Electronic control device, control program, control method, control system, and electronic control system

Abstract

A base unit (11) of an electronic control device (2) determines whether an extension unit (13 to 16) can execute a base-mounted application program (AP1) in place of the base unit based on resource information about the extension unit, in a case where the base unit does not have resources required for the base unit to execute the base-mounted application program. In a case where the extension unit can execute in place, the base unit causes the extension unit to execute the base-mounted application program in place. In a case where execution in place is not possible, the base unit prohibits execution of the base-mounted application program.

Description

[0001] Cross-references to related applications

[0002] This international application claims the benefit of Japanese Patent Application No. 2024-060202, filed with the Japanese Patent Office on April 3, 2024, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to techniques for enabling applications to execute in electronic control devices. Background Technology

[0004] Patent document 1 describes how to expand the function or performance of an electronic control device by installing an expansion unit in the basic unit of the electronic control device.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent document 1: International Publication No. 2023 / 276815. Summary of the Invention

[0008] As a result of detailed investigation by the inventors, the following problem was discovered: when there is no spare resources in the basic unit, even if there are spare resources in the expansion unit, it is impossible to execute the application program mounted on the basic unit, and the resources of the electronic control device cannot be effectively utilized.

[0009] This disclosure improves the efficiency of resource utilization in electronic control devices.

[0010] One aspect of this disclosure is an electronic control device having a basic unit equipped with a central processing unit, and configured to connect one or more expansion units equipped with the central processing unit to the basic unit.

[0011] The basic unit of the electronic control device disclosed herein includes a substitution decision unit, an extended substitution unit, and an execution prohibition unit.

[0012] The substitution determination unit is configured to: when the base unit does not have the resources required for the base unit to execute the base-mounted application, determine, based on resource information related to one or more extension units, whether at least one of the one or more extension units can substitute for executing the base-mounted application, which is an application mounted on the base unit.

[0013] The extension substitution unit is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituted for the execution of the base application.

[0014] The execution prohibition unit is configured to prohibit the execution of the base application when one or more extension units cannot substitute for the execution of the base application, based on the judgment result of the substitution judgment unit.

[0015] The electronic control device of this disclosure, configured in this way, can enable the application program mounted on the basic unit to execute in the expansion unit even when the resources of the basic unit are insufficient, if the resources of the expansion unit are sufficient, thus effectively utilizing the resources of the electronic control device. Therefore, the electronic control device of this disclosure can improve the utilization efficiency of the available resources of the electronic control device.

[0016] Another aspect of this disclosure is a control program for making a computer of the base unit of an electronic control device function as a substitute judgment unit, an extended substitute unit, and an execution prohibition unit. The control device has a base unit equipped with a central processing unit and is configured to connect one or more extended units equipped with a central processing unit to the base unit.

[0017] A computer controlled by the control program of this disclosure can form part of the electronic control device of this disclosure and can achieve the same effect as the electronic control device of this disclosure.

[0018] Another aspect of this disclosure is a control method executed in a base unit of an electronic control device, the electronic control device having a base unit equipped with a central processing unit and configured to connect one or more expansion units equipped with the central processing unit to the base unit.

[0019] In the control method disclosed herein, when the base unit does not have the resources required for the base unit to execute the base-mounted application, the base unit determines, based on resource information related to one or more extension units, whether at least one of the one or more extension units can execute the base-mounted application, which is an application mounted on the base unit.

[0020] Based on the determination result of the substitution determination unit, if at least one of the one or more extension units is capable of performing the base application, the base unit causes at least one of the one or more extension units to perform the base application.

[0021] Based on the judgment result of the substitution judgment unit, the basic unit prohibits the execution of the basic application if one or more extension units cannot substitute for the execution of the basic application.

[0022] The control method disclosed herein is a method implemented in the electronic control device of this disclosure, and by implementing this method, the same effect as the electronic control device of this disclosure can be obtained.

[0023] Another aspect of this disclosure is a control system having an electronic control device and a central control unit, the electronic control device having a basic unit equipped with a central processing unit and being configured to connect to one or more expansion units equipped with the central processing unit relative to the basic unit, the central control unit being located outside the electronic control device and being configured to communicate wirelessly with the electronic control device.

[0024] The basic unit includes a substitution decision unit, an extended substitution unit, and an execution prohibition unit. The center is configured to substitute for the execution of the basic application program.

[0025] The control system disclosed herein is a system equipped with the electronic control device disclosed herein, and can achieve the same effect as the electronic control device disclosed herein.

[0026] Another aspect of this disclosure is an electronic control system comprising a basic unit and one or more expansion units, wherein the basic unit is equipped with a central processing unit, and the one or more expansion units are equipped with a central processing unit and are configured to be connected to the basic unit. The basic unit includes a substitution decision unit, an extended substitution unit, and an execution inhibition unit.

[0027] The electronic control system disclosed herein is a system that incorporates the basic unit and expansion unit of the electronic control device disclosed herein, and can achieve the same effect as the electronic control device disclosed herein. Attached Figure Description

[0028] Figure 1 This is a block diagram showing the structure of a vehicle control system.

[0029] Figure 2 This is a block diagram showing the structure of the integrated ECU.

[0030] Figure 3 It is a block diagram showing the structure of the center.

[0031] Figure 4 It is a block diagram showing the software structure of the basic unit, the extended unit, and the center.

[0032] Figure 5 It is a diagram illustrating changes in application configuration and data flow.

[0033] Figure 6 This is a sequence diagram illustrating the steps that cause the application to execute in an extension unit when resources are insufficient.

[0034] Figure 7This is a sequence diagram illustrating the steps that cause the application to execute in the center when resources are insufficient.

[0035] Figure 8 This is a sequence diagram showing the steps that prevent the application from executing on the center when resources are insufficient.

[0036] Figure 9 This is a sequence diagram illustrating the steps involved in executing an application based on priority.

[0037] Figure 10 This is a flowchart illustrating the request processing.

[0038] Figure 11 This is a flowchart illustrating the cloud configuration judgment and processing.

[0039] Figure 12 This is a flowchart illustrating the priority determination process.

[0040] Figure 13 This is a diagram showing the format of the program read from the ROM of the basic unit.

[0041] Figure 14 This is a diagram showing the format of reading a program from the ROM of the expansion unit.

[0042] Figure 15 This is a sequence diagram illustrating the steps taken when resources are insufficient, as the integrated ECU lacks expansion units and a central hub.

[0043] Figure 16 This is a sequence diagram illustrating the steps when the integrated ECU lacks expansion units and there are insufficient resources in the presence of a central hub. Detailed Implementation

[0044] The embodiments of this disclosure are described below with reference to the accompanying drawings.

