Electronic control device, in-vehicle system and power supply control procedure

Abstract

Electronic control device (201) comprising: a reconfiguration circuit (209) which is a reconfigurable logic circuit; a function control unit (207) that determines an operating mode of the reconfiguration circuit (209) based on a mode determination signal that is input from outside and indicates a driving mode of a vehicle, and controls a reconfiguration of the reconfiguration circuit (209) based on a determination result; a power supply circuit (211) that supplies a power supply voltage to the reconfiguration circuit (209); and a power supply control unit (206) that controls the power supply circuit (211), wherein The power supply control unit (206) controls a supply current generated by the power supply circuit (211) before a load variation of the reconfiguration circuit (209) on the basis of power supply control information as information for controlling the power supply circuit (211).

Description

Technical field

[0001] The present invention relates to an electronic control device, an in-vehicle system and a power supply control method, and in particular to a technology that is effective for controlling a power supply that supplies power to a logic circuit whose circuit configuration can be changed. State of the art

[0002] An automated driving system is a system that can solve various societal problems, including reducing the number of accidents and resolving traffic jams, and efforts toward its commercialization are active worldwide every year. An automated driving system requires the detection of a vehicle, a pedestrian, a white line, and the like from sensor input (camera, radar, etc.) and the transmission of this information to a driver, or the control of braking and steering. Therefore, the simultaneous processing of advanced detection algorithms, or multiple algorithms, is necessary.

[0003] To address this need, an improvement in the performance of the automatic operating system is being investigated using a user-programmable logic gate array (FPGA) in addition to a CPU.

[0004] The FPGA is a reconfiguration circuit capable of modifying a logic circuit and has the feature that processing typically performed in multiple hardware components can be carried out on a single circuit. The present invention is, of course, not limited to the logic circuit described above, and a complete electronic circuit is only used when power is supplied by a power supply circuit.

[0005] Meanwhile, in an electronic device such as a portable computer, consumption is reduced by adopting a power management scheme in a predetermined operating mode and appropriately switching a function of a selected arrangement in the electronic device to invalidity or validity.

[0006] If the function of the arrangement of the electronic device is rendered valid or invalid, a load of the electronic device changes, an output voltage from a power supply device temporarily increases and decreases, and a data error, an automatic reset, or the like may be caused.

[0007] As a technology for reducing the temporary voltage variation, there is, for example, a technology for determining a load state of at least one circuit block as a function of an enable signal or a clock signal and causing the power supply device to control the output current with the output current of the power supply device as a function of the load state of at least one circuit block (see, for example, PTL 1).

[0008] Furthermore, a technology for smoothing the output voltage of a power supply circuit, namely the provision of an output capacitor between an output terminal of the power supply and a ground terminal, is well known. PTL 2 further discloses a computing system for vehicles that detects the presence of occupants. When the vehicle is operating autonomously without occupants, this system can deactivate selected driver- and passenger-related systems or components, such as interior lighting or displays. PTL 3 describes a control method in which a processor determines an overtaking direction and a target distance to an abnormally moving vehicle ahead. A sensor identifies a lane in the calculated direction, taking the target distance into account, and a drive unit controls the vehicle's movement to maintain this target distance during the maneuver.PTL 4 discloses a method for implementing a sectional design, for example in quadrants, for autonomous vehicles. This can include modular construction techniques to assemble a vehicle from several structural sections exhibiting radial and bilateral symmetry. PTL 5 describes an electronic control unit comprising a dynamically reconfigurable circuit and a switching device. This switching device selects the signals to be processed from several sensor signals, whereupon the reconfigurable circuit adapts its internal structure to process the selected signals. PTL 6 discloses an information processing device with multiple circuit blocks containing arithmetic elements, the structure of which is dynamically reconfigurable. To reduce power consumption, the device determines which arithmetic elements to use.It then controls the power supply so that different groups of circuit blocks, to which the specific elements belong, are activated at different times. PTL 7 describes an electronic device that includes a switched-mode power supply for powering a processor. The switching frequency of the power supply is dynamically adjusted by a control signal, depending on the processor's power consumption during signal processing. PTL 8 discloses a switched-mode power supply with power factor correction that prevents acoustic interference caused by subharmonic oscillations or resonance. This is achieved by proactively reducing the load current before conventional protection mechanisms are triggered. Finally, PTL 9 describes an automatic driving control device for vehicles. This device includes a unit for setting an extended automatic mode or a basic mode and an automation control unit.In extended automatic mode, the control unit automatically performs predefined driving operations and stops at least one of these operations if a predefined, necessary abort event occurs. List of prior art patent literature PTL 1: JP 2004-336986 A PTL 2: US 2017 / 364 629 A1 PTL 3: US 2017 / 183 007 A1 PTL 4: US 9 802 661 B1 PTL 5: JP 2010 - 282 563 A PTL 6: JP 2014 - 137 797 A PTL 7: JP 2006 - 060 918 A PTL 8: JP 2011- 103 725 A PTL 9: WO 2016 / 080 452 A1 Summary of the invention: Technical problem

[0009] In an automated operating system, it is necessary to react immediately to unexpected situations, such as a pedestrian suddenly jumping out. Therefore, it is required to perform a reconfiguration process of the logic circuit within a short time. When the reconfiguration process transitions into algorithm processing, the load current of the logic circuit increases sharply within a short time. Conversely, when the algorithm processing transitions into reconfiguration processing, the load current of the logic circuit decreases sharply within a short time.

[0010] In the power supply circuit with the FPGA as the load, the output voltage temporarily decreases according to the rapid increase and decrease of the load current described above.

[0011] If, in this case, the output voltage of the power supply circuit is outside the permissible range of the FPGA, a problem arises, increasing the likelihood of data errors or automatic resets. Therefore, the power supply circuit providing current to the FPGA must have a function to supply a constant voltage at all times, even during rapid load variations.

[0012] However, in the technology disclosed in PTL 1, in order to control the circuit block—that is, to estimate the load state of the circuit block from the enable signal or the clock signal in order to change the load state of the circuit block—the control of the power supply circuit should be performed after the load variation. Consequently, it is considered difficult to adequately suppress the transient voltage variation.

[0013] Regarding the output capacitor used to smooth the output voltage of the power supply circuit, if the load increase of the logic circuit becomes faster, a capacitor with a larger capacitance is required, and it is recognized that costs or mounting area increase.

[0014] One object of the present invention is to create a technology capable of reducing a temporary increase / decrease in power supplied to a logic circuit whose circuit configuration can be changed.

[0015] The above and further tasks and new features of the present invention will become apparent from the description in this patent specification and the accompanying drawings. Solution to the problem

[0016] An overview of a representative invention of the inventions disclosed in the present application is described simply as follows.

[0017] This means that a representative electronic control device comprises a reconfiguration circuit, a function control unit, a power supply circuit, and a power supply control unit. The reconfiguration circuit is a reconfigurable logic circuit. The function control unit determines an operating mode of the reconfiguration circuit based on a mode determination signal indicating a vehicle's operating mode and controls a reconfiguration of the reconfiguration circuit based on the determination result. The power supply circuit provides a power supply voltage to the reconfiguration circuit. The power supply control unit controls the power supply circuit.

