Control device, mobile body provided with the control device, control method, and recording medium recording a program

Abstract

The present application provides a control device, a mobile body having the control device, a control method, and a recording medium recording a program. The control device of the present application includes: a calculation unit that calculates information related to an influence of radiation on a mobile body based on error information of a processing device included in the mobile body; and a control unit that performs control to reduce the influence of the radiation on the mobile body based on the information related to the influence of the radiation calculated by the calculation unit.

Description

Technical Field

[0001] This disclosure relates to a control device and a mobile body equipped with the control device, a control method, and a recording medium on which a program is recorded. Background Technology

[0002] Japanese Patent Application Publication No. 2002-366391 discloses a CPU anomaly monitoring device for monitoring anomalies in a CPU that performs sequence control by sequentially changing sequence states. In this CPU anomaly monitoring device, a unit for determining the validity of trigger data that triggers a change in sequence state and a unit for determining the validity of state data representing the sequence state are alternately activated. This allows for the detection of anomalies in devices, such as space-borne equipment, which are exposed to cosmic rays and experience bit flips more frequently than on Earth.

[0003] As described in Japanese Patent Application Publication No. 2002-366391, there is a technique for detecting arithmetic errors in arithmetic registers or bit reversals in data in user areas caused by the effects of radiation.

[0004] In this context, in an environment with significant radiation levels, similar to those in space, it is necessary to reduce the impact of radiation on electronic components. Summary of the Invention

[0005] The purpose of this disclosure is to reduce the effects of radiation on moving bodies.

[0006] The first approach is a control device comprising: a computing unit that calculates information related to the effects of radiation received by the mobile body based on error information from a processing device present in the mobile body; and a control unit that implements control to reduce the effects of radiation received by the mobile body based on the information related to the effects of radiation calculated by the computing unit.

[0007] In the control device of the first embodiment, the calculation unit calculates information related to the impact of radiation received by the mobile body based on error information from the processing device included in the mobile body. Then, the control unit implements control to reduce the impact of radiation received by the mobile body based on the information related to the impact of radiation calculated by the calculation unit. Here, "error information" refers to information related to processing when the processing device is in an abnormal state. According to this control device, based on the error information from the processing device included in the mobile body, information related to the impact of radiation received by the mobile body is calculated, and control to reduce the impact of radiation received by the mobile body is implemented. As a result, the impact of radiation received by the mobile body can be reduced.

[0008] The second type of control device is, in the first type of control device, wherein the calculation unit calculates information related to the influence of the radiation based on the mounting location information of the plurality of processing devices and the error information.

[0009] In the second type of control device, the computing unit calculates information related to the influence of the radiation based on the mounting position information of the multiple processing devices and the error information. Here, "mounting position information" refers to information indicating the position of the processing devices mounted on the moving body. This allows for high-precision calculation of information related to the influence of radiation.

[0010] The third control device is, in the first control device, wherein the calculation unit calculates information related to the effects of radiation based on tolerance information representing the tolerance to radiation for each of the plurality of processing devices and the error information.

[0011] In the third type of control device, the calculation unit calculates information related to the effects of radiation based on tolerance information representing the tolerance to radiation for each of the plurality of processing devices and the error information. This allows for the calculation of information related to the effects of radiation with high accuracy.

[0012] The fourth control device is, in the first control device, wherein the calculation unit calculates the direction of the radiation based on the mounting location information of the plurality of processing devices and the error information.

[0013] In the fourth type of control device, the calculation unit calculates the direction of the radiation based on the mounting location information of the multiple processing devices and the error information. Here, "direction of radiation" refers to the direction from which the radiation being received by the moving body originates. Therefore, by taking the direction of the radiation into account, the impact of the radiation received by the moving body can be reduced.

[0014] The fifth control device is, in the first control device, wherein the calculation unit calculates the degree of influence of the radiation as information related to the influence of the radiation, and the control unit implements the control based on the degree of influence of the radiation.

[0015] In the control device of the fifth type, the calculation unit calculates the degree of influence of the radiation as information related to the influence of the radiation, and the control unit implements the control based on the degree of influence of the radiation. Thus, control corresponding to the degree of influence of the radiation can be implemented.

[0016] The sixth type of control device is, in the first type of control device, the control unit implements control to change the posture of the moving body in order to reduce the influence of the radiation on the moving body.