[0045] like Figure 1 As shown, the vehicle control system 1 of this embodiment includes multiple integrated ECUs 2 and a central hub 3. ECU is short for Electronic Control Unit.

[0046] The integrated ECU2 is installed in the vehicle and has the function of communicating with the center 3 via the wide area wireless communication network NW.

[0047] Center 3 has the function of communicating data with multiple integrated ECUs 2 via the wide area wireless communication network NW.

[0048] like Figure 2 As shown, the integrated ECU2 manages the regional ECUs 4 to 7 installed in the vehicle, enabling coordinated control of the vehicle as a whole.

[0049] Zone ECUs 4-7 are set up in each zone that divides the vehicle into multiple zones, and mainly perform control of the ECUs located in that zone.

[0050] The integrated ECU2 has a basic unit 11 and expansion units 13, 14, 15, and 16.

[0051] The basic unit 11 and the expansion units 13, 14, 15, and 16 are each configured as, for example, a control board. The basic unit 11 and the expansion units 13, 14, 15, and 16 are housed in a box-shaped shell formed in the shape of a cuboid.

[0052] An opening is formed on one of the six faces constituting the housing. The base unit 11 and extension units 13, 14, 15, and 16 can be individually and detachably housed within the housing by inserting them into the opening. By housing the base unit 11 and extension units 13, 14, 15, and 16 within the housing, they are connected in a manner capable of mutual data communication. Furthermore, the base unit 11 can operate independently or in cooperation with the extension units 13-16.

[0053] The basic unit 11 includes a basic SoC 21, an Ethernet switch 22, a PCIe switch 23, and a storage device 24. SoC stands for System on a chip. PCIe stands for Peripheral Component Interconnect Express. Ethernet is a registered trademark. PCIe is a registered trademark.

[0054] The basic SoC21 features a CPU31, ROM32, and RAM33.

[0055] The various functions of the basic SoC 21 are implemented by the CPU 31 executing a program stored in a non-transitory physical recording medium. In this example, the ROM 32 is equivalent to the non-transitory physical recording medium storing the program. Furthermore, the execution of this program executes the corresponding methods. Alternatively, some or all of the functions executed by the CPU 31 can be constructed in hardware using one or more ICs.

[0056] Ethernet switch 22 is a network switch that has the function of relaying communication between multiple devices connected to Ethernet switch 22 in accordance with Ethernet standard.

[0057] PCIe switch 23 is a network switch that has the function of relaying communication between multiple devices connected to PCIe switch 23 in accordance with the PCIe standard.

[0058] Storage device 24 is a memory device composed of a non-volatile memory that is rewritable.

[0059] The expansion units 13, 14, 15, and 16 respectively have expansion SoCs 43, 44, 45, and 46.

[0060] The extended SoC43 features a CPU111, ROM112, and RAM113.

[0061] The extended SoC44 features CPU121, ROM122, and RAM123.

[0062] The extended SoC45 features a CPU131, ROM132, and RAM133.

[0063] The extended SoC46 features CPU141, ROM142, and RAM143.

[0064] The various functions of SoCs 43, 44, 45, and 46 are extended by CPUs 111, 121, 131, and 141 executing programs stored in non-transitory physical recording media. In this example, ROMs 112, 122, 132, and 142 are equivalent to non-transitory physical recording media storing the programs. Furthermore, the execution of these programs executes the corresponding methods. Alternatively, some or all of the functions executed by CPUs 111, 121, 131, and 141 can be constructed in hardware using one or more ICs.

[0065] Ethernet switch 22 is connected to basic SoC 21, extended SoCs 43, 44, 45, 46 and regional ECUs 4, 5, 6, 7.

[0066] The PCIe switch 23 is connected to the base SoC 21, expansion SoCs 43, 44, 45, 46, and storage device 24.

[0067] Additionally, the DCM8 is installed in the vehicle. DCM stands for Data Communication Module. The DCM8 is a wireless communication device used for wireless communication with external communication devices located outside the vehicle. The integrated ECU2 uses the DCM8 to communicate with the center 3.

[0068] like Figure 3 As shown, the center 3 includes a control unit 51, a communication unit 52, and a memory unit 53.

[0069] The control unit 51 is an electronic control device centered around a microcomputer, including a CPU 61, a ROM 62, and a RAM 63. The various functions of the microcomputer are implemented by the CPU 61 executing programs stored on a non-transitory physical recording medium. In this example, the ROM 62 is equivalent to the non-transitory physical recording medium storing the program. Furthermore, by executing the program, methods corresponding to the program are executed. In addition, some or all of the functions executed by the CPU 61 can be constructed in hardware using one or more ICs. Furthermore, the number of microcomputers constituting the control unit 51 can be one or more.

[0070] The communication unit 52 communicates with multiple integrated ECUs 2 via the wide area wireless communication network NW.

[0071] The memory unit 53 is a memory device used to store various types of data.

[0072] like Figure 4 As shown, the base SoC21 is equipped with CPU31.

[0073] The base SoC 21 includes middleware 34. Middleware 34 manages the various functions carried on the base unit 11 to be executed in parallel on the CPU 31.

[0074] Middleware 34 manages basic unit resource management functions 35 and overall resource management functions 36.

[0075] The basic unit resource management function 35 manages the resources of the basic unit 11, including configuring applications on the basic unit 11, executing applications, and stopping applications. The resources of the basic unit 11 include its hardware IP and sensors connected to it. IP stands for Intellectual Property.

[0076] The overall resource management function 36 is the function of managing the resources of the basic unit 11 and the resources of the extended units 13-16.

[0077] The base SoC21 is equipped with a first application AP1 and a second application AP2.

[0078] CPU111 is integrated into the extended SoC43. Similarly, CPUs121, 131, and 141 are integrated into the extended SoCs44, 45, and 46, respectively.

[0079] The extended SoC 43 includes middleware 114. Similarly, extended SoCs 44, 45, and 46 include middleware 124, 134, and 144, respectively. Middleware 114, 124, 134, and 144 manage the various functions of the extended units 13, 14, 15, and 16 to be executed in parallel on CPUs 111, 121, 131, and 141, respectively.

[0080] Middleware 114, 124, 134, and 144 respectively manage the extended unit resource management functions 115, 125, 135, and 145.

[0081] The extension unit resource management functions 115, 125, 135, and 145 respectively manage the resources of extension units 13, 14, 15, and 16, configure applications in extension units 13, 14, 15, and 16, execute applications, or stop applications.

[0082] The extended SoC43 includes a first application AP1 and a third application AP3.

[0083] A CPU 61 is mounted on the control unit 51 in the center 3. The control unit 51 includes middleware 64. The middleware 64 manages the various functions mounted on the control unit 51 to be executed in parallel on the CPU 61. The middleware 64 manages cloud resource management functions 65.