[0018] The power supply control unit controls a load current generated by the power supply circuit before a load variation of the reconfiguration circuit based on power supply control information as information for controlling the power supply circuit.

[0019] In particular, the power supply control information includes the operating mode of the reconfiguration circuit and control information in the power supply circuit that corresponds to the operating mode. Furthermore, the power supply control unit acquires the control information corresponding to the operating mode determined by the function control unit from the power supply control information.

[0020] Furthermore, the electronic control device includes a power supply control database that stores the power supply control information. The power supply control unit searches for the control information corresponding to the operating mode determined by the function control unit from the power supply control information stored in the power supply control database. Advantageous effects of the invention

[0021] Effects obtained through a representative invention of the inventions disclosed in the present application are simply described as follows.

[0022] (1) A temporary increase / decrease in the output voltage of a power supply circuit that supplies power to a reconfiguration circuit as a logic circuit whose circuit configuration can be changed may be reduced.

[0023] (2) By means of the above (1) an electronic control device with high reliability can be implemented. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a block diagram showing an example of a configuration of an in-vehicle system according to a first embodiment. [ Fig. 2] Fig. Figure 2 is a block diagram showing an example of a configuration of a control ECU for autonomous driving, which is integrated into the vehicle's internal system. Fig. 1 is included. [ Fig. 3] Fig. Figure 3 is an explanatory diagram of a mode database used in a control logic unit for autonomous driving. Fig. 2 is included. [ Fig. 4] Fig. Figure 4 is an explanatory diagram of a processing element database used in the control logic unit for autonomous driving. Fig. 2 is included. [ Fig. 5] Fig. Figure 5 is an explanatory diagram of a power supply tax database used in the autonomous driving control logic unit of Fig. 2 is included. [ Fig. 6] Fig. 6 is a flowchart that provides an example of benefit tax processing in a benefit tax unit of Fig. 2 shows. [ Fig. 7] Fig. Figure 7 is a sequence diagram that shows an example of a benefit tax processing operation in the benefit tax control unit of Fig. 2 shows. [ Fig. 8] Fig. Figure 8 is a sequence diagram that shows an example of an operating mode extension in the vehicle's internal system. Fig. 1 shows. [ Fig. 9] Fig. Figure 9 is a block diagram showing another example of the control ECU for autonomous driving. Fig. 2 shows. [ Fig. 10] Fig. Figure 10 is an explanatory diagram showing an example of a configuration of a control ECU for autonomous driving according to a second embodiment. [ Fig. 11] Fig. Figure 11 is a schematic diagram of an inductor current waveform and an output voltage change to illustrate the effect of power supply control by a power supply control unit. Fig. To show 10. [ Fig. 12] Fig. Figure 12 is an explanatory diagram of a power supply tax database used in the control ECU for autonomous driving. Fig. It contains 10. [ Fig. 13] Fig. Figure 13 is an explanatory diagram showing another configuration example of the control ECU for autonomous driving. Fig. 10 shows. Description of embodiments

[0024] In the following embodiments, the invention is described in several sections or embodiments if this is necessary for convenience. However, these sections or embodiments are not irrelevant to each other unless otherwise stated, and one refers to all or part of the others as a modification, detail, or supplementary explanation thereof.

[0025] When reference is made in the following embodiments to the number of elements (including the number of parts, numerical values, quantities, areas and the like), the number of elements is furthermore not limited to a specific number unless otherwise specified, or except in the case where the number appears to be limited in principle to a specific number, and the number which is greater or less than the specified number is also applicable.

[0026] Furthermore, it is understood in the following embodiments that components (including element steps and the like) are not always indispensable unless otherwise stated, or except in cases where the components appear to be indispensable in principle.

[0027] Likewise, in the following embodiments, where shapes of the components, their positional relationships, and the like are mentioned, substantially approximate and similar shapes and the like are included unless otherwise specified, or except where it is conceivable that they are not excluded in principle. The same applies to the numerical values ​​and ranges described above.

[0028] Furthermore, all drawings illustrating the embodiments use essentially the same reference numerals for the same elements, thus omitting repeated descriptions. Even in a top view, hatching may be added to facilitate understanding of the drawings.

[0029] The individual embodiments are described in detail below. [First embodiment]<Overview>

[0030] In a vehicle-internal system 10 according to a first embodiment, a control ECU 201 for autonomous driving comprises a reconfiguration circuit 209, which is a reconfigurable logic circuit, a function control unit 207, which controls a reconfiguration of the reconfiguration circuit 209, a power supply circuit 211, which supplies a power supply voltage to the reconfiguration circuit 209, and a power supply control unit 206, which controls the power supply circuit 211.

[0031] Furthermore, the autonomous driving control ECU 201 has a power supply control database 212 in which power supply control information corresponding to each operating ID is stored as several parts for processing by the reconfiguration circuit 209 from the function control unit 207 or for rewriting between the several parts of processing.

[0032] The power supply control unit 206 extracts the power supply control information from the power supply control database 212 based on the operating ID received by the function control unit 207. Furthermore, the power supply control unit 206 controls the power supply circuit 211, which supplies a power supply voltage to the reconfiguration circuit 209, based on the extracted power supply control information.

[0033] The embodiments of the present invention are described in detail below on the basis of the drawings. <Konfigurationsbeispiel des fahrzeuginternen Systems>

[0034] Fig. Figure 1 is a block diagram showing an example of a configuration of an in-vehicle system according to the first embodiment.

[0035] The vehicle's in-vehicle system 10, for example, is a system for controlling the autonomous driving of a vehicle. As in Fig. As shown in Figure 1, the vehicle's internal system 10 comprises a camera 101, a radar 102, a sensor 103 for the vehicle's own position, a button 104 for automatic operation, a wireless communication device 105, an auxiliary control ECU 106, a brake control ECU (electronic control unit: electronic control device) 107, a power engine control ECU 108, a power steering control ECU 109 and a control ECU 201 for autonomous driving.

[0036] Camera 101, radar 102, and sensor 103 for the vehicle's own position are external detection sensors that recognize the vehicle's external environment. Camera 101 and radar 102 are sensors used to detect the vehicle's exterior or to maintain a distance from a target object.

[0037] Sensor 103 for the vehicle's own position is a sensor for detecting the vehicle's position using a global positioning system (GPS) or similar. Button 104 for automatic operation is a button for starting automatic operation control or changing the automatic operating mode.

[0038] The wireless communication device 105, which is a communication device, is connected to a wireless network, not shown in the drawings, for updating the vehicle's internal system by OTA (over the air).

[0039] The autonomous driving control ECU 201, which is an electronic control device, is a vehicle driving control device for automatic operation. The auxiliary control ECU 106 is a vehicle driving assistance control device for automatic operation. The brake control ECU 107 is a control device that performs the vehicle's brake control, i.e., brake force control.

[0040] The engine control ECU 108 is a control device that controls an engine which generates driving force for the vehicle. The power steering control ECU 109 is a control device that controls the vehicle's power steering.

