Vehicle control system, vehicle, and vehicle control method

Abstract

The present invention relates to a vehicle control system, a vehicle and a vehicle control method that can provide a vehicle control system with high safety at low cost. The vehicle control system includes a first ECU and a second ECU, the first ECU includes a processor that receives first information indicating whether the vehicle is moving and generates a first control signal for controlling the locking of the steering based on the first information, the second ECU includes a processor that receives second information indicating whether the vehicle is moving and generates a second control signal for controlling the locking of the steering based on the second information, and the second ECU outputs a signal for locking the steering based on the first control signal and the second control signal.

Description

Technical Field

[0001] The invention relates to a vehicle control system, a vehicle and a vehicle control method. Background Art

[0002] Patent Documents 1 and 2 describe technologies for switching the locked / unlocked state of the steering of a vehicle.

[0003] Patent Document 1: Japanese Patent No. 5914298

[0004] Patent Document 2: Japanese Patent No. 5856941 Summary of the invention

[0005] In a first embodiment, a vehicle control system is provided. The vehicle control system includes a first ECU, the first ECU includes a processor, the processor receives first information indicating whether the vehicle is moving, and generates a first control signal for controlling the locking of the steering based on the first information. The vehicle control system includes a second ECU, the second ECU includes a processor, the processor receives second information indicating whether the vehicle is moving, and generates a second control signal for controlling the locking of the steering based on the second information, and the second ECU outputs a signal for locking the steering based on the first control signal and the second control signal.

[0006] The vehicle control system may include a third ECU connected to the first ECU via the first communication network and receiving a lock signal and an unlock signal based on authentication of a legitimate owner of the vehicle. The first ECU may generate a first control signal based on information received from the third ECU and the first information.

[0007] The first information may include one of information indicating the right wheel speed of the vehicle and information indicating the left wheel speed of the vehicle. The second information may include the other of information indicating the right wheel speed of the vehicle and information indicating the left wheel speed of the vehicle.

[0008] The first information may include one of (1) information indicating the wheel speed of the vehicle and (2) information indicating the wheel speed of the vehicle and the vehicle speed. The second information may include the other of (1) information indicating the wheel speed of the vehicle and (2) information indicating the wheel speed of the vehicle and the vehicle speed.

[0009] The first information may further include a signal indicating a shift position of the shift lever.

[0010] The first ECU may be connected to the core ECU via the second communication network. The first ECU may receive the first information and the second information from the core ECU via the second communication network. The first ECU may forward the second information received from the second communication network to a third communication network connected to the second ECU, and the second ECU may receive the second information via the third communication network.

[0011] The first ECU may generate the first control signal based on information received from a third ECU that receives a lock signal and an unlock signal based on authentication of a regular owner of the vehicle and the first information.

[0012] The second ECU may be connected to a CAN (Controller Area Network) communication network, and receive the second information through the CAN communication network.

[0013] The second ECU may receive the second information from the first ECU via the CAN communication network.

[0014] In a second aspect, a vehicle is provided. The vehicle includes the above-mentioned vehicle control system.

[0015] In a third embodiment, a vehicle control method is provided. The vehicle control method includes the following steps: a processor of a first ECU receives first information indicating whether the vehicle is moving, and generates a first control signal for controlling the locking of the steering based on the first information. The vehicle control method includes the following steps: a second ECU receives second information indicating whether the vehicle is moving through a processor, and generates a second control signal for controlling the locking of the steering based on the second information. The vehicle control method includes the following steps: the second ECU outputs a signal for locking the steering based on the first control signal and the second control signal.

[0016] In addition, the above summary of the invention does not list all the essential features of the present invention. In addition, sub-combinations of these feature groups may also be the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A system configuration of a vehicle 20 according to one embodiment is schematically shown.

[0018] Figure 2 A related art of a vehicle control system according to a first comparative example of the vehicle control system 22 is shown.

[0019] Figure 3 A related art of a vehicle control system according to a second comparative example of the vehicle control system 22 is shown.

[0020] Figure 4 An example of a computer 2000 is shown. DETAILED DESCRIPTION

[0021] Hereinafter, the present invention will be described by way of the embodiments of the present invention, but the following embodiments do not limit the claimed invention. In addition, the combination of features described in the embodiments is not always essential to the solution means of the present invention.