[0084] Cloud resource management function 65 is the function to manage the resources of center 3, configure applications in center 3, or execute or stop applications.

[0085] The control unit 51 is equipped with the first application AP1.

[0086] like Figure 5 As shown, a front camera 71 is connected to the base unit 11. The front camera 71 outputs image data generated by capturing images of the front of the vehicle to the base unit 11.

[0087] As shown by arrow L1, the first application AP1 performs processing using image data generated by the front camera 71.

[0088] Additionally, a side camera 72 is connected to the expansion unit 13. The side camera 72 outputs image data generated by capturing images from the side of the vehicle to the expansion unit 13.

[0089] The third application, AP3, as shown by arrow L2, performs processing of image data generated by the side camera 72.

[0090] In addition, storage device 24 is shared by basic unit 11 and expansion unit 13.

[0091] Next, the steps for executing the first application AP1 in the extension unit 13 when there are insufficient resources to execute the first application AP1 in the basic unit 11 will be explained.

[0092] like Figure 6 As shown in the processing P1, the first application AP1 mounted on the basic unit 11 sends an execution request to the basic unit resource management function 35 before starting processing.

[0093] When the basic unit resource management function 35 receives an execution request from the first application AP1, it determines whether there are any remaining resources in the basic unit 11 required to execute the first application AP1. Furthermore, the basic unit resource management function 35 determines whether there are any remaining resources in the basic unit 11 based on the operating status of the CPU 31 and the utilization status of the RAM 33.

[0094] Since no resources required for executing the first application AP1 remain in the basic unit 11, the basic unit resource management function 35, as follows: Figure 6 As shown in P2, a non-executable notification is sent to the first application AP1.

[0095] When the first application AP1 receives a non-executable notification from the basic unit resource management function 35, such as Figure 6 As shown in P3, an external resource usage request is sent to the overall resource management function 36.

[0096] When the overall resource management function 36 receives an external resource usage request from the first application AP1, such as Figure 6 As shown in P4, the request order determination process is performed by extension units 13-16 to determine whether the application can execute the request.

[0097] The overall resource management function 36 sends an application execution feasibility determination request to the extension units 13-16 in the order determined in the request order determination process.

[0098] As shown in P5, the overall resource management function 36 sends an application execution capability determination request to the extension unit resource management function 115 of the extension unit 13.

[0099] When the expansion unit resource management function 115 receives an application execution feasibility determination request from the overall resource management function 36, it determines whether there are any remaining resources in the expansion unit 13 required to execute the first application AP1. Furthermore, the expansion unit resource management function 115 determines whether there are any remaining resources in the expansion unit 13 based on whether the sensors (i.e., the front camera 71) used by the first application AP1, the operating status of the CPU 111, and the utilization status of the RAM 113 can be used in the expansion unit 13.

[0100] Since the extension unit 13 still contains the resources required to execute the first application AP1, the extension unit resource management function 115, as shown in process P6, sends an executable notification to the overall resource management function 36 indicating that the extension unit 13 is capable of executing the first application AP1.

[0101] When the overall resource management function 36 receives an executable notification from the extension unit resource management function 115, as shown in process P7, it sends an executable notification to the basic unit resource management function 35 indicating that the extension unit 13 is capable of executing the first application AP1.

[0102] When the basic unit resource management function 35 receives an executable notification from the overall resource management function 36, as shown in process P8, it sends an application configuration request to the overall resource management function 36 to configure the first application AP1 in the extension unit 13, and a data flow change request to change the data flow in order to enable the first application AP1 to be executed in the extension unit 13.

[0103] When the overall resource management function 36 receives the application configuration request and data flow change request from the basic unit resource management function 35, as shown in processing P9, it sends the received application configuration request and data flow change request to the extended unit resource management function 115.

[0104] Therefore, as Figure 5 As shown by arrow L3, the expansion unit 13 configures the first application AP1 in the expansion unit 13 by reading the program of the first application AP1 from the storage device 24 and expanding it to the RAM 113.

[0105] In addition, the basic unit 11 and the extended unit 13 are as follows Figure 5As indicated by arrow L4, the data stream is modified so that the first application AP1 configured in the expansion unit 13 can utilize the image data from the front camera 71. Specifically, the base unit 11 sends the image data from the front camera 71 to the expansion unit 13 via communication between the base SoC 21 and the expansion SoC 41. The expansion unit 13 then sends the image data received from the base unit 11 to the first application AP1 configured in the expansion unit 13.

[0106] When application configuration and data flow changes are complete, the extended unit resource management function 115, such as Figure 6 As shown in P10, the first application AP1 is instructed to execute the processing.

[0107] Thus, the first application AP1 performs processing on the extension unit 13 as shown in process P11.

[0108] Next, the steps for executing the first application AP1 in the center 3 when there are insufficient resources to execute the first application AP1 in the basic unit 11 will be explained.

[0109] Figure 7 The processing of P1, P2, P3, P4, and P5 is due to... Figure 7 The processing of P1, P2, P3, P4, and P5 is the same, so the explanation is omitted.

[0110] When the extension unit resource management function 115 receives an application execution feasibility determination request from the overall resource management function 36, it determines whether there are any remaining resources in the extension unit 13 required to execute the first application AP1. Since there are no remaining resources in the extension unit 13 required to execute the first application AP1, the extension unit resource management function 115 proceeds as scheduled. Figure 7 As shown in P21, a non-executable notification indicating that the first application AP1 cannot be executed by the extension unit 13 is sent to the overall resource management function 36. Furthermore, the extension unit resource management functions 125, 135, and 145 of the extension units 14, 15, and 16 also send non-executable notifications to the overall resource management function 36.

[0111] The overall resource management function 36, which receives all non-executable notifications from extension units 13-16, performs a judgment process, as shown in process P22, to determine whether the first application AP1 can be configured in the cloud configuration of center 3.

[0112] The overall resource management function 36 determines through cloud configuration judgment that the first application AP1 can be configured in the center 3. As shown in the processing P23, it sends a configurable notification to the basic unit resource management function 35 indicating that the first application AP1 can be configured in the center 3.

[0113] When the basic unit resource management function 35 receives a configurable notification from the overall resource management function 36, as shown in process P24, it sends an application configuration request to the overall resource management function 36 to configure the first application AP1 in the center 3, and a data flow change request to change the data flow in order to enable the first application AP1 to be executed in the center 3.

[0114] When the overall resource management function 36 receives the application configuration request and data flow change request from the basic unit resource management function 35, as shown in processing P25, it sends the received application configuration request and data flow change request to the cloud resource management function 65 of the center 3.