[0041] Each of the camera 101, radar 102, vehicle position sensor 103, automatic operation button 104, and wireless communication device 105 is connected to the autonomous driving control ECU 201. Update information, including sensor data from camera 102, radar 102, and vehicle position sensor 103, an automatic operation control signal from automatic operation button 104, and autonomous driving control processing information from wireless communication device 105, is transmitted to the autonomous driving control ECU 201.

[0042] Furthermore, the control ECU 201 for autonomous driving, the auxiliary control ECU 106, the brake control ECU 107, the engine control ECU 108 and the power steering control ECU 108 are connected so that they can communicate with each other, for example via a controller area network (CAN).

[0043] When the autonomous driving control ECU 201 receives a request to start automatic operation via the automatic operation button 104, the autonomous driving control ECU 201 calculates a movement path of the vehicle based on external information from the camera 101, the radar 102, the sensor 103 for the vehicle's own position, and the like.

[0044] The autonomous driving control ECU 201 sends control commands such as braking and driving force to the brake control ECU 107, the power engine control ECU 108 and the power steering control ECU 109 to move the vehicle according to the above route.

[0045] The brake control ECU 107, the engine control ECU 108 and the power steering control ECU 109 receive control commands for autonomous driving control from the autonomous driving control ECU 201 and output operating signals to each control target such as an actuator.

[0046] That is, the autonomous driving control ECU 201 is a main control device for issuing a control command, and the brake control ECU 107, the engine control ECU 108, and the power steering control ECU 109 are sub-control devices for controlling the steering target according to the control command from the autonomous driving control ECU 201.

[0047] The auxiliary control ECU 106 is an auxiliary control device for performing automatic operational control in place of the control ECU 201 for autonomous driving when the control ECU 201 for autonomous driving is anomalous. <In Bezug auf die Steuer-ECU für autonomes Fahren>

[0048] Fig. Figure 2 is a block diagram showing an example of a configuration of the control ECU 201 for autonomous driving, which is in the vehicle's in-vehicle system 10 of Fig. 1 is included.

[0049] The autonomous driving control ECU 201 comprises an autonomous driving control logic unit 210 and a power supply circuit 211. Here, it is assumed that the power supply circuit 211 supplies power to the reconfiguration circuit 209. Furthermore, it is assumed in the autonomous driving control logic unit 210 that power is supplied to any functional block other than the reconfiguration circuit 209 by a power supply circuit, which is not shown in the drawings.

[0050] The control logic unit 210 for autonomous driving comprises communication interfaces 204 and 208 (hereinafter referred to as "communication interface 204" when the communication interfaces are collectively designated), an information collection unit 205, a power supply control unit 206, a function control unit 207, a reconfiguration circuit 209, a mode database 202, a processing element database 203, and a power supply control database 212. Furthermore, the function control unit 207 contains a circuit database (not shown in the drawings), which will be described later.

[0051] The communication interface 204 is an interface that facilitates communication according to a predefined protocol, such as CAN, which is used in the vehicle's internal system. The autonomous driving control unit 201 is connected to another device via the communication interface 204 and sends and receives data.

[0052] In the present embodiment, the control ECU 201 for autonomous driving is connected to the camera 101, the radar 102, the sensor 103 for the vehicle's own position, the button 104 for automatic operation and the wireless communication device 105 via the communication interface 204.

[0053] Furthermore, the control ECU 201 for autonomous driving is connected to the auxiliary control ECU 106, the brake control ECU 107, the engine control ECU 108 and the power steering control ECU 108 via the communication interface 208.

[0054] The information collection unit 205 collects sensor information from the camera 101, the radar 102 and the sensor 103 for the vehicle's own position, which is entered via the communication interface 204, and a control signal for automatic operation from the button 104 for automatic operation and periodically transmits the collected sensor information and the control signal for automatic operation to the function control unit 207.

[0055] When the information collection unit 205 receives update information from the wireless communication device 105, including control processing information for autonomous driving, circuit data to be updated, and power supply control data, the information collection unit 205 stores the circuit data to be updated in a circuit database (not shown in the drawings) and updates the contents of the mode database 202, the processing element database 203, and the power supply control database 212. The wireless communication device 105 can be configured, for example, to be used in the control ECU 201 for autonomous driving.

[0056] The information collection unit 205 is connected to each database contained in the control logic unit 210 for autonomous driving via a control line not shown in the drawings. A processing example of the update information will be shown later using Fig. 8 described.

[0057] Based on a mode determination signal such as sensor information and the control signal for automatic operation, which is acquired by the information collection unit 205, the function control unit 207 refers to the mode database 202 and first determines an operating mode such as a highway on-ramp mode, an automatic parking mode or an ECU anomaly mode.

[0058] Processing information, which shows how the required operational processing is to be performed in operating mode by the reconfiguration circuit 209, is then determined. Specifically, the processing information includes the number of subdivisions of a circuit area of ​​the reconfiguration circuit 209, circuit data for updating each circuit area, an operating time, and the like. The details of the mode database 202 and the processing element database are determined using Fig. 3 and Fig. 4, which will be described later, have been described.

[0059] Furthermore, the function control unit 207 modifies the reconfiguration circuit 209 based on the processing information described above, causing the reconfiguration circuit 209 to execute the processing of the corresponding operating mode. Here, a dashed arrow between the function control unit 207 and the reconfiguration circuit 209 indicates that the function control unit 207 transmits circuit data for reconfiguring a circuit from a circuit database (not shown in the drawings) and a completion notification thereof. Furthermore, a solid arrow between the function control unit 207 and the reconfiguration circuit 209 indicates that an execution instruction or processing data and an execution result thereof are transmitted.

[0060] Furthermore, the function control unit 207 outputs a control command, such as a braking and driving force, via the communication interface 208 based on a result of the processing performed by the reconfiguration circuit 209.

[0061] The reconfiguration circuit 209 is a circuit for performing predetermined data processing and is implemented using hardware capable of changing its circuit configuration, such as an FPGA. The circuit configuration of the reconfiguration circuit 209 is modified by the function control unit 207 according to the processing information described above, and the reconfiguration circuit 209 then performs the predetermined processing.

[0062] The power supply control unit 206 receives mode information and an internal timer value, which is managed by the function control unit 207, from the function control unit 207. Here, the internal timer value is a counter value that is incremented by an internal clock.

[0063] The power supply control unit 206 performs synchronization by updating its internal timer value based on the recorded internal timer value. Information about a power supply control schedule, such as a control signal and the timing for the power supply circuit 211, is stored in the power supply control database 212.

[0064] The power supply control unit 206 performs power supply control to increase or decrease the current supplied by the power supply circuit 211, based on the power supply control database 212 and the internal timer value.

[0065] The details of the benefit tax database 212 will be explained later using Fig. 3 described. Furthermore, the details of the benefit tax processing using Fig. 4 and Fig. 5 described. Here, the power supply circuit 211 was described as a dedicated power supply circuit for the reconfiguration circuit 209. However, the power supply circuit 211 can also be a power supply circuit that supplies power to the entire control logic unit 210 for autonomous driving.