[0022] Figure 1 The system configuration of a vehicle 20 according to one embodiment is schematically shown. The vehicle 20 includes a vehicle control system 22. The vehicle control system 22 includes a TCU 201, a core ECU 202, a first ECU 210, a second ECU 220, a third ECU 230, a fourth ECU 240, and an MID 298. Figure 1 Although the vehicle 20 is shown to include the vehicle control system 22 , the configuration of the vehicle 20 is not limited to the example of this embodiment.

[0023] The core ECU 202, the first ECU 210, the second ECU 220, the third ECU 230 and the fourth ECU 240 are electronic control units (Electronic Control Units) that control onboard devices. Each of the core ECU 202, the first ECU 210, the second ECU 220, the third ECU 230 and the fourth ECU 240 may include a computer having a processor, a volatile memory and a non-volatile memory. TCU201 is a telematics control unit (Telematics Control Unit). TCU201 is responsible for wireless communication with the outside of the vehicle 20. For example, TCU201 is responsible for wireless communication through a mobile network and wireless LAN communication.

[0024] The core ECU 202 is connected to the first ECU 210 via a communication network 180a. The core ECU 202 and the first ECU 210 can communicate with each other via the communication network 180a. The core ECU 202 is connected to the fourth ECU 240 via a communication network 180b. The core ECU 202 and the fourth ECU 240 can communicate with each other via the communication network 180b. The core ECU 202 is connected to the TCU 201 via a communication network 180c. The core ECU 202 and the TCU 201 can communicate with each other via the communication network 180c. The core ECU 202 is connected to the MID 298 via a communication network 180d. The core ECU 202 and the MID 298 can communicate with each other via the communication network 180d. The core ECU 202 is an ECU that relays the communication between the first ECU 210, the second ECU 220, the third ECU 230, the fourth ECU 240, the TCU 201 and the MID 298. The core ECU 202 is sometimes referred to as a "central ECU", "master ECU", etc.

[0025] The first ECU 210 is connected to the second ECU 220 via the communication network 183. The communication network 183 is an example of a “third communication network.” The core ECU 202 and the second ECU 220 can communicate with each other through the communication network 183. The first ECU 210 is connected to the third ECU 230 via the communication network 181. The first ECU 210 can communicate with the third ECU 230 through the communication network 181.

[0026] The first ECU 210 and the second ECU 220 are ECUs related to the control of the steering lock mechanism. The second ECU 220 is an ECU with an electric steering lock function. The first ECU 210 outputs control to the second ECU 220. The third ECU 230 is, for example, an ECU that performs control related to keyless entry. The fourth ECU 240 is an ECU for overall control of ECUs that mainly perform control related to the driving control of the vehicle 20, such as the motor, the engine, the fuel injection device, the brake system, and the shift mechanism.

[0027] The communication network 180 a , the communication network 180 b , the communication network 180 c , the communication network 180 d , the communication network 181 , and the communication network 183 are CAN (Controller Area Network) communication networks.

[0028] The first ECU 210 is connected to the second ECU 220 through a Zika line 190. The Zika line 190 is not a wiring for data communication such as serial communication, but a signal line directly connected to each other. The Zika line 190e may be a signal line for transmitting an analog signal.

[0029] The second ECU 220 has an electric steering lock (ESL) function. The second ECU 220 is equipped with a CPU 222, a relay 224, a FET 221, and a motor 226. The motor 226 moves a locking member 228 of the locking steering between a locking position and an unlocked position. Here, it is assumed that the locking member 228 moves from the unlocked position to the locking position by rotating the motor 226 in the forward direction, and the locking member 228 moves from the locking position to the unlocked position by rotating the motor 226 in the reverse direction. The rotation direction of the motor 226 is switched according to the polarity of the driving current supplied to the motor 226. The relay 224 switches the polarity of the driving current supplied to the motor 226. Specifically, the relay 224 switches the direction of the current supplied from the power supply via the FET 221, and supplies it to the motor 226 as the driving current. The relay 224 switches the polarity of the driving current supplied to the motor 226 according to the control signal provided from the CPU 222. The CPU 222 receives information transmitted from the first ECU 210 via the communication network 183 , and generates a control signal based on the received information.