[0115] When the cloud resource management function 65 receives an application configuration request and a data stream change request from the overall resource management function 36, it receives the program of the first application AP1 from the base unit 11 and expands it to the RAM 63, thereby configuring the first application AP1 in the center 3. Additionally, the base unit 11 changes the data stream to send image data from the front camera 71 to the center 3. Furthermore, the center 3 changes the data stream so that the first application AP1 configured in the center 3 can utilize the image data from the front camera 71 received from the base unit 11.

[0116] When the application configuration and data stream changes are completed, the cloud resource management function 65, as shown in process P26, instructs the first application AP1 configured in the center 3 to execute the process.

[0117] Thus, the first application AP1 performs processing on center 3 as shown in process P27.

[0118] Next, the steps for when there are insufficient resources to execute the first application AP1 in the basic unit 11 and the first application AP1 cannot be executed on the center 3 will be explained.

[0119] Figure 8 The processing of P1, P2, P3, P4, P5, P21, and P22 is due to... Figure 7 The processing of P1, P2, P3, P4, P5, P21, and P22 is the same, so the explanation is omitted.

[0120] Overall resource management function 36 Figure 8 The cloud configuration judgment process of P22 determines that the first application AP1 cannot be configured in the center 3. As shown in the process P31, a non-configurable notification indicating that the first application AP1 cannot be configured in the center 3 is sent to the basic unit resource management function 35.

[0121] When the basic unit resource management function 35 receives an unconfigurable notification from the overall resource management function 36, it sends the received unconfigurable notification to the first application AP1.

[0122] Therefore, the first application AP1 does not perform any processing.

[0123] Next, the steps for executing the third application AP3 on the extension unit 13 while the first application AP1 is being executed on the extension unit 13 will be described.

[0124] like Figure 9 As shown in process P41, when the first application AP1 is being executed on the extension unit 13, as shown in process P42, the third application AP3 sends an execution request to the extension unit resource management function 115 of the extension unit 13.

[0125] When the extended unit resource management function 115 receives an execution request from the third application AP3, as shown in process P43, it compares the priority of the first application AP1 with the priority of the third application AP3 to determine whether to execute the third application AP3.

[0126] If the extended unit resource management function 115 determines that the third application AP3 is being executed, as shown in process P44, it sends a stop request to the first application AP1 to stop the first application AP1.

[0127] When the first application, AP1, receives a stop request, it stops processing.

[0128] The extended unit resource management function 115, as shown in process P45, instructs the third application AP3 to execute the process.

[0129] Therefore, the third application AP3 performs processing on the extension unit 13 as shown in process P46.

[0130] When the third application AP3 stops processing, the extended unit resource management function 115, as shown in process P47, sends an application stop notification to the overall resource management function 36 indicating that the third application AP3 has stopped processing.

[0131] When the overall resource management function 36 receives an application stop notification, as shown in process P48, it sends the received application stop notification to the basic unit resource management function 35.

[0132] When the basic unit resource management function 35 receives an application stop notification, as shown in process P49, it determines whether the first application AP1 can be executed on the basic unit 11.

[0133] If the basic unit resource management function 35 determines that the first application AP1 can be executed on the basic unit 11, as shown in process P50, it instructs the first application AP1 configured on the basic unit 11 to execute the process.

[0134] Thus, the first application AP1 performs processing on the basic unit 11 as shown in process P51.

[0135] Next, the steps of request processing performed by the base SoC 21 of the base unit 11 will be described. Request processing is the process that begins when an execution request is received from the application.

[0136] When performing request processing, such as Figure 10 As shown, in S10, the CPU31 of the base SoC21 determines whether the preset number of expansion units n is greater than 0. In this embodiment, n = 4.

[0137] Here, when the number of extension units n is greater than 0, CPU 31 creates a request order list in S20, representing the order in which extension units 13 to 16 send the application to execute the yes / no judgment request (hereinafter, the execution order of the yes / no judgment request). Specifically, CPU 31 creates the request order list by determining the execution order of the yes / no judgment requests based on a pre-set request order determination condition.

[0138] As a condition for determining the order of requests, for example, any one of the following first, second, third, fourth, and fifth conditions may be set.

[0139] The first determining factor is the order of the slots in the housing that house the expansion units 13 to 16. For example, if the first, second, third, and fourth slots of the housing house the expansion units 13, 14, 15, and 16 respectively, the order of performing the approval / disappearance determination request is the earlier order of expansion unit 13, expansion unit 14, expansion unit 15, and expansion unit 16.

[0140] The second determining factor is the order of available resources from largest to smallest.

[0141] The third determining factor is the order in which the characteristics of the application that becomes the object of the application's ability to perform the ability-to-determine request are similar to those of the extension unit. For example, if the application that becomes the object of the application's ability-to-determine request is an entertainment application, and the extension unit 13 mainly carries entertainment applications, the order in which the extension unit 13 performs the ability-to-determine request will be earlier.

[0142] The fourth determining factor is the order of security levels from low to high.

[0143] The fifth determining factor is the order of responsiveness from high to low.

[0144] In S30, CPU31 sets the request sequence indicator value i in RAM33 to 1.

[0145] In S40, CPU31 determines whether the request sequence indicator value i is greater than the number of expansion units n. Here, if the request sequence indicator value i is less than or equal to the number of expansion units n, CPU31, in S50, sends an application execution approval request to the expansion unit whose execution approval request order is i-th.

[0146] In S60, CPU31 determines whether an executable notification has been received from the i-th extension unit in the execution permission determination request sequence. Here, if no executable notification has been received, CPU31 determines in S65 whether a preset standby time has elapsed since the application execution permission determination request was sent in S50.

[0147] Here, if the standby time has elapsed, CPU31 switches to S80. On the other hand, if the standby time has not elapsed, CPU31 in S70 determines whether it has received an unexecutable notification from the i-th extension unit in the execution permission determination request sequence.

[0148] Here, if no non-executable notification is received, CPU31 switches to S60. On the other hand, if a non-executable notification is received, CPU31 switches to S80.

[0149] When the transfer is made to S80, CPU31 increments the request sequence indicator value i (i.e., adds 1) and transfers to S40.

[0150] Additionally, in S60, upon receiving an executable notification, CPU31 sends an executable notification to the basic unit resource management function 35 in S90, ending the request processing.

[0151] In addition, in S40, if the request sequence indicator value i is greater than the number of expansion units n, CPU31 performs the cloud configuration judgment process described later in S100.

[0152] When the processing of S100 ends, CPU31 in S110, based on the judgment result in S100, determines whether the application (hereinafter, the object application) that can be the object of the application to execute the judgment request is configured in center 3.

[0153] Here, when the object application can be configured at center 3, CPU 31 sends a configurable notification to basic unit resource management function 35 in S120 to end request processing.