[0066] The respective functional units of the control logic unit 210 for autonomous driving, namely the information gathering unit 205, the function control unit 207, and the power supply control unit 206, are formed by a program executed by the control logic unit 210 for autonomous driving or by a logic circuit for carrying out a predetermined operation, for example, the FPGA. For the functional reliability of the automatic operation, each functional unit of the control logic unit 210 for autonomous driving can be formed by a multi-core processor operating in synchronized mode.

[0067] Furthermore, the control logic unit 210 for autonomous driving can be physically configured on one electronic control unit or can be logically or physically configured on multiple electronic control units. The program of each functional unit described above can operate on a separate thread on the same electronic control unit or can operate on a virtual electronic control unit constructed using resources from multiple electronic control units. <Verschiedene Datenbanken>

[0068] Fig. Figure 3 is an explanatory diagram of the mode database 202, which is located in the control logic unit 210 for autonomous driving. Fig. 2 is included.

[0069] The mode database 202 is accessed by the function control unit 207. Fig. 2. Reference is made to and it is obtained by assigning information acquired by the information collection unit 205 to a selectable operating mode. The mode database 202 has a mode selection condition 301 for selecting an operating mode based on the information acquired by the information collection unit 205 and an operating mode 302 that is selected by the mode selection condition 301.

[0070] As an example of an application to automatic operation, the mode selection condition 301 can be the case where the highway on-ramp is determined based on the parameter information from external detection sensors such as camera 101, radar 102 and sensor 103 for the vehicle's own position, which are stored in Fig. 1 shown, has been determined to be set as the first mode selection condition and in operating mode 302 a first operating mode can be determined as mode 1.

[0071] Furthermore, in mode selection condition 301, the case of receiving a control signal for automatic parking via button 104 can be used for the automatic operation of Fig. 1 may be set as the second mode selection condition and in operating mode 302 a second operating mode may be defined as mode 2.

[0072] Similarly, in mode selection condition 301, the case of detecting the anomaly of the ECU as failure detection information can be specified as the third mode selection condition, and in operating mode 302, a third operating mode can be defined as mode 3.

[0073] Fig. Figure 4 is an explanatory diagram of the processing element database 203, which is used in the control logic unit 210 for autonomous driving. Fig. 2 is included.

[0074] The processing element database 203 is accessed by the function control unit 207. Fig. 2. Reference is made to and it assigns the operating mode 302 to processing contents of the corresponding mode. The processing element database 203 is obtained by assigning a processing procedure 402 and processing information 1 (403-1) to processing information 3 (403-3) (in the case of the common designation of the processing information, they are described as "processing information 403") for each operating mode 401.

[0075] The processing procedure 402 is obtained by specifying the sequence of one or more processing operations to be performed, a circuit reconfiguration procedure, and the like. The processing information 403 is processing information specified by the processing procedure 402.

[0076] For example, if operating mode 401 is mode 1, the provision of a circuit area on the reconfiguration circuit 209 is Fig. 2 and the sequential execution of the processing of processing information 1 (403-1), the processing of processing information 2 (403-2), and the processing of processing information 3 (403-3) are held as processing procedure 402. Additionally, circuit data A1 for executing an initial processing of mode 1 and a processing time T11 thereof can be held as processing information 1 (403-1).

[0077] Likewise, circuit data A2 for performing a second processing of mode 1 and a processing time T12 thereof can be held as processing information 2 (403-2), and circuit data A3 for performing a third processing of mode 1 and a processing time T13 thereof can be held as processing information 3 (403-3).

[0078] As an example of an application to automatic operation, the first processing of Mode 1 can be defined as detection processing, the second processing of Mode 1 can be defined as behavior prediction processing of a vehicle or a pedestrian, and the third processing of Mode 1 can be defined as motion path calculation processing of the vehicle.

[0079] If the operating mode 401 is mode 2, furthermore, the division of the circuit area into two parts, the sequential execution of the processing of processing information 1 (403-1) and processing information 2 (403-2) in one area and the execution of the processing of processing information 3 (403-3) in the other area can be considered processing method 402.

[0080] Similarly, if the operating mode 401 is mode 1, circuit data B1 to B3 can each be used to perform the first to third processing of mode 2, and processing times T21 to T23 of these can be held as processing information 403.

[0081] As an example of an application to automatic operation, any of the first to third processing steps of Mode 2 can be designated as the processing step for finding an empty parking space. Furthermore, if the operating mode 401 is Mode 3, the subdivision of the circuit area into three parts and the parallel execution of the respective processing of processing information 1 (403-1), processing information 2 (403-2), and processing information 3 (403-3) can be considered processing method 402.

[0082] Similarly, if the operating mode 401 is mode 1, circuit data C1 to C3 for the respective execution of the first to third processing of mode 3 and processing times T31 to T33 thereof can be held as processing information 403.

[0083] As an example of an application to automatic operation, any of the first through third processing steps of Mode 3 can be designated as a track safety processing step for safe stopping. Here, the example shown involves holding three pieces of information (Processing Information 1 (403-1) through Processing Information 3 (403-3)) as Processing Information 403. However, four or more pieces of information can be held.

[0084] Fig. Figure 5 is an explanatory diagram of the power supply tax database 212, which is used in the control logic unit 210 for autonomous driving. Fig. 2 is included.

[0085] The power supply control database 212 contains information about a power supply control schedule, such as a control signal and a time control for the power supply circuit 211.

[0086] The details are described below. The benefits tax database 212 is accessed by the benefits tax unit 206. Fig. 2. Reference is made and it assigns an operating mode 501 and tax information 0 (503-0) to tax information 6 (503-6) (in the case of the common designation of the benefit tax information they are described as "benefit tax information 503") as benefit tax contents of operating mode 501.

[0087] For example, if operating mode 501 is mode 1, a timer value TA0, a load current value IA0, and a processing time PA0 can be held as control information 0 (503-0). The timer value TA0 is a timer value with respect to the time to start writing a connection circuit to an interface with the function control unit 207. Fig. 2 into the reconfiguration circuit 209. The load current value IA0 is a load current value of the reconfiguration circuit 209 during writing.

[0088] Likewise, a timer value TA1 with respect to a time to start writing the circuit data A1 to perform the first processing of mode 1 into the reconfiguration circuit 209, a load current value IA1 of the reconfiguration circuit 209 during the write and a processing time PA1 can be held as control information 1 (503-1).

[0089] Control information 2 (503-2) can include a timer value TA2 regarding a time to start the execution of the first processing of mode 1, a load current value IA2 of the reconfiguration circuit 209 during the execution of the first processing, and a processing time PA2.

[0090] Control information 3 (503-3) can include a timer value TA3 regarding a time to start writing the circuit data A2 to perform the second processing of mode 1 into the reconfiguration circuit 209, a load current value IA3 of the reconfiguration circuit 209 during the write, and a processing time PA3.

[0091] Control information 4 (503-4) can include a timer value TA4 regarding a time to start the execution of the second processing of mode 1, a load current value IA4 of the reconfiguration circuit 209 during the execution of the second processing, and a processing time PA4.