[0030] The third ECU 230 has a CPU 232 and an RFIC 234. The third ECU 230 is connected to the first ECU 210 via the communication network 181, and receives a lock signal and an unlock signal based on the authentication of the legitimate owner of the vehicle 20. In addition, the third ECU 230 outputs the legitimate owner authentication result when the vehicle 20 is started. The communication network 181 is an example of the "first communication network". The third ECU 230 is, for example, a keyless entry ECU. The RFIC 234 is an IC chip with a radio frequency communication function, for example, an IC chip that receives a code sent from a key via a wireless signal, and when the received code is consistent with a pre-stored code, outputs an authentication result indicating that the key authentication has been obtained to the CPU 232. The CPU 232 sends information indicating that the authentication result of the key authentication has been obtained to the first ECU 210 via the communication network 181. In the third ECU 230, double security can be ensured by the RFIC 234 and the CPU 232.

[0031] The first ECU 210 includes a CPU 212 and a gateway 214. Under the control of the CPU 212, the gateway 214 transfers part of the information received through the communication network 180a to the communication network 183. The CPU 212 receives information transmitted from the third ECU 230 through the communication network 181. In addition, the CPU 212 receives at least part of the information transmitted from the fourth ECU 240 through the communication network 180a.

[0032] The control related to the steering lock in the first ECU 210, the second ECU 220, the third ECU 230 and the fourth ECU 240 is described. In the first ECU 210, the CPU 212 receives the first information indicating whether the vehicle 20 is moving. The CPU 212 generates a first control signal S1 for controlling the steering lock based on the first information. Specifically, the CPU 212 generates the first control signal S1 based on the information received from the third ECU 230 and the first information. In the second ECU 220, the CPU 222 receives the second information indicating whether the vehicle 20 is moving, and generates a second control signal S2 for controlling the steering lock based on the second information. The second ECU 220 outputs a signal for locking the steering based on the first control signal and the second control signal.

[0033] Will use Figure 1 The example shown is explained in detail. Figure 1In the example shown, the first information includes information indicating the left wheel speed V1 and the shift position P. The second information includes information indicating the right wheel speed V2 of the vehicle 20. The left wheel speed may be a speed calculated based on the rotation speed of the axle that drives the left wheel of the vehicle 20. The right wheel speed may be a speed calculated based on the rotation speed of the axle that drives the right wheel of the vehicle 20. The information indicating the left wheel speed V1, the information indicating the right wheel speed V2, and the information indicating the shift position P are information sent from the fourth ECU 240 to the first ECU 210. For example, the information indicating the left wheel speed V1 and the information indicating the right wheel speed V2 are generated by the ECU that controls the brake system and sent to the fourth ECU 240. In addition, the information indicating the shift position P is generated by the ECU that controls the shift mechanism and sent to the fourth ECU 240. The information indicating the left wheel speed V1, the information indicating the right wheel speed V2, and the information indicating the shift position P are sent from the fourth ECU 240 to the core ECU 202 via the communication network 180b. The core ECU 202 forwards the information indicating the left wheel speed V1, the information indicating the right wheel speed V2, and the information indicating the shift position P received via the communication network 180b to the communication network 180a. Thus, the first ECU 210 receives the information indicating the left wheel speed V1, the information indicating the right wheel speed V2, and the information indicating the shift position P.

[0034] The CPU 212 of the first ECU 210 generates a first control signal S1 based on the left wheel speed V1, the shift position P, and the information indicating the authentication result received from the second ECU 220. The first control signal S1 is a power ON request signal for supplying power to the motor 226. For example, the CPU 212 receives information indicating the authentication result that the key authentication has been obtained from the second ECU 220, and generates the first control signal S1 as a power ON request signal when the left wheel speed V1 is 0 (zero) and the shift position P is in the parking position.

[0035] The first control signal S1 generated under the control of the CPU 212 is directly input to the second ECU 220 through the Zika line 190. In the second ECU 220, the FET 221 is turned on according to the first control signal S1 input to the second ECU 220, and power can be supplied from the power supply to the relay 224.

[0036] In the first ECU 210, the gateway 214 forwards the information indicating the right wheel speed V2 received through the communication network 180a to the communication network 183. The second ECU 220 receives the information indicating the right wheel speed V2 from the first ECU 210 through the CAN communication network 183. The CPU 222 generates a second control signal S2 based on the information sent from the first ECU 210 through the communication network 183. Specifically, the CPU 222 generates a second control signal S2 based on the right wheel speed V2 sent from the first ECU 210 through the communication network 183. More specifically, when the right wheel speed V2 is 0 (zero), the CPU 222 generates a second control signal S2 for locking the steering. The second control signal S2 is, for example, a drive signal for driving the relay 224, so that a drive current of a polarity that causes the motor 226 to rotate in the forward direction is provided to the motor 226.