[0017] In the sixth type of control device, the control unit implements control to change the posture of the moving body in order to reduce the influence of the radiation on the moving body.

[0018] The seventh type of control device is, in the fourth type of control device, wherein the control unit implements control by covering the moving body with a shielding material corresponding to the direction of the radiation.

[0019] In the seventh type of control device, the control unit implements control by covering the moving body with a shielding material corresponding to the direction of the radiation.

[0020] The eighth method is a mobile body comprising: a control device of any one of the first to seventh methods; and multiple processing devices, each performing different types of processing.

[0021] In the mobile body of the eighth embodiment, multiple processing devices perform different types of processing. In the control device, a calculation unit calculates information related to the effects of radiation received by the mobile body based on error information from the multiple processing devices. Then, the control unit implements control to reduce the effects of radiation received by the mobile body based on the information calculated by the calculation unit. According to this mobile body, the effects of radiation received by the mobile body can be reduced.

[0022] The ninth approach is a control method in which a computing unit calculates information related to the effects of radiation on the mobile body based on error information from a processing device present in the mobile body, and a control unit implements control to reduce the effects of radiation on the mobile body based on the calculated information related to the effects of radiation.

[0023] In the ninth control method, the calculation unit calculates information related to the impact of radiation received by the mobile body based on error information from the processing device included in the mobile body, and the control unit implements control to reduce the impact of radiation received by the mobile body based on the calculated information related to the impact of radiation. According to this control method, the impact of radiation received by the mobile body can be reduced.

[0024] The tenth method of the program recorded in a non-transitory recording medium is a program that causes a computer to perform the following processing: calculating information related to the effects of radiation received by the mobile body based on error information from a processing device present in the mobile body, and implementing control to reduce the effects of radiation received by the mobile body based on the calculated information related to the effects of radiation.

[0025] In the tenth method, the program recorded on a non-transitory recording medium, the computer calculates information related to the effects of radiation received by the mobile body based on error information from the processing device present in the mobile body. Then, based on the calculated information related to the effects of radiation, the computer implements control to reduce the effects of radiation received by the mobile body. According to this program, the effects of radiation received by the mobile body can be reduced.

[0026] Invention Effects

[0027] According to this disclosure, the effects of radiation on a moving body can be reduced. Attached Figure Description

[0028] Exemplary embodiments of this disclosure will be described in detail with reference to the following figures, wherein:

[0029] Figure 1 This diagram illustrates the general structure of the mobile body involved in this embodiment.

[0030] Figure 2 This is a block diagram illustrating the hardware structure of the ECU involved in this embodiment.

[0031] Figure 3 This is a block diagram illustrating an example of the functional structure of the CPU of the ECU involved in this embodiment.

[0032] Figure 4 This is a block diagram illustrating the hardware structure of the central ECU involved in this embodiment.

[0033] Figure 5 This is a block diagram illustrating an example of the functional structure of the CPU of the central ECU involved in this embodiment.

[0034] Figure 6A This is a top view showing the mounting area on the mobile body.

[0035] Figure 6B This is a right-side view showing the mounting area on the mobile body.

[0036] Figure 7This diagram illustrates an example of the mounting area and radiation durability of each ECU.

[0037] Figure 8 This is an example diagram showing the determination results of the mounting area of ​​each ECU, radiation tolerance, the increase in the number of bit corrections, and information related to the effects of radiation.

[0038] Figure 9 This is an example diagram showing the determination results of the mounting area of ​​each ECU, radiation tolerance, the increase in the number of bit corrections, and information related to the effects of radiation.

[0039] Figure 10 This is an example diagram showing the determination results of the mounting area of ​​each ECU, radiation tolerance, the increase in the number of bit corrections, and information related to the effects of radiation.

[0040] Figure 11 This is an example diagram showing the determination results of the mounting area of ​​each ECU, radiation tolerance, the increase in the number of bit corrections, and information related to the effects of radiation.

[0041] Figure 12 This is an example diagram showing the determination results of the mounting area of ​​each ECU, radiation tolerance, the increase in the number of bit corrections, and information related to the effects of radiation.