[0092] Control information 5 (503-5) can include a timer value TA5 regarding a time to start writing the circuit data A3 for the execution of the third processing of mode 1 into the reconfiguration circuit 209, a load current value IA5 of the reconfiguration circuit 209 during the write, and a processing time PA5.

[0093] Control information 6 (503-6) can include a timer value TA6 regarding a time to start the execution of the third processing of mode 1, a load current value IA6 of the reconfiguration circuit 209 during the execution of the third processing, and a processing time PA6.

[0094] Each load current value can, for example, maintain a time-averaged value of a load current. As described above, it is assumed here that the power supply circuit 211 of Fig. 2. Power is supplied only to the reconfiguration circuit 209. However, the power supply circuit 211 can be configured to supply power to the entire control logic unit 210 for autonomous driving. In this case, a load current value for the entire control logic unit 210 for autonomous driving is stored in the power supply control database 212.

[0095] Furthermore, the timer value is a value of a counter, which is incremented, for example, by an internal clock, and is controlled by the function control unit 207. Fig. 2 is managed and is used for synchronization with the power supply control unit 206. The timer value is set so that the supply current of the power supply circuit 211 increases or decreases before the load current of the reconfiguration circuit 209 varies, taking into account a signal delay between the function control unit 207 and the power supply control unit 206, or a control delay until the supply current of the power supply circuit 211 increases or decreases from the start of power supply control processing by the power supply control unit 206.

[0096] Before operation as an in-vehicle system, the power supply control database 212 can store any numerical value based on an actual measured value or a simulated value, or the power supply control unit 206 can generate and store it based on any information in the processing element database 203 acquired by the function control unit 207. Furthermore, the power supply control information 503 can include a voltage value, a current value, or a control code for controlling the supply current of the power supply circuit 211. <leistungsversorgungssteuerverarbeitung>

[0097] Next, the benefit tax processing of the benefit tax unit 206 will be performed using Fig. 6 and Fig. 7 described.

[0098] Fig. 6 is a flowchart that provides an example of benefit tax processing in benefit tax unit 206 of Fig. 2 shows.

[0099] Here is an example in which the benefit tax database 212 is created and stored beforehand, and the benefit tax unit 206 manages the processing sequence using an internal tax ID.

[0100] The internal tax ID represents each of the numbers from tax information 0 to 6 of the benefit tax information 503 in Fig. 5. Furthermore, the description is given under the assumption that each of the functional control unit 207 and the power supply control unit 206 is of Fig. 2 includes an internal timer.

[0101] First, when the power supply control unit 206 starts the power supply control processing (step S600), before a reconfiguration circuit operation starts, the power supply control unit 206 acquires mode information and a timer value from the function control unit 207 and updates an internal timer value of the power supply control unit 206 (step S601).

[0102] After processing step S601, the power supply control unit 206 determines whether a value of an operating mode is the same as a value of the previous mode (step S602). If the processing of step S602 determines that the value of the operating mode is different from the value of the previous mode (NO), the power supply control unit 206 sets the internal control ID to 0 (step S603).

[0103] If, on the other hand, it is determined that the value of the operating mode is the same as the value of the previous mode (YES), the power supply control unit 206 sets the internal control ID to 1 (step S604). This is to determine whether or not processing is required to write the connection circuit to the interface with the function control unit 207 in the reconfiguration circuit 209, depending on whether the operating mode is different from the previous mode. The ID information of the connection circuit can, of course, be obtained from the function control unit 207, and it can be determined whether the ID information is the same as the previous ID information.

[0104] After processing step S603 or processing step S604, the power supply control unit 206 refers to the power supply control database 212 and maintains a waiting state until the time sender value shown by the internal control ID and the internal time sender value of the power supply control unit 206 are reconciled (step S605).

[0105] If the processing of step S605 determines that the timer values ​​are aligned (YES), a load current value and a processing time, indicated by the internal control ID, are transmitted as a power supply control instruction to the power supply circuit 211 (step S606). The power supply circuit 211 provides a reference current value until it receives the power supply control instruction. Upon receiving the power supply control instruction, the power supply circuit 211 increases or decreases the supply current so that it becomes the load current value indicated by the internal control ID. When the processing time indicated by the internal control ID ends, the power supply circuit 211 again provides the reference current value.

[0106] The reference current value can be determined by considering a leakage current if the only supply target is the reconfiguration circuit 209. In the case of supplying power to the entire control logic unit 210 for autonomous driving, the reference current value can be determined by considering a different load current value than that of the reconfiguration circuit 209.

[0107] Then the benefit control unit 206 determines whether further processing is required or not (step S607). The benefit control unit 206 can determine whether further processing is required or not from the benefit control database 212. Fig. 5.

[0108] If step S607 determines that the next processing is available (YES), the power supply control unit 206 increments an internal processing ID (step S608) and returns to the processing of step S605 to prepare for the next processing.

[0109] If the processing of step S607 determines that the next processing is not available (NO), the benefit control unit 206 terminates the benefit control processing (step S609).

[0110] Fig. Figure 7 is a sequence diagram that shows an example of the benefit tax processing in the benefit tax control unit 206 of Fig. 2 shows.

[0111] In Fig. 7 will be the case in which the operating mode 501 of the benefit supply tax database 212, which is in Fig. As described in section 5, mode 1 is described as an example.

[0112] It is assumed here that the benefit tax database 212 is created and saved beforehand.

[0113] First, the function control unit 207 retrieves the mode information from the mode database 202 and checks whether the mode is being changed or not. Furthermore, the internal timer value, which is managed by the function control unit 207, is recorded (step S700). An example where the mode is being changed is shown here.

[0114] Next, the function control unit 207 sends the mode information and the timer value to the power supply control unit 206 (step S701). The power supply control unit 206 updates its internal timer value based on the timer value (step S702).

[0115] By referring to the control information 0 (503-0) relating to the reconfiguration of the connection circuit to the interface with the function control unit 207, which is held in the power supply control database 212, when the timer value and the internal timer value of the power supply control unit 206 are aligned, the load current value and the processing time are transmitted as a power supply control instruction to the power supply circuit 211 (step S704).

[0116] The power supply circuit 211, which has received the power supply control instruction, increases or decreases the supply current for the reconfiguration circuit 209, so that the supply current changes from the reference current value to the load current value shown by the internal control ID, and returns the supply current to the reference current value when the processing time ends (step S705).

[0117] The function control unit 207 writes the connection circuit data to the interface with the function control unit 207 into the reconfiguration circuit 209 only slightly after the start of the current control in the processing of step S705, for example about 1 millisecond or less (step S707).

[0118] The reconfiguration circuit 209 reconfigures the interface connection circuit (step S708) and notifies the function control unit 207 of the completion of the write (step S709). Additionally, the power supply control unit 206 refers to the control information 1 (503-1) regarding the reconfiguration of the circuit data A1, which is held in the power supply control database 212. When the timer value and the internal timer value of the power supply control unit 206 are synchronized, the power supply control unit 206 transmits the load current value and the processing time as a power supply control instruction to the power supply circuit 211 (step S710).