[0037] In the vehicle control system 22, a first control signal S1 for driving the FET 221 is generated based on the first information including the left wheel speed V1, and a second control signal S2 is generated based on the right wheel speed V2. Therefore, the relay 224 can lock the steering only when at least the left wheel speed V1 is 0 and at least the right wheel speed V2 is 0. Thus, the steering can be prevented from being locked by the locking member 228 during the running of the vehicle 20. In addition, according to the vehicle control system 22, since it has a configuration for directly inputting the information of the right wheel speed V2 to the second ECU 220, the steering can be prevented from being locked during the running of the vehicle 20 by the second ECU 220 alone.

[0038] In addition, preferably, the information indicating the right wheel speed V2 of the vehicle 20, the information indicating the left wheel speed V1, and the information indicating the shift position P are generated by a component that has obtained at least ASIL (Automotive Safety Integrity Level) B certification. In addition, preferably, the second control signal S2 is also generated by a component that has obtained ASIL B certification. Thus, the signal generated by the relay 224 can be used as an ASIL D signal.

[0039] In the present embodiment, the first ECU 210 receives the first information and the second information from the core ECU 202 through the communication network 180a, the first ECU 210 forwards the second information received from the communication network 180a to the communication network 183 connected to the second ECU 220, and the second ECU 220 receives the second information through the communication network 183. The communication network 180a, the communication network 180b and the communication network 183 are CAN communication networks. Therefore, the second ECU 220 receives the second information through the CAN communication network. Thus, the second ECU 220 can receive the information indicating the right wheel speed V2 sent from the fourth ECU 240 through the CAN communication network. Therefore, for example, compared with the form in which the information indicating the right wheel speed V2 is input to the second ECU 220 through the serial signal line, it is not necessary to convert the signal of the CAN bus into a serial signal. Therefore, the second ECU 220 can receive the information indicating the right wheel speed V2 continuously sent from the fourth ECU 240 as it is. In addition, the second ECU 220 can obtain various other information indicating the movement of the vehicle 20 through the CAN communication network. Therefore, the CPU 222 can correctly output the second control signal S2. In addition, as another form, the second ECU 220 may be connected to the core ECU 202 via a communication network to which the first ECU 210 is not connected, and receive the second information through the core ECU 202 .

[0040] In addition, the first information may include information indicating the right wheel speed V2 of the vehicle 20, and the second information may include information indicating the left wheel speed V1. That is, the first information may include one of the information indicating the right wheel speed V2 of the vehicle 20 and the information indicating the left wheel speed V1, and the second information may include the other of the information indicating the right wheel speed V2 of the vehicle 20 and the information indicating the left wheel speed V1. As another form, the first information may include one of (1) information indicating the wheel speed of the vehicle 20 and (2) information indicating the wheel speed and vehicle speed of the vehicle 20, and the second information may include the other of (1) information indicating the wheel speed of the vehicle 20 and (2) information indicating the wheel speed and vehicle speed of the vehicle 20.

[0041] In addition, CPUs 212, 222, and 232 are execution units for operation processing. CPU 212 may be a processor core.

[0042] According to the above-mentioned vehicle control system 22, CPU212 generates a first control signal S1 based on the first information of ASIL B representing the movement of the vehicle 20, and CPU222 possessed by the second ECU220 generates a second control signal S2 based on the second information of ASIL B representing the movement of the vehicle 20. Thus, redundancy for ensuring ASIL D can be ensured. Since the CPU212 of the first ECU210 also processes information from the second ECU220 that may become a target of external attacks, the resistance to external attacks can be improved by CPU212. Thus, safety against external attacks can be ensured by using a small number of CPUs (or processor cores), while ensuring redundancy for ensuring ASIL D. Combined with Figure 2 and Figure 3 , referring to the comparative example associated with the vehicle control system 22, main features of the vehicle control system 22 relative to the comparative example are explained.

[0043] Figure 2 A related art of a vehicle control system of a first comparative example related to the vehicle control system 22 is shown. The vehicle control system of the first comparative example includes a first ECU 310 and a second ECU 320. The first ECU 310 and the second ECU 320 are components corresponding to the first ECU 210 and the second ECU 220 in the vehicle control system 22. Therefore, the difference from the vehicle control system 22 is mainly described here.