[0154] On the other hand, if the object application cannot be configured in center 3, CPU 31 sends an unconfigurable notification to basic unit resource management function 35 in S130, and terminates request processing.

[0155] Additionally, in S10, if the number of expansion units n is less than 0, CPU31 sends a resource shortage notification to the basic unit resource management function 35 in S140 and terminates the request processing.

[0156] Next, the steps of the cloud configuration judgment process performed in S100 will be explained. When the cloud configuration judgment process is performed, as follows... Figure 11 As shown, in S210, the CPU31 of the base SoC21 determines whether the responsiveness of the target application is high. For example, if the application requests real-time performance, the CPU31 determines that the responsiveness is high. Here, if the target application is responsive, the CPU31 terminates the cloud configuration determination process.

[0157] On the other hand, if the object application is not responsive, CPU 31 determines in S220 whether the object application can be configured in center 3 from a security perspective. For example, if the object application uses the driver's personal information, CPU 31 determines that there is a security problem and cannot configure the object application in center 3.

[0158] Here, if the object application cannot be configured in center 3 for security reasons, CPU 31 terminates the cloud configuration decision process. On the other hand, if the object application can be configured in center 3 for security reasons, CPU 31 decides in S230 to configure the object application in center 3 and terminates the cloud configuration decision process.

[0159] Next, the priority determination process performed by the extended SoC 43 of the extension unit 13 will be explained. The priority determination process begins when an execution request is received from another application while an application is being executed in the extension unit 13. Furthermore, the priority determination process is also performed in extension units 14, 15, and 16. Hereinafter, the steps of the priority determination process will be explained using the extension unit 13 as an example.

[0160] When performing priority judgment processing, such as Figure 12 As shown, in S310, the CPU111 of the extended SoC43 determines whether the priority of the application that has received the execution request is higher than the priority of the application that is being executed.

[0161] Here, if the priority of the application that receives the execution request is lower than the priority of the application that is currently executing, CPU111 terminates the priority determination process.

[0162] On the other hand, if the priority of the application that is the object of the execution request is higher than the priority of the application that is being executed, CPU111 executes the application that is the object of the execution request after stopping the application that is being executed in S320, and ends the priority judgment process.

[0163] The integrated ECU2 thus configured has a base unit 11 equipped with a CPU 31 and is configured to connect to an expansion unit 13, 14, 15, 16 equipped with CPUs 111, 121, 131, 141.

[0164] The base unit 11 is configured to determine, based on resource information related to the extension units 13, 14, 15, and 16, whether at least one of the extension units 13, 14, 15, and 16 can perform the basic application AP1 when the base unit 11 does not have the resources required for the base unit 11 to execute the first application AP1 mounted on the base unit 11.

[0165] The base unit 11 is configured such that, if at least one of the extension units 13, 14, 15, 16 is capable of executing the base application AP1, at least one of the extension units 13, 14, 15, 16 will execute the base application AP1 instead.

[0166] The basic unit 11 is configured to prevent the execution of the basic application AP1 when the extension units 13, 14, 15, and 16 are unable to perform the basic application AP1.

[0167] Even when the resources of the base unit 11 are insufficient, if the resources of the expansion units 13, 14, 15, and 16 are available, the integrated ECU2 can still allow the application installed on the base unit 11 to run in the expansion units 13, 14, 15, and 16, thus effectively utilizing the resources of the integrated ECU2. Therefore, the integrated ECU2 can improve the utilization efficiency of the resources available to it.

[0168] In addition, expansion units 13, 14, 15, and 16 respectively have expansion unit resource management functions 115, 125, 135, and 145 configured to manage the resources in expansion units 13, 14, 15, and 16.

[0169] The basic unit 11 has basic unit resource management function 35, which is configured to manage the resources in the basic unit 11. The basic unit 11 has overall resource management function 36, which is configured to manage basic unit resource management function 35 and extended unit resource management functions 115, 125, 135, and 145.

[0170] The basic unit resource management function 35 is configured to determine, based on the resources in the basic unit 11, whether the basic unit 11 can execute the basic mounted application AP1.

[0171] The extension unit resource management functions 115, 125, 135, and 145 are configured to determine, based on the resources in extension units 13, 14, 15, and 16, whether extension units 13, 14, 15, and 16 can replace the execution of the basic application AP1.

[0172] The overall resource management function 36 is configured to, when the basic unit resource management function 35 determines that the basic unit 11 cannot execute the basic application AP1, obtain from the extension unit resource management functions 115, 125, 135, and 145 an executable notification or an unexecutable notification indicating whether the extension unit can execute the basic application AP1.

[0173] This integrated ECU2, through its overall resource management function 36 which includes management extension unit resource management functions 115, 125, 135, and 145, makes it easy to manage the resources available to the integrated ECU2 when multiple extension units are connected to the basic unit 11.

[0174] Furthermore, the base unit 11 is configured to create a request order list indicating the order in which extension units 13, 14, 15, and 16 send application execution feasibility determination requests. These application execution feasibility determination requests are used to request a determination of whether the base-mounted application AP1 can be executed instead. The base unit 11 is configured to send application execution feasibility determination requests to extension units 13, 14, 15, and 16 in the order shown in the request order list.

[0175] This integrated ECU2 can prioritize sending application execution permission requests to expansion units with a high probability of having sufficient resources, and can determine early on which expansion unit can replace the base application AP1 for execution.

[0176] Furthermore, the base unit 11 is configured such that, in the event of low responsiveness of the base application AP1, the center 3, located outside the integrated ECU2 and configured to communicate wirelessly with the integrated ECU2, takes over the execution of the base application AP1. This allows the integrated ECU2 to suppress situations where the base application AP1 cannot be executed due to insufficient available resources.

[0177] Furthermore, the base unit 11 is configured to prevent the center 3 from executing the base application AP1 even if the responsiveness of the base application AP1 is low, in case there is a safety issue with the center 3 executing the base application AP1. This integrated ECU2 can suppress safety issues arising from the center 3 executing the base application AP1.

[0178] The extension units 13, 14, 15, and 16 are configured such that, when the extension units 13, 14, 15, and 16 execute the base application AP1, and an execution request is received from the third application AP3 (hereinafter, extended application AP3) mounted on the extension units 13, 14, 15, and 16, the application with the higher priority between the base application AP1 and the extended application AP3 is executed first. This integrated ECU2 can prevent situations where higher-priority applications cannot be executed due to the extension units 13, 14, 15, and 16 executing the base application AP1.

[0179] Furthermore, the expansion units 13, 14, 15, and 16 are configured to retrieve the program of the basic application AP1 from the storage device 24 shared by the basic unit 11 and the expansion units 13, 14, 15, and 16 when executing the basic application AP1. This integrated ECU2 effectively utilizes its data memory area because it eliminates the need for each expansion unit 13, 14, 15, and 16 to separately remember the program of the basic application AP1.