[0119] The power supply circuit 211, which has received the power supply control instruction, increases or decreases the supply current for the reconfiguration circuit 209, so that the supply current changes from the reference current value to the load current value shown by the internal control ID, and returns the supply current to the reference current value when the processing time ends (step S711).

[0120] The function control unit 207 writes data from circuit A1 to the reconfiguration circuit 209 shortly after the current control is started by processing S711 (step S713). The reconfiguration circuit 209 reconfigures circuit A1 (step S714) and notifies the function control unit 207 that the write operation is complete (step S715).

[0121] Next, the power supply control unit 206 refers to the control information 2 (503-2) relating to the first processing, which is held in the power supply control database 212. When the timer value and the internal timer value of the power supply control unit 206 are aligned, the power supply control unit 206 transmits the load current value and the processing time as a power supply control instruction to the power supply circuit 211 (step S716).

[0122] The power supply circuit 211, which has received the power supply control instruction, increases or decreases the supply current for the reconfiguration circuit 209, so that the supply current changes from the reference current value to the load current value indicated by the internal control ID, and returns the supply current to the reference current value when the processing time indicated by the internal control ID ends (step S717).

[0123] The function control unit 207 notifies the reconfiguration circuit 209 of an execution instruction for the first processing step shortly after the start of current control in the processing of step S717 (step S719). The reconfiguration circuit 209 executes the first processing step (step S720) and notifies the function control unit 207 of the operating result, in other words, the completion of the process along with a process result (step S721). Here, the function control unit 207 can retain the operating result of the first processing step and use it for the operation of the subsequent processing step.

[0124] Furthermore, the function control unit 207 confirms the presence or absence of the next processing step (step S722). Here is an example where operating mode 501 is mode 1 and the second processing step is present as the next processing step.

[0125] The function control unit 207 transmits a continuation instruction from the power supply control to the power supply control unit 206 (step S723). The power supply control unit 206 refers to the control information 3 (503-3) regarding the reconfiguration circuit of the circuit data A2, which is held in the power supply control database 212. When the timer value and the internal timer value of the power supply control unit 206 are aligned, the power supply control unit 206 transmits the load current value and the processing time as a power supply control instruction to the power supply circuit 211 (step S724).

[0126] The following steps are performed similarly to the processing described above in steps 705 to 722: circuit data A2 and the second processing using circuit data A2 and circuit data A3 and the third processing using circuit data A3.

[0127] Next, the Function Control Unit 207 confirms the presence or absence of further processing (step S753). Since operating mode 501 is mode 1, there is no further processing; an end instruction is sent to the Power Supply Control Unit 206 (step S754). The Power Supply Control Unit 206 receives the end instruction and waits for it to be received (step S755), thus ending the power supply control processing sequence. In the description above, each of the Function Control Unit 207 and the Power Supply Control Unit 206 includes its own internal timer. However, the Function Control Unit 207 and the Power Supply Control Unit 206 can also share a common internal timer.

[0128] In automatic operation, it is necessary to repeatedly perform different processing operations, such as detection processing, distance calculation processing, behavior prediction processing of a vehicle and a pedestrian, and motion path calculation processing of the vehicle. For this reason, the autonomous driving control logic unit 210 periodically performs processing based on collected sensor information, control signals for automatic operation, and the like. As described above, the power supply control unit 206 therefore does not necessarily need to receive every piece of information from the function control unit 207 in every period.

[0129] In the event of a failure or similar occurrence in the power supply control unit 206 and the power supply control of the power supply circuit 211 cannot be carried out normally, for example, a control delay during operation increases, an alarm signal can be sent to the function control unit 207 and a delay can be added to the start time of the reconfiguration processing or the operational processing of the reconfiguration circuit 209.

[0130] In the case where the power supply circuit 211 also performs a different power supply than that of the reconfiguration circuit 209, operation can be carried out for a block of another control logic unit for autonomous driving, avoiding a section in which a load variation of the reconfiguration circuit 209 occurs. Alternatively, the operation of the same section can be made redundant. <Erweiterung des Betriebsmodus>

[0131] Fig. Figure 8 is a sequence diagram that shows an example of an operating mode extension in the vehicle's internal system. Fig. 1 shows.

[0132] In Fig. Figure 8 shows an example of adding an operating mode of automatic operation over a wireless network via OTA (over the air) from a server in a cloud or the like.

[0133] When an instruction to add an operating mode is set in the server (step S1100), information about the operating mode to be added is first transmitted to the wireless communication device 105 in the vehicle's internal system (S1101). This operating mode information includes, for example, contents of the mode database 202, the processing element database 203, and the power supply control database 212, as well as circuit data of the operating mode to be added.

[0134] Next, the wireless communication device 105 transmits the received added information to the autonomous driving control logic unit 210 (step S1102). The autonomous driving control logic unit 210 also stores the circuit data in the circuit database (step S1103).

[0135] Furthermore, the autonomous driving control logic unit 210 defines the operating mode 501 and the control information 503 to be added to the power supply control database 212 (step S1104). Furthermore, the autonomous driving control logic unit 210 defines the operating mode 401, the processing method 402, and the processing information 403 to be added to the processing element database 203 (step S1105).

[0136] Then the autonomous driving control logic unit 210 adds the selection condition 301 and the operating mode 302 of the operating mode to be added to the mode database 202 (S1106), and completes the processing.

[0137] Consequently, it is possible to flexibly reconfigure the circuit according to a period interval of a periodic processing cycle or an operating load (power, delay, or the like) required for the automatic operating mode. Furthermore, when a new automatic operating mode is added, it is also possible to add additional circuit data or a processing procedure to the autonomous driving control unit for use in the added operating mode without affecting the operating mode already in use.

[0138] Through the above, the power supply control unit 206 can receive information about a schedule of reconfiguration and operation from the function control unit 207, which controls the reconfiguration and operation of the reconfiguration circuit 209, and can control the power supply circuit 211 to increase or decrease the supply current for the reconfiguration circuit 209 before the load variation due to the reconfiguration and operation of the reconfiguration circuit 209.

[0139] Consequently, it is possible to reduce the temporary increase / decrease of the output voltage of the power supply circuit 211 and to create the control ECU 201 for autonomous driving with high reliability, low cost and a small footprint. <Anderes Beispiel der Steuer-ECU für autonomes Fahren>

[0140] Fig. Figure 9 is a block diagram showing another example of the 201 control ECU for autonomous driving. Fig. 2 shows.

[0141] As in Fig. As shown in Figure 9, the autonomous driving control ECU 201 comprises the autonomous driving control logic unit 210 and the power supply circuit 211. In the following description, it is assumed that the power supply circuit 211 provides power to the reconfiguration circuit 209, and that the power supply for the other autonomous driving control logic unit 210 besides the reconfiguration circuit 209 is provided by a power supply circuit not shown in the drawings.