[0044] The first ECU 310 includes a main CPU 311 and a sub-CPU 312. The sub-CPU 312 obtains information indicating the vehicle speed and the wheel speed from the core ECU. The main CPU 311 receives the information indicating the wheel speed received by the sub-CPU 312 as information corresponding to the first information. The main CPU 311 generates a first control signal S1 for locking the steering based on the wheel speed. The generated first control signal S1 is input to the second ECU 320 through the Zika line.

[0045] Sub-CPU 312 generates a lock request signal for requesting steering lock based on information indicating the vehicle speed and the wheel speed. The generated lock request signal is transmitted to second ECU 320 via a communication line such as UART.

[0046] The second ECU 320 includes a CPU 322, a relay 324, a FET 321, and a motor 326. The CPU 322, the relay 324, the FET 321, and the motor 326 correspond to the CPU 222, the relay 224, the FET 221, and the motor 226 of the second ECU 220. Therefore, the differences from the second ECU 220 will be mainly described here.

[0047] When receiving the lock request generated by the sub-CPU 312, the CPU 322 generates a second control signal S2 for controlling the steering lock. The generated second control signal S2 is input to the relay 324. Like the FET 221, the FET 321 enters the on state according to the first control signal S1 input to the second ECU 220, and power can be supplied from the power supply to the relay 224. Like the relay 224, the relay 324 provides a drive current for driving the motor 326 based on the second control signal S2.

[0048] According to the vehicle control system of the first comparative example, if the vehicle speed, wheel speed, first control signal S1, lock request and second control signal S2 are set to ASIL B signals, the drive signal of the motor 326 generated by the relay 324 can also be set to an ASIL D signal. Figure 1 In the described vehicle control system 22, the first ECU 210 and the second ECU 220 have two CPUs, while according to the vehicle control system of the first comparative example, three CPUs (or three processor cores) are required. Therefore, when the configuration of the vehicle control system of the first comparative example is adopted, the cost increases compared to the case where the configuration of the first ECU 210 and the second ECU 220 in the vehicle control system 22 is adopted.

[0049] Figure 3 The related art of the vehicle control system of the second comparative example involving the vehicle control system 22 is shown. The vehicle control system of the second comparative example includes a first ECU 410, a second ECU 320, and a third ECU 430. The first ECU 310 and the third ECU 430 are components corresponding to the first ECU 210 and the third ECU 230 in the vehicle control system 22. The CPU 432 and the RFIC 434 of the third ECU 430 have the same functions as the CPU 232 and the RFIC 234. Therefore, the difference between the vehicle control system 22 and the vehicle control system in the first comparative example is mainly described here.

[0050] The first ECU 410 includes a CPU 412 and a gateway 414. The CPU 412 receives the right wheel speed transmitted by the core ECU and generates a lock request signal based on the right wheel speed. As in the vehicle control system of the first comparative example, the lock request signal generated by the CPU 412 is input to the CPU 322 of the second ECU 320, and a second control signal S2 is generated.

[0051] The gateway 414 transfers the information indicating the left wheel speed received from the core ECU to the third ECU 430 . In the third ECU 430 , the CPU 432 generates a first control signal S1 based on the left wheel speed. The first control signal S1 generated by the CPU 432 is input to the second ECU 320 .

[0052] In the vehicle control system of the second comparative example, if the right wheel speed, the left wheel speed, the first control signal S1, the locking request and the second control signal S2 are made to be ASIL B signals, the drive signal of the motor 326 generated by the relay 324 can also be set to be an ASIL D signal. In addition, the number of CPUs required for the vehicle control system of the second comparative example is the same as the number of CPUs required for the vehicle control system. However, in the vehicle control system of the second comparative example, there is a configuration in which the third ECU 430 generates the first control signal S1 and inputs it to the second ECU 320. However, the third ECU 430 may become a target of attack from the outside. Therefore, in the vehicle control system of the second comparative example, the safety level of the first control signal S1 becomes low. On the other hand, according to the reference Figure 1 The vehicle control system 22 described above does not directly input information generated by the third ECU 230 to the second ECU 220. Figure 1 The described vehicle control system 22 has a higher safety level than the vehicle control system of the second comparative example.

[0053] Furthermore, as a fourth comparative example relating to the vehicle control system 22, if the second ECU 220 of the vehicle control system 22 is provided with a CPU for receiving information indicating ASIL B of the left wheel speed in addition to the CPU 222, it is possible to ensure safety against attacks on the second ECU 220 while setting the drive signal of the motor 326 to a signal of ASIL D. However, in this configuration, the number of required CPUs increases by one compared to the vehicle control system 22, and therefore, the cost cannot be reduced compared to the vehicle control system 22.