[0042] Figure 13 This is an example diagram showing the determination results of the mounting area of ​​each ECU, radiation tolerance, the increase in the number of bit corrections, and information related to the effects of radiation.

[0043] Figure 14A This diagram shows an example of a radiator configuration where the direction of the radiation lines is upward.

[0044] Figure 14B This diagram shows an example of a radiator configuration where the direction of the radiation lines is lateral.

[0045] Figure 14C This diagram illustrates an example configuration of a heat sink that is deployed in a way that shields a moving body when the direction of the radiation lines is upward.

[0046] Figure 15 This diagram illustrates an example configuration of a solar panel that is deployed in a way that shields a moving body when the direction of radiation is to the side.

[0047] Figure 16This diagram illustrates an example of configuring a heat sink with the direction of the radiation line to the side and the moving body located on an inclined surface, and setting the orientation of the moving body to horizontal.

[0048] Figure 17 A diagram illustrating an example of control corresponding to the level of influence.

[0049] Figure 18 This is a flowchart illustrating an example of the radiation reduction process performed in the CPU of the central ECU involved in this embodiment. Detailed Implementation

[0050] use Figures 1 to 18 The following describes the mobile body involved in the embodiments of this disclosure.

[0051] Figure 1 This is a block diagram illustrating the general structure of the mobile body 10 according to an embodiment of the present disclosure.

[0052] (Overall structure)

[0053] like Figure 1 As shown, the mobile body 10 involved in this embodiment includes: a central ECU 20, a first ECU 21, a second ECU 22, a third ECU 23, a fourth ECU 24, and a drive unit 30.

[0054] The mobile unit 10 uses CAN (Controller Area Network) as its communication protocol, and the central ECU 20, first ECU 21, and second ECU 22 are connected to bus 40. Furthermore, the central ECU 20, third ECU 23, and fourth ECU 24 are connected to bus 42. As an example, CAN is the protocol used for transmitting information such as the mobile unit's speed, engine RPM, brake status, and fault diagnosis information.

[0055] like Figure 2As shown, the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24 have the same structure, all configured to include a CPU (Central Processing Unit) 70, a ROM (Read Only Memory) 72, a RAM (Random Access Memory) 74, a memory 76, and an input / output (I / F) 78. The CPU 70, ROM 72, RAM 74, memory 76, and I / F 78 are interconnected via an internal bus (not shown) in a manner enabling mutual communication. The CPU 70 is an example of a processor, and the RAM 74 is an example of a memory.

[0056] CPU 70 is the central processing unit, which executes various programs or controls various parts. That is, CPU 70 reads programs from ROM 72 or memory 76 and uses RAM 74 as the working area to execute programs.

[0057] ROM 72 stores various programs and data. RAM 74 serves as the working area, temporarily storing programs or data.

[0058] The storage device 76 stores various programs and various data. In this embodiment, the storage device 76 stores the processing program 80.

[0059] The storage device 76 is, for example, composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0060] The input / output I / F78 is an interface used for communication with other ECUs. Furthermore, the input / output I / F78 of the first ECU 21 to the fourth ECU 24 uses the CAN communication protocol.

[0061] like Figure 3 As shown, in the first ECU21, second ECU22, third ECU23 and fourth ECU24 of this embodiment, the CPU70 functions as a processing unit 82, a comparison unit 84 and a correction unit 86 by executing the processing program 80.

[0062] The processing unit 82 performs pre-defined processes (e.g., engine control processes, braking processes, and processes related to missions in space).

[0063] The comparison unit 84 compares the data used in the processing unit 82 with the comparison data and determines whether they are consistent. Here, if the data used in the processing unit 82 is bit-flipped due to radiation or noise, the data used in the processing unit 82 and the comparison data become inconsistent.

[0064] If the comparison unit 84 determines that the data used in the processing unit 82 is inconsistent with the comparison data, the correction unit 86 performs bit correction on the data used in the processing unit 82.

[0065] like Figure 4 As shown, the central ECU 20 has the same structure as the first ECU 21, the second ECU 22, the third ECU 23 and the fourth ECU 24, and is configured to include a CPU 50, a ROM 52, a RAM 54, a memory 56 and an input / output I / F 58.

[0066] The storage device 56 stores the control program 60, the mounting location information 61, and the radiation tolerance information 63.