[0142] The 201 control ECU for autonomous driving from Fig. 9 is largely controlled by the 201 autonomous driving control unit. Fig. 2 differs in that the power supply control unit 206 and the power supply control database 212 are contained in the power supply circuit 211, not the control logic unit 210 for autonomous driving, and the basic processing and basic control can be considered the same as the above description using Fig. 2 are considered.

[0143] As described above, functionally separating the main logic unit of the autonomous driving control system and the power supply circuit 211 can be advantageous with regard to operational reliability. Consequently, it is possible to create a more reliable autonomous driving control ECU 201 with lower costs and a smaller footprint, while reducing the transient fluctuations in the output voltage of the power supply circuit 211. (Second embodiment)

[0144] Below is a control ECU for autonomous driving according to a second embodiment using Fig. 10, Fig. 11 to Fig. 12 described. <Steuer-ECU für autonomes Fahren>

[0145] Fig. Figure 10 is an explanatory diagram showing an example of a configuration of a control ECU 201 for autonomous driving according to the second embodiment.

[0146] As in Fig. As shown in Figure 10, the autonomous driving control ECU 201 comprises an autonomous driving control logic unit 210, a switching power supply circuit 275, and a power supply circuit 277. The autonomous driving control logic unit 210 includes a reconfiguration circuit 209 and a non-reconfiguration circuit 276.

[0147] The non-reconfiguration circuit 276 includes a function control unit 207, a power supply control unit 206, a power supply control database 212 and a digital-to-analog converter (D / A converter) 263.

[0148] The function control unit 207 maintains a circuit database that is not shown in the drawings. The switching power supply circuit 275 supplies power to the reconfiguration circuit 209, and the power supply circuit 277 supplies power to the non-reconfiguration circuit 276.

[0149] Although not shown in the drawings, the autonomous driving control ECU 201 also features several communication interfaces, an information collection unit, a mode database, and a processing element database similar to... Fig. 1 of the first embodiment.

[0150] The power supply control unit 206 acquires mode information and an internal timer value, which is managed by the function control unit 207, from the function control unit 207. Furthermore, the power supply control unit 206 performs a synchronization by updating the internal timer value of the power supply control unit 206 based on the acquired internal timer value.

[0151] The power supply control database 212 stores information about a power supply control schedule, such as a control signal and a timer for the switching power supply circuit 275. The power supply control unit 206 performs the power supply control to increase or decrease the supply current of the switching power supply circuit 275 based on the power supply control database 212 and the internal timer value.

[0152] To illustrate that analog control is being implemented, a power supply control signal is converted from a digital value to an analog value using the D / A converter 263 and transmitted to the switching power supply circuit 275. The details of the power supply control database 212 will be explained later using… Fig. 12 described.

[0153] The switching power supply circuit 275 comprises an inductor current control unit 274, switches 267 and 268, an inductor 265, and a capacitor 264. Here, a step-down switching power supply circuit using a pulse width modulation (PWM) control method is described as an example.

[0154] The inductor current control unit 274 increases or decreases an inductor current IL flowing through the inductor 265 by performing ON / OFF control of the switches 267 and 268. Since an output voltage V01, generated by an output current I01 flowing through the reconfiguration circuit 209, exhibits a large ripple due to a variation in the inductor current IL, the output voltage is smoothed by the capacitor 264 and becomes a voltage close to a DC current.

[0155] The inductor current control unit 274 includes a switch driver 269, a comparator 270, a triangle wave generator 271, a fault detector 272 and an adder 273.

[0156] First, a power supply control signal V is generated. PLS = 0, which is sent by the power supply control unit 206 through the D / A converter 263, described.

[0157] A reference voltage V REF1 and the observed output voltage V o1 The values ​​are input to the fault detector 272, and a difference between the two input voltages is output from the fault detector 272. This difference is input to the comparator 270 along with an output from the triangle wave generator 271.

[0158] Consequently, a PWM signal is output from comparator 270 according to the difference above. Switch driver 269 performs ON / OFF control of switches 267 and 268 according to the PWM signal and sets the inductor current I. L The switching power supply circuit 275 operates to adjust the output voltage V. o1 to keep the feedback constant through such a feedback system, and sets the input voltage V in down.

[0159] However, due to the feedback control, if there is a rapid load variation in the reconfiguration circuit 209, tracking the output voltage V becomes impossible. o1 deactivated and a temporary increase or decrease occurs at the time of the load variation.

[0160] Fig. Figure 11 is a schematic diagram of an inductor current waveform and an output voltage change to illustrate the effect of power supply control by the power supply control unit 206. Fig. To show 10.

[0161] As shown in the drawings, since the tracking of an inductor current 802 is delayed at a time when a load current 801 is changing rapidly, a large voltage drop of ΔV1 occurs in an output voltage 805 due to an insufficient amount of charge (corresponding to an area Δ in Fig. 11) on.

[0162] The power supply control signal V PLS is a voltage pulse signal that leads to V REF1 The values ​​are to be added by adder 273 before the time of the load variation. By entering the power supply control signal V PLS In the inductor current control unit 274 it is possible to increase or decrease the inductor current I L to control before the point at which the load current 801 changes rapidly.

[0163] The areas of Δ1 and Δ2 can, for example, be like an inductor current 803 of Fig. 11 will be tuned. At this time, an output voltage of 804 will be a temporary variation of ΔV2, and the temporary voltage variation can be compared to the case of the power supply control signal V. PLS = reduced to 0. <leistungsversorgungssteuerdatenbank>

[0164] Fig. Figure 12 is an explanatory diagram of the power supply tax database 212, which is used in the control ECU 201 for autonomous driving. Fig. It contains 10.

[0165] The power supply control database 212 contains information about a power supply control schedule, such as a control signal and the time control for the switching power supply circuit 275. Fig. 10 saved.

[0166] The details are described below. The benefit tax database 212 is referenced by the benefit control unit 206, and it assigns an operating mode 511 and tax information 0 (513-0) to tax information 6 (513-6) (in the case of the common designation of the benefit tax information, they are described as "benefit tax information 513") as benefit tax contents of the corresponding mode.

[0167] For example, if an operating mode 511 is a mode 1, the control information 0 (513-0) can hold a timer value TA01, a voltage value VA01 of a power supply control signal, a pulse width time PA01, a timer value TA02, a voltage value VA02 of a power supply control signal, and a pulse width time PA02.

[0168] The timer value TA01 is a timer value that determines the time at which writing data from a connection circuit to an interface with the function control unit 207 to the reconfiguration circuit 209 begins. The timer value TA02 is a timer value that determines the time at which writing data from the connection circuit to the reconfiguration circuit 209 ends.

[0169] Likewise, a timer value TA11 regarding a time to start writing circuit data A1 for the execution of the first processing of mode 1 into the reconfiguration circuit 209, a voltage value VA11 of a power supply control signal and a pulse width time PA11 and a timer value TA12 regarding a time to stop writing the circuit data A1 into the reconfiguration circuit 209, a voltage value VA12 of a power supply control signal and a pulse width time PA12 can be held as control information 1 (513-1).

