 provided in the communication bus driver 130 via the communication line 141. Signals are exchanged between the microcomputers 110 and 120 and the communication bus driver 130 via these communication lines 140 and 141.
- the microcomputers 110 and 120 include standby terminals (STBN) 112 and 122 for selectively outputting signals of logic levels “high (H)” and “low (L)”, respectively.
- the standby terminals 112 and 122 of the present embodiment have, for example, a three-state buffer, and have high impedance in addition to a state in which signals of logic levels “H” and “L” are output. It is possible to transition to a state.
- the standby terminals 112 and 122 are connected to an input standby terminal 132 provided in the communication bus driver 130 via a communication line 142.
- the microcomputers 110 and 120 receive signals (for example, a logic level “L”) for returning the microcomputers 110 and 120 that have transitioned to the sleep state from the wake-up terminal 133 provided in the communication bus driver 130 to the wake-up state. ) Are input.
- Wake-up terminals 113 and 123 are provided. These wakeup terminals 113 and 123 are connected to a wakeup terminal 133 provided in the communication bus driver 130 via a communication line 143.
- the communication bus driver 130 is controlled so that a predetermined differential voltage is generated in CANH and CANL of the communication lines BS1a and BS1b based on a transmission command input from the microcomputers 110 and 120.
- the communication bus driver 130 detects a differential voltage generated between CANH and CANL of the communication lines BS1a and BS1b as a signal, performs a demodulation process on received data, and transmits the received data to the microcomputers 110 and 120.
- the voltage applied from the communication bus driver 130 to the CANH of the communication line BS1 is normally adjusted to either the dominant side (for example, 3.5V) or the recessive side (for example, 2.5V). Further, the voltage applied from the communication bus driver 130 to the CANL of the communication line BS1 is normally adjusted to either the dominant side (for example, 1.5V) or the recessive side (for example, 2.5V).
- the electronic control device 100A configured as described above may generate events such as ignition on, door opening, radio signal reception, and bus edge reception from other electronic control devices 100B to 100M when the vehicle C is turned off.
- the normal operation mode is shifted to a low power consumption mode in which processing for reducing power consumption is performed.
- the low power consumption mode in the present embodiment refers to a mode in which all the microcomputers 110 and 120 and the communication bus driver 130 that constitute the electronic control device 100A transition to the sleep state.
- the electronic control unit 100A When the occurrence of an event is detected in the low power consumption mode when the ignition is off, the electronic control unit 100A is activated by canceling the low power consumption mode, and after the activation, the electronic control device 100A is connected via the communication lines BS1a and BS1b. Wake-up mode that enables communication. Furthermore, the electronic control device 100A shifts from the low power consumption mode to the wake-up mode when a signal associated with the occurrence of an event such as bus edge reception from the other electronic control devices 100B to 100M is input.
- step S100 in FIG. 3 for example, when the control of the control target of the first microcomputer 110 (microcomputer M1) becomes unnecessary as the vehicle C stops, the power consumption of the first microcomputer 110 is reduced. In order to reduce it, the fact that the first microcomputer 110 transitions to the sleep state is declared. At this time, the logical levels of the standby terminals 112 and 122 of the microcomputers 110 and 120 in the wake-up state are, for example, the logical level “H”.
- the first microcomputer 110 and the second microcomputer 120 control, for example, engine injection nozzles and steering as control targets (not shown) without using the communication bus driver 130.
- the first microcomputer 110 of the present embodiment transmits a data frame indicating that the first microcomputer 110 shifts to the sleep state on the communication lines 140 and 141.
- the data frame transmitted on the communication lines 140 and 141 is transmitted to the second microcomputer 120 and also transmitted to the other electronic control units 100B to 100M via the communication bus driver 130 (step S101).
- the data frames indicating whether the microcomputers 110 and 120 are in the sleep state or the wake-up state are the communication lines 140 and 141, and It is periodically transmitted on the communication lines BS1 to BS3.
- the second microcomputer 120 and other electronic control devices 100B to 100M can monitor the state of the first microcomputer 110.
- a data frame indicating the state of each microcomputer is transmitted from each of the microcomputers constituting the second microcomputer 120 and the other electronic control units 100B to 100M, so that the first microcomputer 110 is also other than itself. It is possible to monitor the state of the microcomputer.