[0067] The mounting location information 61 shows the mounting area on the moving body 10 for each of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24.

[0068] Radiation tolerance information 63 shows the radiation tolerance level for each of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24.

[0069] While mounting terrestrial automotive electronic components onto space-based mobile bodies could enable cost-effective development and enhance competitiveness, the radiation environment is far more severe than on Earth, making it crucial to consider cosmic rays when mounting them. Components developed for terrestrial products generally have lower radiation tolerance than space-specific components developed for radiation resistance; therefore, it is essential to minimize risk as much as possible.

[0070] Therefore, in this embodiment, in order to reduce the impact of cosmic ray irradiation on electronic components beyond the expected level, radiation is detected by integrating bit correction information generated by cosmic rays from each ECU and based on the anomaly score, and voltage control of electronic components and control of external mechanisms are implemented, thereby reducing the failure rate of electronic components caused by radiation.

[0071] Specifically, such as Figure 5 As shown, in the central ECU 20 of this embodiment, the CPU 50 functions as a computing unit 62 and a control unit 64 by executing the control program 60.

[0072] The calculation unit 62 calculates information related to the effects of radiation received by the mobile body 10 based on the error information of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24 contained in the mobile body 10.

[0073] Specifically, the calculation unit 62 calculates the degree of influence of radiation based on the number of bit corrections, mounting position information 61, and radiation tolerance information 63 obtained from the error information of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24, and calculates the direction of radiation as information related to the influence of radiation.

[0074] More specifically, the computing unit 62 determines that the influence of radiation exists when, within the same mounting area, the number of bit corrections per unit time increases, and the stronger the radiation tolerance, the smaller the increase in the number of bit corrections per unit time.

[0075] Furthermore, the calculation unit 62 determines the direction of the radiation based on the difference in the increase in the number of bit corrections per unit time between the mounted regions.

[0076] Furthermore, the calculation unit 62 determines the degree of influence of the radiation based on the average increase in the number of bit corrections per unit time.

[0077] For example, such as Figure 6A , Figure 6B , Figure 7 As shown, the first ECU 21 and the second ECU 22 are mounted in region B on the lower right side of the mobile body 10, and the third ECU 23 and the fourth ECU 24 are mounted in region I on the lower left side of the mobile body 10. Furthermore, the first ECU 21 and the fourth ECU 24 are in level 1, which has weak radiation tolerance, while the second ECU 22 and the third ECU 23 are in level 4, which has strong radiation tolerance.

[0078] Here, as Figure 8 As shown, the following conditions are set: for the first ECU 21, the increase in the number of bit corrections per unit time is "10", and for the second ECU 22, the increase in the number of bit corrections per unit time is "4". Furthermore, the following conditions are set: for the third ECU 23 and the fourth ECU 24, the number of bit corrections per unit time does not increase.

[0079] At this point, regarding the mounting area B, for both the first ECU21 and the second ECU22, since the number of bit corrections per unit time increases, and the increase in the number of bit corrections per unit time for the second ECU22, which has a stronger radiation tolerance, is smaller, it is determined that there is an influence of radiation.

[0080] Furthermore, the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time, i.e., the anomaly score, is "6.5" (=(1×10+4×4+0+0) / 4), which, compared with the criteria for determining the radiation impact level, is thus determined to be a radiation impact level of "3".

[0081] Since the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time for the ECU in mounting area B is "13" (=(1×10+4×4) / 2), while the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time for the ECU in mounting area I is "0", the direction of mounting area B (the right side of the moving body 10) is determined as the direction of radiation.

[0082] In addition, such as Figure 9 As shown, the following scenario is assumed: for the second ECU 22, the increase in the number of bit corrections per unit time is "4". Furthermore, the following scenario is assumed: for the first ECU 21, the third ECU 23, and the fourth ECU 24, the number of bit corrections per unit time does not increase.

[0083] At this time, since the number of bit corrections per unit time does not increase for the first ECU21 in the mounting area B, while the number of bit corrections per unit time increases for the second ECU22 in the same mounting area B, the increase in the number of bit corrections is due to factors other than the influence of radiation (such as noise), and it is determined that there is no influence of radiation.