[0180] Furthermore, the base unit 11 is configured to determine whether the center 3 can replace the execution of the base application AP1 when the extension units 13, 14, 15, and 16 are unable to perform the execution of the base application AP1. The base unit 11 is configured to prohibit the execution of the base application AP1 when the extension units 13, 14, 15, 16, and the center 3 are unable to perform the execution of the base application AP1.

[0181] This integrated ECU2, by prioritizing the center 3 and having the extension units 13, 14, 15, and 16 execute the base application AP1, can suppress the decrease in responsiveness of the base application AP1 caused by wireless communication between the center 3 and the integrated ECU2.

[0182] In the embodiments described above, CPU31 is equivalent to the central processing unit of the basic unit, and CPUs111, 121, 131, and 141 are equivalent to the central processing units of the expansion units.

[0183] In addition, the integrated ECU2 is equivalent to an electronic control device and an electronic control system, S10 to S80 are equivalent to the processing of the substitution judgment unit, the executable notification or non-executable notification is equivalent to resource information, S90 is equivalent to the processing of the extension substitution unit, and S130 and S140 are equivalent to the processing of the execution prohibition unit.

[0184] In addition, the extended unit resource management functions 115, 125, 135, and 145 are equivalent to the extended resource management department, the basic unit resource management function 35 is equivalent to the basic resource management department, the overall resource management function 36 is equivalent to the overall resource management department, and the executable or non-executable notification is equivalent to the substitute judgment result.

[0185] In addition, S20 is equivalent to the processing of the list creation unit, S50 is equivalent to the processing of the request sending unit, S100, S110, and S120 are equivalent to the processing of the center replacement unit, S310 and S320 are equivalent to the processing of the priority judgment unit, the storage device 24 is equivalent to the shared memory, and the vehicle control system 1 is equivalent to the control system.

[0186] While one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment and can be implemented in various modifications.

[0187] [Variation Example 1]

[0188] In the above embodiment, it is shown that the expansion unit 13 reads the program of the first application AP1 from the storage device 24 and expands it into the RAM 113, thereby configuring the first application AP1 in the form of the expansion unit 13. However, as Figure 13 As indicated by arrows L5 and L6, the expansion unit 13 can also access the ROM32 of the base unit 11, read the program of the first application AP1 from the ROM32, and expand it to the RAM113, thereby configuring the first application AP1 in the expansion unit 13. The ROM32 is equivalent to a memory.

[0189] Since this integrated ECU2 does not require the expansion units 13, 14, 15, and 16 to separately store the program of the basic application AP1, it can effectively utilize the data memory area of ​​the integrated ECU2.

[0190] Alternatively, it can be like Figure 14 As shown by arrows L7 and L8, the expansion unit 13 accesses the ROM 112 of the expansion unit 13, reads the program of the first application AP1 from the ROM 112, and expands it to the RAM 113, thereby configuring the first application AP1 in the expansion unit 13.

[0191] [Variation Example 2]

[0192] In the above embodiment, the overall resource management function 36 of the basic unit 11 is shown sending an application execution feasibility determination request to the expansion units 13-16 when it receives an external resource usage request from the first application AP1. However, if the integrated ECU2 does not have expansion units 13-16 and there is no center 3, the overall resource management function 36 can also be implemented as follows: Figure 15 As shown in P61, a resource shortage notification indicating that there are no external free resources is sent to the first application AP1.

[0193] Furthermore, even when the integrated ECU2 lacks expansion units 13-16 and has a center 3, the overall resource management function 36 can still function as follows: Figure 16 As shown in process P71, similar to process P22, cloud configuration judgment processing is performed. In this case, the overall resource management function 36 determines through cloud configuration judgment processing that the first application AP1 can be configured in the center 3. As shown in process P72, similar to process P23, a configurable notification is sent to the basic unit resource management function 35.

[0194] When the basic unit resource management function 35 receives a configurable notification from the overall resource management function 36, as shown in process P73, similarly to process P24, it sends an application configuration request and a data flow change request to the overall resource management function 36.

[0195] When the overall resource management function 36 receives the application configuration request and data flow change request from the basic unit resource management function 35, as shown in process P74, similarly to process P25, it sends the received application configuration request and data flow change request to the cloud resource management function 65 of the center 3.

[0196] When the application configuration and data flow changes are completed, the cloud resource management function 65, as shown in process P75, similarly to process P26, instructs the first application AP1 configured in the center 3 to execute the process.

[0197] Thus, the first application AP1, as shown in process P76, performs processing on center 3 in the same manner as process P27.

[0198] [Variation Example 3]

[0199] In the above embodiments, resource information is shown in the form of executable notifications and non-executable notifications. However, the extension unit resource management functions 115, 125, 135, and 145 may also send resource information such as whether the extension unit can utilize the sensors used by the base application, the operating status of the extension unit's CPU, and the RAM utilization status of the extension unit to the overall resource management function 36. Thus, the overall resource management function 36 can determine, based on the received resource information, whether at least one of the extension units 13-16 can replace the execution of the base application.

[0200] The SoCs 21, 43-46 and their methods described in this disclosure can be implemented by a dedicated computer comprising a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the SoCs 21, 43-46 and their methods described in this disclosure can also be implemented by a dedicated computer provided by a processor composed of one or more dedicated hardware logic circuits. Alternatively, the SoCs 21, 43-46 and their methods described in this disclosure can be implemented by one or more dedicated computers comprising a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. Furthermore, the computer program, as instructions executed by a computer, can also be stored in a computer-readable non-transitory tangible recording medium. The methods for implementing the functions of the components included in the SoCs 21, 43-46 do not necessarily require software; all their functions can be implemented using one or more hardware components.

[0201] The multiple functions of one component in the above embodiments can also be implemented by multiple components, and the single function of one component can also be implemented by multiple components. Furthermore, the multiple functions of multiple components can also be implemented by one component, and the single function implemented by multiple components can also be implemented by one component. Additionally, a portion of the configuration in the above embodiments can be omitted. Furthermore, at least a portion of the configuration in the above embodiments can be added to or replaced in the configurations of other above embodiments.

[0202] In addition to the integrated ECU2 described above, this disclosure can also be implemented in various forms, such as a system that includes the integrated ECU2, a program for enabling a computer to function as the integrated ECU2, a non-transitory physical recording medium such as a semiconductor memory that records the program, and a function expansion method.

[0203] [The technical concepts disclosed in this specification]

[0204] [Project 1]

[0205] An electronic control device (2) includes a base unit (11) equipped with a central processing unit (31), and is configured such that one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141) can be connected to the base unit, wherein...