- step S102 in FIG. 3 it is determined whether or not the timings when the sleep requests of both the microcomputers 110 and 120 constituting the electronic control device 100A are made are the same.
- Step S103 it is determined whether all the microcomputers constituting the same electronic control device have already transitioned to the sleep state or have made a sleep request. That is, whether or not the second microcomputer 120 sharing the communication bus driver 130 with the first microcomputer 110 that has made a sleep request in step S100 has already transitioned to the sleep state or has made a sleep request. Is judged.
- the first microcomputer 110 When the second microcomputer 120 has not transitioned to the sleep state and has not made a sleep request (step S103: NO), the first microcomputer 110 has a logic level of the standby terminal 112 of the microcomputer 110. Is changed from “H” to high impedance (step S104). Thus, when the standby terminal 112 of the microcomputer 110 becomes high impedance, the first microcomputer 110 transitions from the wake-up state to the sleep state (step S105).
- the first microcomputer 110 receives the standby terminal 112 of the first microcomputer 110. Is changed from “H” to "L” (step S106). That is, the first microcomputer 110 changes its logical level to “L” and wakes up assuming that the first microcomputer 110 is the microcomputer that finally transitions to the sleep state in the electronic control unit 100A. Transition from state to sleep state. Then, when the standby terminal 112 of the first microcomputer 110 is changed to the logic level “L”, the communication bus driver 130 to which the logic level “L” is input transitions from the wake-up state to the sleep state ( Step S107). Thus, the electronic control unit 100A transitions from the normal operation mode to the low power consumption mode. Note that the standby terminal 112 having the logic level “L” is changed to high impedance after a predetermined time has elapsed.
- Step S102 when the sleep requests of the microcomputers 110 and 120 constituting the electronic control device 100A are simultaneously made (step S102: YES), the logical levels of the standby terminals 112 and 122 are changed from “H” to “L”. (Step S108: YES, S109).
- Step S108 YES, S109.
- all the microcomputers 110 and 120 that constitute the electronic control device 100A transition to the sleep state, and the communication bus driver 130 transitions from the wake-up state to the sleep state.
- the electronic control unit 100A transitions from the normal operation mode to the low power consumption mode.
- the standby terminal 112 having the logic level “L” is changed to high impedance after a predetermined time has elapsed.
- step S300 when canceling the low power consumption mode, first, in step S300, whether or not a signal is input to one of the microcomputers 110 and 120 from each control target of the microcomputers 110 and 120 is determined. Is judged. For example, when a signal is input to the microcomputer 110 from a controlled object controlled by the microcomputer 110, the state of the standby terminal 112 of the microcomputer 110 is changed from high impedance to logic level “H” ( Step S301).
- this logic level “H” signal is input to the standby terminal 132 of the communication bus driver 130 via the communication line 142 (step S302).
- the state of the communication bus driver 130 wakes up from the sleep state. Transition to the state.
- the communication bus driver 130 that has transitioned to the wake-up state outputs a logic level “L” signal from the wake-up terminal 133 of the communication bus driver 130 (step S303).
- the logic level “L” signal output from the wakeup terminal 133 is input to the wakeup terminals 113 and 123 of the microcomputers 110 and 120, respectively.
- the second microcomputer 120 that has transitioned to the sleep state also transitions to the wake-up state.
- the second microcomputer 120 changes the standby terminal 122 of the second microcomputer 120 from the high impedance to the logic level “H” (step S304).
- the microcomputers 110 and 120 and the communication bus driver 130 that constitute the electronic control device 100A transition from the sleep state to the wake-up state, thereby releasing the low power consumption mode of the electronic control device 100A.
- step S300 when no control signal is input from the controlled object to any of the microcomputers 110 and 120 (step S300: NO), the communication bus driver 130 is other than the electronic control device 100A provided with the communication bus driver 130. It is determined whether or not a signal transmitted from electronic control units 100B to 100M has been received (step S305). That is, it is determined whether or not the voltage of the communication line BS1 connected to the communication bus driver 130 has changed.
- step S305 YES
- the logic level of the standby terminal 132 of the communication bus driver 130 is It is set to “H” (step S302).