[0084] In addition, such as Figure 10 As shown, the following conditions are set: for the first ECU 21, the increase in the number of bit corrections per unit time is "3", and for the second ECU 22, the increase in the number of bit corrections per unit time is "1". Furthermore, the following conditions are set: for the third ECU 23 and the fourth ECU 24, the number of bit corrections per unit time does not increase.

[0085] At this time, for the first ECU21 and the second ECU22 equipped in region B, since the number of bit corrections per unit time increases, and the increase in the number of bit corrections per unit time of the second ECU22, which has a stronger radiation tolerance, is smaller, it is determined that there is the influence of radiation.

[0086] Furthermore, the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time, i.e., the anomaly score, is "1.75" (=(1×3+4×1+0+0) / 4). Compared with the criteria for determining the radiation impact level, it is thus determined to be a radiation impact level of "1".

[0087] In addition, such as Figure 11 As shown, the following conditions are set: for the first ECU 21, the increase in the number of bit corrections per unit time is "7", and for the second ECU 22, the increase in the number of bit corrections per unit time is "3". Furthermore, the following conditions are set: for the third ECU 23 and the fourth ECU 24, the number of bit corrections per unit time does not increase.

[0088] At this time, for the first ECU21 and the second ECU22 equipped in region B, since the number of bit corrections per unit time increases, and the increase in the number of bit corrections per unit time of the second ECU22, which has a stronger radiation tolerance, is smaller, it is determined that there is the influence of radiation.

[0089] Furthermore, the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time, i.e., the anomaly score, is “4.75” (=(1×7+4×3+0+0) / 4), which is compared with the criteria for determining the radiation impact level, thus determining it to be radiation impact level “2”.

[0090] In addition, such as Figure 12 As shown, the following conditions are set: for the first ECU 21, the increase in the number of bit corrections per unit time is "10", and for the second ECU 22, the increase in the number of bit corrections per unit time is "5". Furthermore, the following conditions are set: for the third ECU 23, the increase in the number of bit corrections per unit time is "2", and for the fourth ECU 24, the increase in the number of bit corrections per unit time is "4".

[0091] At this time, for the first ECU21 and the second ECU22 equipped with region B, since the number of bit corrections per unit time increases, and the increase in the number of bit corrections per unit time of the second ECU22, which has a stronger radiation tolerance, is smaller, it is determined that there is the influence of radiation.

[0092] Furthermore, the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time, i.e., the anomaly score, is “10.5” (=(1×10+4×5+4×2+1×4) / 4). Compared with the criteria for determining the radiation impact level, it is thus determined to be a radiation impact level of “3”.

[0093] Furthermore, since the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time for the ECU in mounting area B is "15" (=(1×10+4×5) / 2), while the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time for the ECU in mounting area I is "6" (=(4×2+1×4) / 2), the direction of mounting area B (the right side of the moving body 10) is determined as the direction of radiation.

[0094] In addition, such as Figure 13 As shown, the following conditions are set: for the first ECU 21, the increase in the number of bit corrections per unit time is "15", and for the second ECU 22, the increase in the number of bit corrections per unit time is "10". Furthermore, the following conditions are set: for the third ECU 23, the increase in the number of bit corrections per unit time is "7", and for the fourth ECU 24, the increase in the number of bit corrections per unit time is "13".

[0095] At this time, for the first ECU21 and the second ECU22 equipped with region B, since the number of bit corrections per unit time increases, and the increase in the number of bit corrections per unit time of the second ECU22, which has a stronger radiation tolerance, is smaller, it is determined that there is the influence of radiation.

[0096] Furthermore, the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time, i.e., the anomaly score, is "24" (=(1×15+4×10+4×7+1×13) / 4), which is compared with the criteria for determining the radiation impact level, thus determining it to be radiation impact level "4".

[0097] Furthermore, since the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time for the ECU in region B is “27.5” (=(1×15+4×10) / 2), while the average value of the product of the radiation tolerance level and the increase in the number of bit corrections per unit time for the ECU in region I is “20.5” (=(4×7+1×13) / 2), the direction above the moving body 10 is determined as the direction of radiation.

[0098] The control unit 64 implements control to reduce the effects of radiation on the moving body 10 based on information related to the effects of radiation calculated by the calculation unit 62.