[0206] The basic unit has:

[0207] The substitution determination unit (S10~S80) is configured to determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the basic application (AP1) when the basic unit does not have the resources required for the basic application (AP1) to be executed by the basic unit.

[0208] An extension substitution unit (S90) is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituting for the execution of the base application; and

[0209] The execution prohibition unit (S130, S140) is configured to prohibit the execution of the base application when one or more of the extension units cannot perform the base application, based on the determination result of the substitution determination unit.

[0210] [Project 2]

[0211] The electronic control device as described in Project 1, wherein...

[0212] One or more of the expansion units each have one or more expansion resource management units (115, 125, 135, 145) configured to manage resources in the expansion unit.

[0213] The basic unit has:

[0214] Basic Resource Management Department (35), which is configured to manage the resources in the basic unit; and

[0215] The overall resource management department (36) is configured to manage the basic resource management department and one or more of the extended resource management departments.

[0216] The basic resource management unit is configured to determine, based on the resources in the basic unit, whether the basic unit is capable of executing the basic application.

[0217] One or more of the aforementioned extended resource management units are configured to determine, based on the resources in the extended unit, whether the extended unit can replace the execution of the underlying application.

[0218] The overall resource management unit is configured to, when the basic resource management unit determines that the basic unit cannot execute the basic application, obtain one or more alternative determination results from one or more of the extended resource management units indicating whether the extended unit can execute the basic application instead.

[0219] [Project 3]

[0220] The electronic control device as described in Project 1 or Project 2, wherein...

[0221] The basic unit also includes:

[0222] A list creation unit (S20) is configured to create a request order list, which indicates the order in which one or more of the extended units send an application execution feasibility determination request, the application execution feasibility determination request being used to request a determination of whether the underlying application can be executed instead; and

[0223] The request sending unit (S50) is configured to send the application execution capability determination request to one or more of the extended units in the order shown in the request order list.

[0224] [Project 4]

[0225] The electronic control device as described in any one of Items 1 to 3, wherein...

[0226] The basic unit also includes a center replacement unit (S100, S110, S120), which is configured to, in the event that the responsiveness of the basic application is not high, have a center (3) located outside the electronic control device and configured to communicate wirelessly with the electronic control device execute the basic application instead.

[0227] [Project 5]

[0228] The electronic control device as described in Project 4, wherein...

[0229] The central replacement unit is configured to prevent the central replacement unit from executing the basic application even if there is a security problem if the responsiveness of the basic application is not high.

[0230] [Project 6]

[0231] The electronic control device as described in any one of Items 1 to 5, wherein...

[0232] One or more of the expansion units further include a priority determination unit (S310, S320), which is configured to, when the expansion unit performs the basic mounted application instead of the basic mounted application, execute the application with higher priority among the basic mounted application and the application with higher priority when an execution request is obtained from the extended mounted application (AP3), which is an application mounted on the expansion unit.

[0233] [Project 7]

[0234] The electronic control device as described in any one of items 1 to 6, wherein...

[0235] One or more of the expansion units are configured to retrieve the program of the base application from a shared memory (24) shared by the base unit and one or more of the expansion units, instead of executing the base application.

[0236] [Project 8]

[0237] The electronic control device as described in any one of items 1 to 6, wherein...

[0238] One or more of the expansion units are configured to retrieve the program of the base application from the memory (32) mounted on the base unit instead of executing the base application.

[0239] [Project 9]

[0240] The electronic control device as described in Project 4 or Project 5, wherein...

[0241] The central replacement unit is configured to, based on the determination result of the replacement determination unit, determine whether the central unit can replace the execution of the basic mounted application when one or more of the extended units cannot replace the execution of the basic mounted application.

[0242] The execution prohibition unit is configured to prohibit the execution of the base application when one or more of the expansion units and the center are unable to perform the base application.

[0243] [Project 10]

[0244] A control program wherein the computer of the basic unit of the electronic control device (2) functions as a substitution judgment unit (S10-S80), an extension substitution unit (S90), and an execution prohibition unit (S130, S140).

[0245] The electronic control device includes a base unit (11) equipped with a central processing unit (31) and is configured to connect, relative to the base unit, one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141).

[0246] The substitution determination unit is configured to, when the base unit does not have the resources required for the base-mounted application (AP1) to execute by the base unit, determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the base-mounted application, which is an application mounted on the base unit.

[0247] The extended substitution unit is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extended units to substitute for the execution of the base application if at least one of the extended units is capable of performing the base application.

[0248] The execution prohibition unit is configured to prohibit the execution of the base application when one or more of the extension units cannot perform the base application, based on the determination result of the substitution determination unit.

[0249] [Project 11]

[0250] A control method is executed in a base unit of an electronic control device (2), the electronic control device having the base unit (11) equipped with a central processing unit (31), and configured such that one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141) can be connected to the base unit, wherein...

[0251] If the base unit lacks the resources required for executing the base-mounted application (AP1), the base unit determines, based on resource information associated with one or more of the extended units, whether at least one of the extended units can execute the base-mounted application, which is an application mounted on the base unit.

[0252] If at least one of the one or more extension units is capable of executing the base application, the base unit causes at least one of the one or more extension units to execute the base application.

[0253] If one or more of the extended units are unable to perform the underlying application, the base unit disables the execution of the underlying application.

[0254] [Project 12]

[0255] A control system (1) comprising:

[0256] An electronic control device (2) comprising a base unit (11) equipped with a central processing unit (31), and configured to connect, relative to the base unit, one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141); and

[0257] Center (3), which is located outside the electronic control device and is configured to communicate wirelessly with the electronic control device, wherein,

[0258] The basic unit has:

[0259] The substitution determination unit (S10~S80) is configured to determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the basic application (AP1) when the basic unit does not have the resources required for the basic application (AP1) to be executed by the basic unit.

[0260] An extension substitution unit (S90) is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituting for the execution of the base application; and

[0261] The execution prohibition unit (S130, S140) is configured to prohibit the execution of the base application when one or more of the extended units cannot substitute for the execution of the base application, based on the determination result of the substitution determination unit.

[0262] The center is configured to be able to execute the underlying application instead.

[0263] [Project 13]

[0264] An electronic control system (2) comprises:

[0265] Basic unit (11), which is equipped with a central processing unit (31); and

[0266] One or more expansion units (13, 14, 15, 16), each equipped with a central processing unit (111, 121, 131, 141), are configured to be connectable relative to the base unit, wherein...

[0267] The basic unit has:

[0268] The substitution determination unit (S10~S80) is configured to determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the basic application (AP1) when the basic unit does not have the resources required for the basic application (AP1) to be executed by the basic unit.