- a signal of logic level “L” is output from the wakeup terminal 133 of the communication bus driver 130, and this signal is input to the wakeup terminals 113 and 123 of the microcomputers 110 and 120 (step S303). Then, the microcomputers 110 and 120 having the logic level “L” signals input to the wakeup terminals 113 and 123 transition from the sleep state to the wakeup state (step S304). As a result, the low power consumption mode of the electronic control unit 100A is canceled.
- FIG. 6 shows how the operation modes are switched when the microcomputers 110 and 120 constituting the electronic control apparatus 100A make a sleep request at different timings.
- FIG. 7 shows how the operation modes are switched when the microcomputers 110 and 120 constituting the electronic control apparatus 100A make a sleep request at the same timing.
- FIG. 8 shows a return mode from the low power consumption mode to the normal operation mode when the control signal is input to the first microcomputer 110.
- FIG. 9 shows a return mode from the low power consumption mode to the normal operation mode when the communication bus driver 130 receives signals transmitted from the other electronic control devices 100B to 100M.
- the first microcomputer 110 (microcomputer M1) makes a sleep request based on the change in the state of the vehicle C (FIG. 10: timing t1)
- the data frame indicating that is the first. 2 is transmitted to the microcomputer 120 (microcomputer M2), the communication bus driver 130, and the other electronic control units 100B to 100M.
- the state of the standby terminal 112 of the first microcomputer 110 is changed to high impedance (FIG. 10: timing t2), and the first microcomputer 110 transitions from the wake-up state to the sleep state (FIG. 10: timing t3). ).
- the second microcomputer 120 makes a sleep request (FIG. 10: timing t4), a data frame indicating that is sent to the first microcomputer 110, the communication bus driver 130, and the other electronic control units 100B to 100M. Sent. Then, based on the data frame transmitted from the first microcomputer 110, the second microcomputer 120 transitions to the sleep state, and the second microcomputer 120 is in the electronic control unit 100A. Then, it is recognized as a microcomputer that finally transitions to the sleep state. Therefore, the second microcomputer 120 changes the logic level of the standby terminal 122 of the second microcomputer 120 from “H” to “L” (FIG. 10: timing t5). Then, the second microcomputer 120 transitions from the wake-up state to the sleep state (FIG. 10: timing t6).
- the communication bus driver 130 detects that the logic level of the standby terminal 122 of the second microcomputer 120 has been changed to “L”, the communication bus driver 130 transitions from the wake-up state to the sleep state (FIG. 10: timing t7). Thereby, the operation mode of the electronic control unit 100A shifts from the normal mode to the low power consumption mode. For example, the logic level of the standby terminal 122 changed to “L” is changed to high impedance after the communication bus driver 130 transitions to the sleep state (FIG. 10: timing t8). As a result, when the communication bus driver 130 that has transitioned to the sleep state transitions to the wake-up state, both of the standby terminals 112 and 122 have high impedance.
- the communication bus driver 130 transitions to the wake-up state, for example, the logical levels of the standby terminals 112 and 122 are “L” in spite of the microcomputers 110 and 120 not requesting sleep. It is suppressed that the communication bus driver 130 transitions to the sleep state again.
- a data frame indicating that fact is displayed. It is transmitted to the communication lines 140, 141, BS1, etc. That is, a data frame indicating that a sleep request has been made is transmitted to the microcomputers 110 and 120, the communication bus driver 130, and the other electronic control devices 100B to 100M.
- the microcomputers 110 and 120 recognize that the microcomputers other than themselves request the sleep at the same timing. Therefore, the microcomputers 110 and 120 change the logic levels of their standby terminals 112 and 122 from “H” to “L” (FIG.
- timing tb transition from the wake-up state to the sleep state
- FIG. 11 Timing tc
- the communication bus driver 130 that detects that the logic levels of the standby terminals 112 and 122 of the microcomputers 110 and 120 have been changed to “L” transitions from the wake-up state to the sleep state in conjunction with this (see FIG. 11: Timing td).
- the operation mode of the electronic control unit 100A shifts from the normal mode to the low power consumption mode.