[0054] As described above, according to the vehicle control system 22, since the CPU 212 of the first ECU 210 processes information from the second ECU 220 that may become an external attack target, it is possible to ensure security against attacks from the outside. In addition, in the first ECU 210, the CPU 212 generates a first control signal S1 based on information of ASIL B representing the movement of the vehicle 20, and the CPU 222 of the second ECU 220 generates a second control signal S2 based on other ASIL B information related to the movement of the vehicle 20. Therefore, it is possible to ensure security against external attacks by using a smaller number of CPUs (or processor cores) while ensuring redundancy for ensuring ASIL D. Therefore, a vehicle control system with high security can be provided at a low cost.

[0055] In addition, in the vehicle control system 22, the connection configuration of the first ECU 210, the second ECU 220, and the third ECU 230 can be applied to various communication architectures in the vehicle. In the above embodiment, a form is described in which the third ECU 230 performs authentication related to the electric steering lock mechanism and the first ECU 210 and the second ECU 220 perform lock control, but a form in which the third ECU 230 performs user authentication related to the release mechanism of the anti-theft device and the first ECU 210 and the core ECU 202 perform release control of the anti-theft device can be applied. In addition, it is also possible to be a form in which the release control of the anti-theft device is performed by the first ECU 210 and the fourth ECU 240. In addition, it is also possible to adopt a form in which the first ECU 210 receives information related to the movement of the vehicle 20 from the fuel injection device, etc. through the CAN communication network, etc., instead of through the core ECU 202.

[0056] Vehicle 20 is a vehicle as an example of a transport device. The vehicle may be a car having an internal combustion engine, an electric car, a fuel cell vehicle (FCV), or the like. Cars include buses, trucks, two-wheeled cars, and the like. The vehicle may be a saddle-type vehicle, or a motorcycle. As transport devices, in addition to vehicles, there are also devices such as aircraft including unmanned aircraft, ships, and the like. Transport devices may be any device that transports people or goods. Transport devices are examples of mobile bodies. Mobile bodies are not limited to transport devices, and may be any movable devices.

[0057] Figure 4 An example of a computer 2000 that can fully or partially embody multiple embodiments of the present invention is shown. The program installed in the computer 2000 can cause the computer 2000 to function as a system such as a vehicle control system or each unit of the system, or a device such as an information processing device or each unit of the device, perform operations associated with the system or each unit of the system, the device or each unit of the device, and / or perform a process or steps of the process involved in the embodiment. In order to cause the computer 2000 to perform the processing flow described in this specification and specific operations associated with some or all of the functional blocks in the block diagram, such a program can be executed by the CPU 2012.

[0058] The computer 2000 according to the present embodiment includes a CPU 2012 and a RAM 2014, which are connected to each other via a main controller 2010. The computer 2000 further includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040. The ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the main controller 2010 via the input / output controller 2020.

[0059] The CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014 , thereby controlling each unit.

[0060] The communication interface 2022 communicates with other electronic devices via a network. The flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000. The ROM 2026 stores a startup program executed by the computer 2000 when activated, and / or a program dependent on the hardware of the computer 2000. The input / output chip 2040 can also connect various input / output units such as a keyboard, a mouse, and a monitor to the input / output controller 2020 via an input / output port such as a serial port, a parallel port, a keyboard port, a mouse port, a monitor port, a USB port, and an HDMI (registered trademark) port.

[0061] The program is provided via a computer-readable storage medium such as a CD-ROM, DVD-ROM, or a USB flash drive, or a network. RAM 2014, ROM 2026, or flash memory 2024 is an example of a computer-readable storage medium. The program is installed in flash memory 2024, RAM 2014, or ROM 2026 and executed by CPU 2012. The information processing described in these programs is read by computer 2000, and the cooperation between the program and the various types of hardware resources described above is realized. The device or method can be constructed by implementing the operation or processing of information in accordance with the use of computer 2000.

[0062] For example, when the computer 2000 communicates with an external device, the CPU 2012 may execute a communication program loaded into the RAM 2014, and based on the processing described in the communication program, instruct the communication interface 2022 to perform communication processing. Under the control of the CPU 2012, the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the RAM 2014 and the recording medium such as the flash memory 2024, transmits the read transmission data to the network, and writes the reception data received from the network to the reception buffer processing area provided on the recording medium.