[0099] Specifically, the control unit 64 implements control to reduce the voltage or power of the mobile body 10, control to turn off the power supply of the mobile body 10, control to change the posture of the mobile body 10, or control to cover the mobile body 10 with a shielding material according to the direction of the radiation, so as to reduce the influence of radiation on the mobile body 10.

[0100] More specifically, control is achieved by reducing the voltage or power supplied to the moving body 10. This reduces the risk of malfunction due to radiation.

[0101] Furthermore, control is achieved by stopping the power supply to the moving body 10. This reduces the risk of malfunction due to radiation.

[0102] In addition, such as Figures 14A to 14C As shown, the drive unit 30 is controlled in such a way that the heat sink 12, which is mounted on the moving body 10, moves along the track 14. Figure 14A This is an example of the configuration of heat sink 12 when the direction of the radiation line R is upward. Figure 14B This is an example of the configuration of the heat sink 12 when the direction of the radiation line R is lateral (right or left). Furthermore, Figure 14C This is an example of a configuration in which the heat sink 12 is deployed to shield the moving body 10 when the direction of the radiation line R is upward.

[0103] In addition, such as Figure 15 As shown, the drive unit 30 is controlled in such a way that the solar panel 16 mounted on the moving body 10 unfolds. Figure 15 This is an example of a configuration in which a solar panel 16 is deployed to shield the moving body 10, with the direction of the radiation R being lateral.

[0104] In addition, such as Figure 16 As shown, the drive unit 30 is controlled in such a way that the heat sink 12, which is mounted on the moving body 10, moves along the track 14, and the suspension is controlled in such a way that the attitude of the moving body 10 is changed. Figure 16 Here is an example of configuring the radiator 12 when the direction of the radiation line R is to the side (left side) and the moving body 10 is located on an inclined surface, and implementing suspension control in a way that makes the attitude of the moving body 10 horizontal, and shielding the radiation line by means of the radiator 12.

[0105] Furthermore, the control unit 64 switches the control for reducing the influence of radiation on the moving body 10 based on the degree of radiation's effect.

[0106] For example, such as Figure 17 As shown, the control system, including the power supply of the mobile body 10, is a redundant dual-system system. When the influence level is "1", the control is performed in the following manner: in one system (I), normal voltage and normal power are supplied to the mobile body 10, and in the other system (II), the voltage or power supplied to the mobile body 10 is reduced.

[0107] In the case of an impact level of "2", control is performed in the following manner: in one system (I), normal voltage and normal power are supplied to the mobile body 10, and in another system (II), the voltage or power supplied to the mobile body 10 is stopped, or the motor drive of the mobile body 10 is stopped and put into standby mode.

[0108] In the case of an impact level of "3", in one system (I), control is performed by reducing the voltage or power supplied to the mobile body 10, and in another system (II), control is performed by stopping the voltage or power supplied to the mobile body 10 or stopping the motor drive of the mobile body 10 to put it into standby mode.

[0109] In the case of an impact level of "4", in one system (I), the voltage or power supplied to the mobile body 10 is reduced, and control is implemented to change the attitude of the mobile body 10, or to cover the mobile body 10 with a shielding material corresponding to the direction of the radiation. In another system (II), control is implemented by stopping the voltage or power supplied to the mobile body 10, or by stopping the motor drive of the mobile body 10 to put it into standby mode.

[0110] In the case of an impact level of "5", in one system (I), control is performed by stopping the voltage or power supplied to the mobile body 10 or by stopping the motor drive of the mobile body 10 to put it into standby mode, and in another system (II), control is performed by stopping the voltage or power supplied to the mobile body 10.

[0111] In a system with an impact level of "6", control is implemented by stopping the voltage or power supplied to the mobile body 10, or by stopping the motor drive of the mobile body 10 to enter standby mode, and by implementing control to change the attitude of the mobile body 10, or by implementing control to cover the mobile body 10 with a shield corresponding to the direction of the radiation. In another system (II), control is implemented by stopping the voltage or power supplied to the mobile body 10, or by stopping the motor drive of the mobile body 10 to enter standby mode.

[0112] (Processing flow)

[0113] Next, the processing flow in the moving body 10 of this embodiment will be described using... Figure 18 The flowchart will be used for illustration.