- the logical levels of the standby terminals 112 and 122 changed to “L” are changed to high impedance after the communication bus driver 130 shifts to the sleep state (FIG. 11: timing te). .
- the communication bus driver 130 detects that the standby terminal 112 of the first microcomputer 110 has been changed to the logic level “H”, the communication bus driver 130 transitions from the sleep state to the wake-up state (FIG. 10: timing t12). Further, the communication bus driver 130 changes the logic level of the wakeup terminal 133 of the communication bus driver 130 from “H” to “L” (FIG. 10: timing t13).
- FIG. 9 it is assumed that the bus level of the communication line BS1 to which the communication bus driver 130 is connected has changed due to a signal transmitted from any of the other electronic control devices 100B to 100M ( FIG. 11: Timing tf). Then, in conjunction with this, the logical level of the standby terminal 132 of the communication bus driver 130 is changed from “L” to “H” (FIG. 11: timing tg), and the communication bus driver 130 in the sleep state is changed. Transition to the wake-up state (FIG. 11: timing th).
- the logic level of the wake-up terminal 133 of the communication bus driver 130 that has transitioned to the wake-up state is changed from “H” to “L” (FIG. 11: timing ti).
- a signal indicating the same logic level is input to the wake-up terminals 113 and 123 of the microcomputers 110 and 120 (FIG. 11: timing tj).
- the state of each of the standby terminals 112 and 122 of each of the microcomputers 110 and 120 is changed from the high impedance to the logic level “H” (FIG. 11: timing tk), and each of the microcomputers in the sleep state.
- the computers 110 and 120 transition to the wake-up state (FIG. 11: timing tl).
- the microcomputers 110 and 120 that have requested sleep are shifted to the sleep state, and all the microcomputers constituting the electronic control unit 100A are set to sleep.
- a low power consumption mode is provided in which the communication bus driver 130 transitions to the sleep state after transition to the state. Therefore, the microcomputers 110 and 120 in the wake-up state continue to transmit and receive signals via the communication bus driver 130 until all the microcomputers constituting the electronic control device 100A transition to the sleep state. It becomes possible.
- the microcomputers 110 and 120 and the communication bus driver 130 are shifted to the sleep state, the operation state of the microcomputers 110 and 120 and the signals transmitted from the microcomputers 110 and 120 are managed.
- the electronic control devices 100A and 100B to 100M having the plurality of microcomputers 110 and 120 can be made simpler. Thereby, smooth transmission / reception of signals by the microcomputers 110 and 120 is possible, and reduction of power consumed by the microcomputers 110 and 120 can be realized with a simpler configuration.
- Each of the microcomputers 110 and 120 is provided with standby terminals 112 and 122 that are selectively set to logic levels “H”, “L”, and high impedance with the communication bus driver 130. Further, when any one of the standby terminals 112 and 122 of the microcomputers 110 and 120 is set to the logic level “L”, the communication bus driver 130 is shifted to the sleep state. In the transition to the low power consumption mode, the standby terminals 112 and 122 of the microcomputers 110 and 120 that transition to the sleep state are set to high impedance. It is suppressed that the communication bus driver 130 transitions to the sleep state in conjunction with the standby terminals 112 and 122 being set to high impedance. Thereby, one of the microcomputers 110 and 120 can be shifted to the sleep state without affecting the operation state of the communication bus driver 130.
- the second microcomputer 120 that first transitions to the sleep state after the standby terminal 112 of the first microcomputer 110 that requested the sleep first is transitioned to high impedance.
- the standby terminal 122 is shifted to the logic level “L”.
- the operation state of the communication bus driver 130 is accurately maintained until the standby terminal of the second microcomputer 120 that finally transits to the sleep state becomes the logic level “L”, and communication via the communication bus driver 130 is performed. It becomes possible to maintain the state accurately. This makes it possible to accurately control the operation state of the communication bus driver 130 using the logic levels and states that can be set in the standby terminals 112 and 122 of the microcomputers 110 and 120.