[0063] In addition, the CPU 2012 can read all or a necessary part of a file or database stored in a recording medium such as the flash memory 2024 to the RAM 2014, and execute various processes on the data in the RAM 2014. The CPU 2012 then writes the processed data back to the recording medium.

[0064] Various types of information such as programs, data, tables, and databases can be saved to a recording medium and applied to information processing. CPU2012 can perform various operations, information processing, conditional judgment, conditional branching, unconditional branching, information retrieval / replacement, etc., which are specified by the instruction sequence of the program, on the data read from RAM2014, and write the results back to RAM2014. In addition, CPU2012 can retrieve information in files, databases, etc. in the recording medium. For example, when multiple items having attribute values ​​of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, CPU2012 can retrieve an item that specifies the attribute value of the first attribute and is consistent with the condition from the multiple items, read the attribute value of the second attribute stored in the item, and thereby obtain the attribute value of the second attribute associated with the first attribute that meets the pre-set condition.

[0065] The program or software module described above can be stored in a computer-readable storage medium on or near the computer 2000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium. The program stored in the computer-readable storage medium can be provided to the computer 2000 via a network.

[0066] The programs installed in the computer 2000 and causing the computer 2000 to function as the first ECU 210 can be run in the CPU 2012 and the like, thereby causing the computer 2000 to function as each unit of the first ECU 210. The information processing described in these programs is read into the computer 2000, thereby functioning as a specific unit in which software and the various hardware resources described above cooperate, that is, each unit of the first ECU 210. Furthermore, by using these specific units to realize the calculation or processing of information corresponding to the purpose of use of the computer 2000 in this embodiment, a unique first ECU 210 corresponding to the purpose of use is constructed.

[0067] The programs installed in the computer 2000 and causing the computer 2000 to function as the second ECU 220 can be run in the CPU 2012 or the like, thereby causing the computer 2000 to function as each unit of the second ECU 220. The information processing described in these programs is read into the computer 2000, thereby functioning as a specific unit in which software and the various hardware resources described above cooperate, that is, each unit of the second ECU 220. And, by using these specific units to realize the calculation or processing of information corresponding to the purpose of use of the computer 2000 in this embodiment, a unique second ECU 220 corresponding to the purpose of use is constructed.

[0068] Various embodiments are described with reference to block diagrams, etc. In the block diagram, each functional block may represent (1) a step of a process for performing an operation or (2) each unit of a device having the function of performing an operation. Specific steps and each unit may be implemented by a dedicated circuit, a programmable circuit supplied together with computer-readable instructions stored on a computer-readable medium, and / or a processor supplied together with computer-readable instructions stored on a computer-readable medium. The dedicated circuit may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc., including memory elements.

[0069] The computer-readable storage medium may include any tangible device capable of storing instructions to be executed by an appropriate device, and as a result, the computer-readable storage medium having the instructions stored therein constitutes at least a part of a product containing instructions executable to implement a unit for performing the operations specified in the process flow or block diagram. As examples of computer-readable storage media, electrical storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. may be included. As more specific examples of computer-readable storage media, floppy disks (registered trademark), floppy disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), electrically erasable programmable read-only memories (EEPROM), static random access memories (SRAM), compact disk read-only memories (CD-ROM), digital versatile disks (DVD), Blu-ray (registered trademark) optical disks, memory sticks, integrated circuit cards, etc. may be included.

[0070] Computer-readable instructions may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine delegate instructions, microcode, firmware instructions, state setting data, or any source code or object code described in any combination of one or more programming languages ​​including object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0071] Computer readable instructions are provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device via a local or local area network (LAN), a wide area network (WAN) such as the Internet, and the computer readable instructions can be executed to implement a unit for performing the operations specified in the described processing flow or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0072] The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is obvious from the description of the claims that such changes or improvements can also be included in the technical scope of the present invention.

[0073] Regarding the execution order of each process of actions, processes, steps, and steps in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, it should be noted that there is no special indication of "before", "preceding", etc., and in addition, as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. For the action flow in the claims, specifications, and drawings, even if "first", "next", etc. are used for convenience, it does not mean that it must be implemented in such an order.