[0114] First, in each of the first ECU 21, second ECU 22, third ECU 23, and fourth ECU 24, the processing unit 82 performs a pre-defined process, and the comparison unit 84 compares the data used in the processing unit 82 with the comparison data within a fixed period and determines whether they are consistent. If the comparison unit 84 determines that the data used in the processing unit 82 is inconsistent with the comparison data, the correction unit 86 performs bit correction on the data used in the processing unit 82.

[0115] At this time, the CPU50 of the central ECU20 executes the control program 60 to implement... Figure 18 The radiation reduction treatment shown.

[0116] In step S100, the CPU 50 acts as a calculation unit 62 to obtain the increase in the number of bit corrections per unit time, which is used as error information for the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24 in the moving body 10.

[0117] In step S102, the CPU 50, acting as a calculation unit 62, determines whether the number of bit corrections, representing the number of errors, has increased in at least one of the first ECU 21, second ECU 22, third ECU 23, and fourth ECU 24. If the number of bit corrections, representing the number of errors, has not increased in any of the first ECU 21, second ECU 22, third ECU 23, and fourth ECU 24, the process returns to step S100. On the other hand, if the number of bit corrections, representing the number of errors, has increased in at least one of the first ECU 21, second ECU 22, third ECU 23, and fourth ECU 24, the process proceeds to step S104.

[0118] In step S104, the CPU 50, acting as a calculation unit 62, determines whether there is an effect of radiation based on the increase in the number of bit corrections per unit time of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24, the mounting position information 61, and the radiation tolerance information 63. If it is determined that there is no effect, the process returns to step S100. On the other hand, if it is determined that there is an effect, the process proceeds to step S106.

[0119] In step S106, the CPU 50, acting as a computing unit 62, determines the degree of influence of radiation based on the increase in the number of bit corrections per unit time of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24, and the radiation tolerance information 63.

[0120] In step S108, the CPU 50 acts as a computing unit 62, thereby determining the direction of radiation based on the increase in the number of bit corrections per unit time of the first ECU 21, the second ECU 22, the third ECU 23, and the fourth ECU 24, the mounting position information 61, and the radiation tolerance information 63.

[0121] In step S110, the CPU 50 acts as the control unit 64, thereby implementing control to reduce the influence of radiation on the moving body 10 based on the degree of influence of the radiation calculated by the calculation unit 62 and the direction of the radiation, and then ending the radiation reduction process.

[0122] (Summary of this implementation method)

[0123] In this embodiment, the mobile body 10 calculates information related to the effects of radiation received by the mobile body based on error information from the processing device included in the mobile body, and implements control to reduce the effects of radiation received by the mobile body. According to this mobile body 10, the effects of radiation received by the mobile body can be reduced.

[0124] Furthermore, based on the mounting location information of each ECU and the radiation tolerance information of each ECU, it is possible to calculate information related to the effects of radiation with high precision.

[0125] When ground-based components are effectively utilized in space exploration, it is foreseeable that the failure rate will increase because the durability is not sufficient to withstand abnormal radiation exposure relative to design values. In this embodiment, the impact on radiation can be reduced throughout the entire system of the mobile body.

[0126] If the radiation exposure to the ECU is higher than expected, bit flips can easily occur in the data stored in the ECU's memory. Since bit correction is implemented, in this embodiment, the number of bit corrections is counted and information related to the effects of radiation is calculated. If only one ECU is monitored, the possibility of bit flips due to noise is also considered. Therefore, in this embodiment, by monitoring multiple ECUs, the reliability of the calculation results related to the effects of radiation is improved.

[0127] Furthermore, by implementing low voltage within the mobile body as a control to reduce the impact of radiation on the mobile body, the failure rate is reduced. Additionally, by controlling the movement of the external mechanism towards the radiation source to further reduce the impact of radiation on the mobile body, the mobile body can be protected from radiation. Thus, even when the imagined radiation is projected, the mobile body can be protected from radiation using the external mechanism, even if it is impossible to hide in the shadow of rocks or a basin.

[0128] [Exam Preparation]

[0129] Furthermore, although this embodiment uses the number of bit corrections as an example to illustrate the error information, it is not limited to this. The error information can also be information other than the number of bit corrections. For example, the number of ECU resets or restarts could also be used as the error information.

[0130] Alternatively, a learned model, such as a neural network model, can be used to calculate the level of influence and direction of radiation by taking error information, mounting location information, and radiation tolerance information as input.