- the microcomputers 110 and 120 were connected to each other by a dedicated communication line 140. Then, the microcomputers 110 and 120 were made to monitor the operation states of the other microcomputers 120 and 110 sharing the communication bus driver 130 based on information transmitted through the dedicated communication line 140. Further, based on the monitored operating state, the state of the standby terminals 112 and 122 to be set by the microcomputers 110 and 120 at the time of transition to the sleep state is determined to be either high impedance or logic level “L”. . Therefore, each of the microcomputers 110 and 120 can always monitor whether or not the other microcomputers 120 and 110 sharing the communication bus driver 130 are in the sleep state, and based on the monitoring result.
- the microcomputers 110 and 120 shift to the sleep state, it is possible to determine whether the standby terminals 112 and 122 are set to the high impedance or the logic level “L”. As a result, the states of the standby terminals 112 and 122 of the microcomputers 110 and 120 can be determined with high accuracy. As a result, the operation state of the communication bus driver 130 that shifts to the sleep state according to this state can be determined with higher accuracy. It becomes possible to manage.
- the sleep state of the first microcomputer 110 is released. Further, when the communication bus driver 130 receives a signal transmitted from the electronic control devices 100B to 100M different from the electronic control device 100A in the sleep state, the low power consumption mode of the electronic control device 100A in the sleep state is canceled. It was. Therefore, the sleep states of the microcomputers 110 and 120 are maintained until various controls by the microcomputers 110 and 120 constituting the electronic control apparatus 100A are required. On the other hand, after various controls by the microcomputers 110 and 120 are required, the sleep state of the microcomputers 110 and 120 is canceled, and the control to be executed by the microcomputers 110 and 120 is performed. As a result, the period required for the electronic control devices 100A, 100B to 100M to execute the low power consumption mode is secured, and the functions required of the electronic control devices 100A, 100B to 100M are maintained while reducing the power consumption. It becomes possible to do.
- the sleep state of the communication bus driver 130 is based on the input of signals transmitted from electronic control units 100B to 100M different from the electronic control unit 100A. Was released. Subsequently, the sleep state of all the microcomputers 110 and 120 was released. Therefore, when a voltage change occurs in the communication line BS1 due to signals transmitted from the different electronic control devices 100B to 100M, the sleep state of the communication bus driver 130 and the microcomputers 110 and 120 constituting the electronic control device 100A is changed.
- the electronic control unit 100A can perform various controls based on signals input from the control target that are appropriately canceled. As a result, it is possible to more smoothly execute various controls by the microcomputers 110 and 120 that have been released from the sleep state while releasing the sleep state of the microcomputers 110 and 120 at appropriate timing.
- the logic levels of the standby terminals 112 and 122 that have been changed to the logic level “L” were changed to high impedance after the communication bus driver 130 transitioned to the sleep state. Not limited to this, as long as the operation of the communication bus driver 130 and the like after the cancellation of the low power consumption mode can be ensured, the logic levels of the standby terminals 112 and 122 changed to the logic level “L” may be maintained. Good.
- the sleep state of the communication bus driver 130 is canceled based on the input of signals transmitted from electronic control units 100B to 100M different from the electronic control unit 100A. I let you. Subsequently, the sleep states of all the microcomputers 110 and 120 were canceled at the same time.
- the present invention is not limited to this, and the sleep state of the microcomputers 110 and 120 may be canceled in order after the sleep state of the communication bus driver 130 is canceled. Alternatively, the sleep state of the microcomputers 110 and 120 may be released after a predetermined period has elapsed after the sleep state of the communication bus driver 130 is released.
- the sleep state of the microcomputer 110 to which the signal is input is canceled based on the input of the signal from the control target controlled by the first microcomputer 110. Subsequently, the sleep state of the communication bus driver 130 and the sleep state of the second microcomputer 120 to which no signal is input from the control target are released. Similarly, when a signal is input from a control target controlled by the second microcomputer 120, the sleep state of the second microcomputer 120 may be canceled based on the input of this signal. Then, the sleep state of the communication bus driver 130 and the sleep state of the microcomputer 110 to which no signal is input from the control target may be canceled.
- the sleep state of the first microcomputer 110 is canceled, and the second microcomputer 120 in the sleep state is also controlled.
- the sleep state may be canceled based on the input of a signal from.
- the order and timing at which the microcomputers 110 and 120 and the communication bus driver 130 that are transitioning to the sleep state are transitioned to the wake-up state can be arbitrarily set.