[0074] [Description of Reference Numerals]

[0075] 20 Vehicles

[0076] 22 Vehicle Control Systems

[0077] 180, 181, 183 Communication Network

[0078] 190 Zika Line

[0079] 201 TCU

[0080] 202 Core ECU

[0081] 210 First ECU

[0082] 212 CPU

[0083] 214 Gateway

[0084] 220 Second ECU

[0085] 221 FET

[0086] 222 CPU

[0087] 224 Repeater

[0088] 226 Electric Motor

[0089] 228 Locking member

[0090] 230 Third ECU

[0091] 232 CPU

[0092] 234 RFIC

[0093] 240 Fourth ECU

[0094] 298 MID

[0095] 310 First ECU

[0096] 311 Main CPU

[0097] 312 Sub-CPU

[0098] 320 Second ECU

[0099] 321 FET

[0100] 322 CPU

[0101] 324 Repeater

[0102] 326 Electric Motor

[0103] 410 First ECU

[0104] 412 CPU

[0105] 414 Gateway

[0106] 430 Third ECU

[0107] 432 CPU

[0108] 434 RFIC

[0109] 2000 Computer

[0110] 2010 Main Controller

[0111] 2012 CPU

[0112] 2014 RAM

[0113] 2020 Input / Output Controller

[0114] 2022 Communication Interface

[0115] 2024 Flash

[0116] 2026 ROM

[0117] 2040 Input / Output Chip.

Claims

1. A vehicle control system, wherein: have: a first ECU including a processor that receives first information indicating whether the vehicle is moving and generates a first control signal for controlling the locking of the steering based on the first information; as well as a second ECU including a processor, a locking member, a motor, and a relay, wherein the processor receives second information indicating whether the vehicle is moving and generates a second control signal for controlling the locking of the steering based on the second information, wherein the locking member locks the steering, the motor moves the locking member between a locking position and an unlocking position according to the polarity of a driving current provided, the relay switches the polarity of the driving current provided to the motor according to the second control signal, and the second ECU locks the steering based on the first control signal and the second control signal. The first control signal is a power ON request signal for supplying power to the electric motor of the second ECU. The second control signal is a drive signal for driving the relay so as to supply the drive current for moving the lock member to the lock position to lock the steering to the motor.

2. The vehicle control system according to claim 1, wherein: The third ECU is connected to the first ECU via a first communication network and receives a locking signal and an unlocking signal based on authentication of a legitimate owner of the vehicle. The first ECU generates the first control signal based on information received from the third ECU and the first information.

3. The vehicle control system according to claim 1 or 2, wherein: The first information includes one of information indicating a right wheel speed of the vehicle and information indicating a left wheel speed. The second information includes the other of information indicating a right wheel speed of the vehicle and information indicating a left wheel speed.

4. The vehicle control system according to claim 1 or 2, wherein: The first information includes one of (1) information indicating a wheel speed of the vehicle and (2) information indicating a wheel speed and a vehicle speed of the vehicle. The second information includes the other of (1) information indicating a wheel speed of the vehicle and (2) information indicating a wheel speed and a vehicle speed of the vehicle.

5. The vehicle control system according to claim 3, wherein: The first information further includes information indicating a shift position of the shift lever.

6. The vehicle control system according to claim 1 or 2, wherein: The first ECU is connected to the core ECU via a second communication network, The first ECU receives the first information and the second information from the core ECU through the second communication network, The first ECU forwards the second information received from the second communication network to a third communication network connected to the second ECU, and the second ECU receives the second information through the third communication network.

7. The vehicle control system according to claim 1 or 2, wherein: The second ECU is connected to a CAN communication network, and receives the second information through the CAN communication network.

8. The vehicle control system according to claim 7, wherein: The second ECU receives the second information from the first ECU through the CAN communication network.

9. A vehicle, wherein: A vehicle control system comprising the vehicle control system according to any one of claims 1 to 8.

10. A vehicle control method, wherein: include: A step of a processor included in a first ECU receiving first information indicating whether the vehicle is moving, and generating a first control signal for controlling the locking of the steering based on the first information; A second ECU including a processor, a locking member, a motor, and a relay receives second information indicating whether the vehicle is moving through the processor, and generates a second control signal for controlling the locking of the steering based on the second information, wherein the locking member locks the steering, the motor moves the locking member between a locking position and an unlocking position according to the polarity of a driving current provided, and the relay switches the polarity of the driving current provided to the motor according to the second control signal; the second ECU locking the steering based on the first control signal and the second control signal, in, The first control signal is a power ON request signal for supplying power to the electric motor of the second ECU. The second control signal is a drive signal for driving the relay so as to supply the drive current for moving the lock member to the lock position to lock the steering to the motor.

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