[0269] An extension substitution unit (S90) is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituting for the execution of the base application; and

[0270] The execution prohibition unit (S130, S140) is configured to prohibit the execution of the base application when one or more of the extension units cannot perform the base application, based on the determination result of the substitution determination unit.

Claims

1. An electronic control device (2) comprising a base unit (11) equipped with a central processing unit (31), and configured such that one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141) can be connected to the base unit, characterized in that, The basic unit has: The substitution determination unit (S10~S80) is configured to determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the basic application (AP1) when the basic unit does not have the resources required for the basic application (AP1) to be executed by the basic unit. An extension substitution unit (S90) is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituted for the execution of the base application. as well as The execution prohibition unit (S130, S140) is configured to prohibit the execution of the base application when one or more of the extension units cannot perform the base application, based on the determination result of the substitution determination unit.

2. The electronic control device as described in claim 1, characterized in that, One or more of the expansion units each have one or more expansion resource management units (115, 125, 135, 145) configured to manage resources in the expansion unit. The basic unit has: Basic Resource Management Department (35), which is configured to manage the resources in the basic unit; and The overall resource management department (36) is configured to manage the basic resource management department and one or more of the extended resource management departments. The basic resource management unit is configured to determine, based on the resources in the basic unit, whether the basic unit is capable of executing the basic application. One or more of the aforementioned extended resource management units are configured to determine, based on the resources in the extended unit, whether the extended unit can replace the execution of the underlying application. The overall resource management unit is configured to, when the basic resource management unit determines that the basic unit cannot execute the basic application, obtain one or more alternative determination results from one or more of the extended resource management units indicating whether the extended unit can execute the basic application instead.

3. The electronic control device as described in claim 1 or 2, characterized in that, The basic unit also includes: The list creation unit (S20) is configured to create a request order list, which indicates the order in which one or more of the extended units send an application execution enable / disable determination request, the application execution enable / disable determination request being used to request a determination of whether the basic mounted application can be executed instead; as well as The request sending unit (S50) is configured to send the application execution capability determination request to one or more of the extended units in the order shown in the request order list.

4. The electronic control device as described in claim 1 or 2, characterized in that, The basic unit also includes a center replacement unit (S100, S110, S120), which is configured to, in the event that the responsiveness of the basic application is not high, have a center (3) located outside the electronic control device and configured to communicate wirelessly with the electronic control device execute the basic application instead.

5. The electronic control device as described in claim 4, characterized in that, The central replacement unit is configured to prevent the central replacement unit from executing the basic application even if there is a security problem if the responsiveness of the basic application is not high.

6. The electronic control device as described in claim 1 or 2, characterized in that, One or more of the expansion units further include a priority determination unit (S310, S320), which is configured to, when the expansion unit performs the basic mounted application instead of the basic mounted application, execute the application with higher priority among the basic mounted application and the application with higher priority when an execution request is obtained from the extended mounted application (AP3), which is an application mounted on the expansion unit.

7. The electronic control device as described in claim 1 or 2, characterized in that, One or more of the expansion units are configured to retrieve the program of the base application from a shared memory (24) shared by the base unit and one or more of the expansion units, instead of executing the base application.

8. The electronic control device as described in claim 1 or 2, characterized in that, One or more of the expansion units are configured to retrieve the program of the base application from the memory (32) mounted on the base unit instead of executing the base application.

9. The electronic control device as described in claim 4, characterized in that, The central replacement unit is configured to, based on the determination result of the replacement determination unit, determine whether the central unit can replace the execution of the basic mounted application when one or more of the extended units cannot replace the execution of the basic mounted application. The execution prohibition unit is configured to prohibit the execution of the base application when one or more of the expansion units and the center are unable to perform the base application.

10. A control program, characterized in that, The computer of the basic unit of the electronic control device (2) functions as a substitution judgment unit (S10~S80), an extension substitution unit (S90), and an execution prohibition unit (S130, S140). The electronic control device includes a base unit (11) equipped with a central processing unit (31) and is configured to connect, relative to the base unit, one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141). The substitution determination unit is configured to, when the base unit does not have the resources required for the base-mounted application (AP1) to execute by the base unit, determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the base-mounted application, which is an application mounted on the base unit. The extended substitution unit is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extended units to substitute for the execution of the base application if at least one of the extended units is capable of performing the base application. The execution prohibition unit is configured to prohibit the execution of the base application when one or more of the extension units cannot perform the base application, based on the determination result of the substitution determination unit.

11. A control method executed in a base unit of an electronic control device (2), the electronic control device comprising the base unit (11) equipped with a central processing unit (31), and configured such that one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141) can be connected to the base unit, characterized in that, If the base unit lacks the resources required for executing the base-mounted application (AP1), the base unit determines, based on resource information associated with one or more of the extended units, whether at least one of the extended units can execute the base-mounted application, which is an application mounted on the base unit. If at least one of the one or more extension units is capable of executing the base application, the base unit causes at least one of the one or more extension units to execute the base application. If one or more of the extended units are unable to perform the underlying application, the base unit disables the execution of the underlying application.

12. A control system (1), comprising: An electronic control device (2) comprising a base unit (11) equipped with a central processing unit (31), and configured to connect, relative to the base unit, one or more expansion units (13, 14, 15, 16) equipped with the central processing unit (111, 121, 131, 141); and Center (3), which is located outside the electronic control device and configured to communicate wirelessly with the electronic control device, is characterized in that, The basic unit has: The substitution determination unit (S10~S80) is configured to determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the basic application (AP1) when the basic unit does not have the resources required for the basic application (AP1) to be executed by the basic unit. An extension substitution unit (S90) is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituted for the execution of the base application. as well as The execution prohibition unit (S130, S140) is configured to prohibit the execution of the base application when one or more of the extended units cannot substitute for the execution of the base application, based on the determination result of the substitution determination unit. The center is configured to perform the underlying application instead of the application itself.

13. An electronic control system (2), comprising: Basic unit (11), which is equipped with a central processing unit (31); and One or more expansion units (13, 14, 15, 16), each equipped with a central processing unit (111, 121, 131, 141), and configured to be connectable relative to the base unit, characterized in that... The basic unit has: The substitution determination unit (S10~S80) is configured to determine, based on resource information related to one or more of the extension units, whether at least one of the extension units can substitute for executing the basic application (AP1) when the basic unit does not have the resources required for the basic application (AP1) to be executed by the basic unit. An extension substitution unit (S90) is configured to, based on the determination result of the substitution determination unit, cause at least one of the one or more extension units to substitute for the execution of the base application if at least one of the one or more extension units is capable of substituted for the execution of the base application. as well as The execution prohibition unit (S130, S140) is configured to prohibit the execution of the base application when one or more of the extension units cannot perform the base application, based on the determination result of the substitution determination unit.

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