- the microcomputers 110 and 120 are released from the sleep state. Further, when the communication bus driver 130 receives a signal transmitted from the electronic control devices 100B to 100M different from the electronic control device 100A in the sleep state, the low power consumption mode of the electronic control device 100A in the sleep state is canceled. It was.
- the microcomputers 110 and 120 and the electronic control unit 100A are each input with signals indicating that the state of the vehicle C has changed, and the microcomputers 110 and 120 and communication are based on the input signals.
- the bus driver 130 may be released from the sleep state. Further, for example, the sleep state may be canceled on the condition that a predetermined period has passed since any of the microcomputers 110 and 120 and the communication bus driver 130 has transitioned to the sleep state.
- the microcomputers 110 and 120 were connected to each other by a dedicated communication line 140. Then, the microcomputers 110 and 120 are made to monitor the operation states of the other microcomputers 120 and 110 sharing the communication bus driver 130 based on information transmitted via the dedicated communication lines 140, 142, and 143. It was. However, the present invention is not limited to this, and any configuration may be used as long as each microcomputer 110 and 120 can acquire a data frame transmitted from each microcomputer 120 and 110.
- the data frame transmitted from each microcomputer 110 and 120 is a communication bus driver. It is good also as a structure made to transmit to 130. FIG.
- the data frame acquired by the communication bus driver 130 may be transferred from the communication bus driver 130 to the microcomputers 120 and 110.
- the operation state of the microcomputers 110 and 120 may be monitored by the communication bus driver 130, and a signal indicating the monitoring result may be transmitted from the communication bus driver 130 to the microcomputers 120 and 110.
- the standby terminals 112 and 122 of the microcomputers 110 and 120 are simultaneously shifted to the logic level “L”.
- the standby terminals 112 and 122 of each of the microcomputers 110 and 120 are set to high impedance and then the other standby terminals 122 are set.
- 112 may be set to “L”.
- the standby terminal 112 of the first microcomputer 110 that first requested the sleep is transitioned to high impedance, and then the second microcomputer 120 that transitions to the sleep state lastly.
- the terminal 122 is changed to the logic level “L”.
- the present invention is not limited to this, as long as all the microcomputers 110 and 120 configuring the electronic control device 100A transition to the sleep state, and the communication bus driver 130 may transition to the sleep state.
- the state setting mode can be changed as appropriate.
- Each of the microcomputers 110 and 120 is provided with standby terminals 112 and 122 that are selectively set to logic levels “H”, “L”, and high impedance with the communication bus driver 130. Then, when any one of the standby terminals 112 and 122 of the microcomputers 110 and 120 is set to the logic level “L”, the communication bus driver 130 is shifted to the sleep state.
- the configuration is not limited to this, and the communication bus driver 130 may be configured to be able to transit to the sleep state in conjunction with the transition of the microcomputers 110 and 120 to the sleep state.
- the state where all of the microcomputers 110 and 120 and the communication bus driver 130 constituting the electronic control device 100A are in the sleep state is defined as the low power consumption mode.
- the present invention is not limited to this, and a state in which any of the microcomputers 110 and 120 and the communication bus driver 130 that constitute the electronic control device 100A may be defined as the low power consumption mode.
- the electronic control devices 100A, 100B to 100M are configured by the communication bus driver 130 and the two microcomputers 110 and 120 that share the communication bus driver 130.
- the electronic control devices 100A, 100B to 100M are not limited to this, and may be configured by three or more microcomputers sharing the communication bus driver 130. Even in this configuration, the communication bus driver 130 transitions to the sleep state when all the microcomputers constituting the electronic control device transition to the sleep state, and until all the microcomputers transition to the sleep state. Thus, the state in which the microcomputer in the wake-up state can communicate is maintained.
- the vehicle network may be any network as long as it serves as a communication unit of an electronic control device including a microcomputer sharing a communication unit, and can be changed as appropriate.
- the electronic control device electronic control devices 100A to 100M mounted on the vehicle C and controlling various control objects are adopted.
- the electronic control device is not limited to this, and any electronic control device may be used as long as it includes a plurality of microcomputers sharing a communication unit. I just need it. Even with this configuration, while maintaining the communicable state of the microcomputer in the wake-up state, the communication function of the electronic control device is preferably maintained by shifting the microcomputer that requested the sleep to the sleep state. The power consumption can be reduced.