[0131] Furthermore, while the example described uses a central ECU mounted on a mobile body to calculate information related to the effects of radiation received by the mobile body based on error information from the individual ECUs within the mobile body, and then implements control to reduce the effects of radiation received by the mobile body, this is not a limitation. For example, an external device of the mobile body could calculate information related to the effects of radiation received by the mobile body based on error information from the individual ECUs within the mobile body, and then implement control to reduce the effects of radiation received by the mobile body. In this case, it is sufficient for the external device of the mobile body to obtain error information from the mobile body via wireless communication, calculate information related to the effects of radiation received by the mobile body, and then send a control command for reducing the effects of radiation received by the mobile body to the mobile body via wireless communication.

[0132] Furthermore, various processors other than the CPU can execute the various processes that the CPU reads into the software (program) and executes in the above embodiments. Examples of processors in this case include PLDs (Programmable Logic Devices) with circuit structures specifically designed for executing specific processes, such as FPGAs (Field-Programmable Gate Arrays) whose circuit structures can be changed after manufacturing, and ASICs (Application Specific Integrated Circuits). Furthermore, various processes can be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, and a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is a circuit composed of circuit elements such as semiconductor elements.

[0133] Furthermore, in the above embodiments, the description assumes that each program is pre-stored (installed) in a computer-readable non-transitory storage medium. For example, in the mobile unit 10, the control program 60 is pre-stored in the storage 56. However, this is not a limitation; each program may also be provided in the form of a non-transitory storage medium such as a CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory), or USB (Universal Serial Bus) memory. Additionally, each program may be configured to be downloaded from an external device via a network.

[0134] The processing flow described in the above embodiments is an example. Unnecessary steps may be deleted, new steps may be added, or the processing order may be changed without departing from the main idea.

[0135] Furthermore, the structure of the moving body described in the above embodiments is an example and can be modified according to the situation without departing from the main idea.

Claims

1. A control device, comprising: The computing unit calculates information related to the effects of radiation received by the mobile body based on error information from the processing device present in the mobile body. The control unit, based on information related to the effects of the radiation calculated by the calculation unit, implements control to reduce the effects of the radiation on the moving body. The computing unit calculates information related to the influence of the radiation based on the mounting location information of the multiple processing devices and the error information. The mounting location information indicates the mounting area on the mobile body for each of the plurality of processing devices.

2. The control device as claimed in claim 1, wherein, The calculation unit calculates information related to the effects of radiation based on tolerance information representing the tolerance to radiation for each of the plurality of processing devices and the error information.

3. The control device as described in claim 1, wherein, The calculation unit calculates the direction of the radiation based on the mounting location information of the multiple processing devices and the error information.

4. The control device as claimed in claim 1, wherein, The calculation unit calculates the degree of influence of the radiation to provide information related to the influence of the radiation. The control unit implements the control based on the degree of influence of the radiation.

5. The control device as claimed in claim 1, wherein, The control unit implements control to change the posture of the moving body in order to reduce the influence of the radiation on the moving body.

6. The control device as claimed in claim 3, wherein, The control unit implements control by covering the moving body with a shielding material corresponding to the direction of the radiation.

7. A mobile body, comprising: The control device according to any one of claims 1 to 6; Multiple processing devices, each performing different types of processing.

8. A control method, wherein, The computing unit calculates information related to the effects of radiation received by the mobile body based on error information from the processing device within the mobile body. Based on the calculated information related to the effects of the radiation, the control unit implements control to reduce the effects of the radiation on the moving body. The computing unit calculates information related to the influence of the radiation based on the mounting location information of the multiple processing devices and the error information. The mounting location information indicates the mounting area on the mobile body for each of the plurality of processing devices.

9. A non-transitory recording medium having a program recorded thereon for causing a computer to perform the following processing: Based on error information from the processing device within the mobile body, information related to the effects of radiation received by the mobile body is calculated. Based on the calculated information related to the effects of the radiation, control measures are implemented to reduce the impact of the radiation on the moving body. Furthermore, based on the mounting location information of the multiple processing devices and the error information, information related to the influence of the radiation is calculated. The mounting location information indicates the mounting area on the mobile body for each of the plurality of processing devices.

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