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Abstract
Description
Claims (15)
- 複数のマイクロコンピュータを有して他装置との通信線を介した通信を行う電子制御装置であって、
前記複数のマイクロコンピュータの各々は、前記通信線との間に設けられて信号の送受信を行う通信部を共有するものであり、当該電子制御装置の消費電力量を低減するモードとして、スリープ要求のあったマイクロコンピュータをスリープ状態に遷移させるとともに、全てのマイクロコンピュータがスリープ状態に移行したのちに前記通信部をスリープ状態に遷移させる低消費電力モードを有する
ことを特徴とする電子制御装置。 - 前記複数のマイクロコンピュータの各々は、前記通信部との間で論理レベル“H”、“L”、及びハイ・インピーダンスに選択的に設定されるスタンバイ端子を備えてなり、前記通信部は、前記複数のマイクロコンピュータのいずれかのスタンバイ端子が論理レベル“L”に設定されたときにスリープ状態に遷移するものであり、
前記スリープ状態に遷移するマイクロコンピュータは、前記低消費電力モードに移行するとき、前記スタンバイ端子の出力をハイ・インピーダンスとする
請求項1に記載の電子制御装置。 - 前記低消費電力モードへの移行に際し、前記複数のマイクロコンピュータの各スタンバイ端子をハイ・インピーダンスに漸次遷移させたのち、最後にスリープ状態に遷移するマイクロコンピュータのスタンバイ端子を論理レベル“L”に遷移させる
請求項2に記載の電子制御装置。 - 前記低消費電力モードへの移行に際し、前記複数のマイクロコンピュータが同時にスリープ状態に遷移するときの特例として、前記複数のマイクロコンピュータの各スタンバイ端子を同時に論理レベル“L”に遷移させる
請求項2に記載の電子制御装置。 - 前記複数のマイクロコンピュータの各々は互いに専用の通信線に接続されて該専用の通信線上に前記スリープ状態に遷移する旨を示す情報を送信し、各マイクロコンピュータは、前記専用の通信線を介して送信される情報に基づいて前記通信部を共有する他のマイクロコンピュータの動作状態を監視し、この監視する動作状態に基づき、前記スリープ状態への遷移に際して自マイクロコンピュータが設定すべきスタンバイ端子の状態をハイ・インピーダンス及び論理レベル“L”のいずれかに決定する
請求項3または4に記載の電子制御装置。 - 前記マイクロコンピュータが制御する制御対象から信号が入力されたとき、該当するマイクロコンピュータのスリープ状態が解除され、スリープ状態にある電子制御装置とは異なる電子制御装置から送信された信号を前記通信部が受信したとき、スリープ状態にある電子制御装置の低消費電力モードが解除される
請求項1~5のいずれか一項に記載の電子制御装置。 - 前記低消費電力モードの解除に際し、前記複数のマイクロコンピュータのいずれかが制御する制御対象から信号が入力されることに基づいて該信号が入力されたマイクロコンピュータのスリープ状態が解除されたのち、前記通信部のスリープ状態、及び前記制御対象から信号が入力されていないマイクロコンピュータのスリープ状態が解除される
請求項6に記載の電子制御装置。 - 前記低消費電力モードの解除に際し、前記異なる電子制御装置から送信された信号が入力されることに基づいて前記通信部のスリープ状態が解除されたのち、全てのマイクロコンピュータのスリープ状態が解除される
請求項6に記載の電子制御装置。 - 複数のマイクロコンピュータを有して他装置との通信を行う電子制御装置の前記複数のマイクロコンピュータを制御するマイクロコンピュータの制御方法であって、
前記複数のマイクロコンピュータの各々に、通信線との間に設けられて信号の送受信を行う通信部を共有させるとともに、
前記電子制御装置の消費電力量を低減させるモードである低消費電力モードに移行させるステップとして、スリープ要求のあったマイクロコンピュータをスリープ状態に遷移させる第1のステップと、全てのマイクロコンピュータがスリープ状態に移行したのちに前記通信部をスリープ状態に遷移させる第2のステップと、を有する
ことを特徴とするマイクロコンピュータの制御方法。 - 前記マイクロコンピュータの各々に、前記通信部との間で論理レベル“H”、“L”、及びハイ・インピーダンスに選択的に設定されるスタンバイ端子を設けるとともに、前記通信部には、前記複数のマイクロコンピュータのいずれかのスタンバイ端子が論理レベル“L”に設定されたときスリープ状態に遷移させ、
前記第1のステップは、前記複数のマイクロコンピュータの各スタンバイ端子をハイ・インピーダンスに漸次遷移させるステップと、最後にスリープ状態となるマイクロコンピュータのスタンバイ端子を論理レベル“L”に遷移させるステップとを含む
請求項9に記載のマイクロコンピュータの制御方法。 - 前記マイクロコンピュータの各々に、前記通信部との間で論理レベル“H”、“L”、及びハイ・インピーダンスに選択的に設定されるスタンバイ端子を設けるとともに、前記通信部には、前記複数のマイクロコンピュータのいずれかのスタンバイ端子が論理レベル“L”に設定されたときスリープ状態に遷移させ、
前記第1のステップは、前記複数のマイクロコンピュータを同時にスリープ状態に遷移させる特例ステップとして、前記複数のマイクロコンピュータの各スタンバイ端子を同時に論理レベル“L”に遷移させるステップを含む
請求項9に記載のマイクロコンピュータの制御方法。 - 前記複数のマイクロコンピュータの各々を互いに専用の通信線に接続するとともに、各マイクロコンピュータには、スリープ状態に遷移する旨を示す情報を前記専用の通信線上に送信させて、該専用の通信線上に送信された情報に基づき他のマイクロコンピュータの動作状態を監視させ、この監視する動作状態に基づき、前記スリープ状態への遷移に際して自マイクロコンピュータが設定すべきスタンバイ端子の状態をハイ・インピーダンス及び論理レベル“L”のいずれかに決定させる
請求項10または11に記載のマイクロコンピュータの制御方法。 - 請求項9~12のいずれか一項に記載のマイクロコンピュータの制御方法において、
前記マイクロコンピュータが制御する制御対象から信号が入力されたとき、該当するマイクロコンピュータのスリープ状態を解除するステップを実行し、スリープ状態にある電子制御装置とは異なる電子制御装置から送信された信号を前記通信部が受信したとき、スリープ状態にある電子制御装置の低消費電力モードを解除するステップを実行する
ことを特徴とするマイクロコンピュータの制御方法。 - 前記マイクロコンピュータのスリープ状態を解除するステップにおいて、前記複数のマイクロコンピュータのいずれかが制御する制御対象から信号が入力されることに基づいて該信号が入力されたマイクロコンピュータのスリープ状態を解除するステップと、前記制御対象から信号が入力されていないマイクロコンピュータのスリープ状態を解除するステップと、を順に実行する
請求項13に記載のマイクロコンピュータの制御方法。 - 前記低消費電力モードを解除するステップにおいて、前記異なる電子制御装置から送信された信号が入力されることに基づいて前記通信部のスリープ状態を解除させるステップと、全てのマイクロコンピュータのスリープ状態を解除するステップと、を順に実行する
請求項14に記載のマイクロコンピュータの制御方法。
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- 2011-11-09 JP JP2013542742A patent/JP5780310B2/ja not_active Expired - Fee Related
- 2011-11-09 US US14/345,873 patent/US9430026B2/en active Active
- 2011-11-09 CN CN201180074716.0A patent/CN103917938B/zh not_active Expired - Fee Related
- 2011-11-09 DE DE112011105828.4T patent/DE112011105828B4/de not_active Expired - Fee Related
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Also Published As
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US9430026B2 (en) | 2016-08-30 |
CN103917938A (zh) | 2014-07-09 |
DE112011105828T5 (de) | 2014-08-14 |
CN103917938B (zh) | 2016-10-19 |
JPWO2013069103A1 (ja) | 2015-04-02 |
DE112011105828B4 (de) | 2016-01-14 |
JP5780310B2 (ja) | 2015-09-16 |
US20140245049A1 (en) | 2014-08-28 |
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