[0170] Likewise, a timer value TA21 regarding a time to start the execution of the first processing of mode 1, a voltage value VA21 of a power supply control signal and a pulse width time PA21 and a timer value TA22 regarding a time to end the execution of the first processing, a voltage value VA22 of a power supply control signal and a pulse width time PA22 can be held as control information 2 (513-2).

[0171] Likewise, a timer value TA31 with respect to a time to start writing circuit data A2 for the execution of the second processing of mode 1 into the reconfiguration circuit 209, a voltage value VA31 of a power supply control signal and a pulse width time PA31 and a timer value TA32 with respect to a time to stop writing the circuit data A2 into the reconfiguration circuit 209, a voltage value VA32 of a power supply control signal, and a pulse width time PA32 can be held as control information 3 (513-3).

[0172] Likewise, a timer value TA41 regarding a time to start the execution of the second processing of mode 1, a voltage value VA41 of a power supply control signal and a pulse width time PA41 and a timer value TA42 regarding a time to end the execution of the second processing, a voltage value VA42 of a power supply control signal and a pulse width time PA42 can be held as control information 4 (513-4).

[0173] Likewise, a timer value TA51 regarding a time to start writing circuit data A3 for the execution of the third processing of mode 1 into the reconfiguration circuit 209, a voltage value VA51 of a power supply control signal and a pulse width time PA51 and a timer value TA52 regarding a time to stop writing the circuit data A3 into the reconfiguration circuit 209, a voltage value VA52 of a power supply control signal and a pulse width time PA52 can be held as control information 5 (513-5).

[0174] Likewise, a timer value TA61 regarding a time to start the execution of the third processing of mode 1, a voltage value VA61 of a power supply control signal and a pulse width time PA61 and a timer value TA62 regarding a time to end the execution of the third processing, a voltage value VA62 of a power supply control signal and a pulse width time PA62 can be held as control information 6 (513-6).

[0175] Furthermore, the timer value is a counter value incremented by an internal clock, managed by the function control unit 207, and used for synchronization with the power supply control unit 206. The timer value is set so that the supply current of the switching power supply circuit 275 increases or decreases before the load current of the reconfiguration circuit 209 varies, taking into account a signal delay between the function control unit 207 and the power supply control unit 206, or a control delay until the supply current of the switching power supply circuit 275 increases or decreases from the start of power supply control processing by the power supply control unit 206.

[0176] Before operation as an in-vehicle system, the power supply control database 212 can store any numerical value based on an actual measured value or a simulation value, or the power supply control unit 206 can generate and store it based on any information from the processing element database acquired by the function control unit 207.

[0177] Here is an example of adding the voltage pulse signal to the reference voltage V. REF1 It is described as a power supply control signal. However, it can be added to an output voltage value to be input into the fault detector 272. Furthermore, a power supply control signal can be used to temporarily increase the response rate of a feedback loop of the switching power supply circuit 275 so that it corresponds to a rapid change in the load current.

[0178] The power supply control signal can be either an increase in the gain of comparator 270 or an increase in the frequency of triangle wave generator 271. Alternatively, a hysteresis control method can be used instead of controlling the switching power supply circuit using the PWM control method.

[0179] Furthermore, an observation unit (not shown in the drawings) can be provided for monitoring the power supply voltage supplied to the reconfiguration circuit 209, and the power supply control unit 206 can compare a monitored voltage value with a control voltage as a setting voltage, which is initially set in the power supply control database 212, and update the power supply control database 212 according to an error between the two voltages.

[0180] As the observation unit described above, for example, a voltage can be divided by a high resistance and observed by the power supply control unit 206 through an operational amplifier and an analog-to-digital converter (A / D converter).

[0181] To update the power supply control database 212, a value of (control voltage value - observed voltage value) can be added to the control voltage value of the power supply control database 212. A correction function with (control voltage value - observed voltage value) as its input value can, of course, be integrated into the power supply control unit 206 beforehand, and the power supply control database 212 can be updated based on an output value of this function. <Modifikation der Schaltleistungsversorgungsschaltung>

[0182] Fig. Figure 13 is an explanatory diagram showing another configuration example of the control ECU 201 for autonomous driving. Fig. 10 shows.

[0183] The 201 control ECU for autonomous driving from Fig. 13 is from the control ECU 201 for autonomous driving. Fig. 10 in a configuration of the switching power supply circuit 275 different.

[0184] The switching power supply circuit 275, which is in Fig. Figure 13 shows a single-inductor, multiple-output power supply circuit (SIMO power supply circuit) consisting of one inductor and two outputs, supplying power to the reconfiguration circuit 209 and the non-reconfiguration circuit 276. Since the SIMO power supply circuit has multiple outputs in a single inductor, it is a technology that can contribute to cost and area reduction.

[0185] As shown in the drawings, the switching power supply circuit 275 includes an inductor current control unit 298, switches 283, 284, 286 and 287, an inductor 285 and capacitors 281 and 282.

[0186] Here, a step-down switching power supply circuit using a pulse width modulation (PWM) control method is described as an example. The inductor current control unit 298 increases or decreases an inductor current I. L , which flows through the inductor 285, by performing an ON / OFF control of the switches 286 and 287.

[0187] Furthermore, the output destination of the power supply voltage for the reconfiguration circuit 209 or non-reconfiguration circuit 276 is changed by performing ON / OFF control of switches 283 and 284. Switches 283 and 284 and the inductor current control unit 298 form an output switching unit.

[0188] Since an output voltage Vo1, generated by an output current Io1 flowing through the reconfiguration circuit 209, has a large ripple due to a variation in the inductor current IL, the output voltage is smoothed using the capacitor 281 and becomes a voltage close to a DC current.

[0189] Similarly, an output voltage Vo2, generated by an output current Io2 flowing through the non-reconfiguration circuit 276, is smoothed using the capacitor 282. The inductor current control unit 298 includes switch drivers 288 and 289, comparators 290 and 291, a triangle wave generator 292, fault detectors 293 and 294, and adders 295, 296, and 297.

[0190] The power supply control signal VPLS, sent by the power supply control unit 206 through the D / A converter 263, is added to the reference voltage VREF1 by the adder 296. The added output voltages Vo1 and Vo2 are then added by the adder 295. The added voltages are fed into the fault detector 293, and the difference between the voltages is output by the fault detector 293.

[0191] The difference is input to comparator 290 along with the output of the triangle wave output unit 292. Consequently, a PWM signal corresponding to the above difference is output from comparator 290. Switch driver 288 performs ON / OFF control of switches 286 and 287 according to the PWM signal and sets the inductor current I. L a.

[0192] On the other hand, the power supply control signal V PLS also to a reference voltage V REF2 added by the adder 296 and fed into the fault detector 294 together with the observed output voltage V o2 The input is entered and a difference between them is output from the error detector 294.

[0193] The difference is input to comparator 291 along with the output of the triangle wave output unit 292. Consequently, a PWM signal based on the above difference is output from comparator 291. Switch driver 289 performs ON / OFF control of switches 283 and 284 according to the PWM signal and sets the output destination.

[0194] The switching power supply circuit 275 operates to maintain the output voltage V o1 and the output voltage V o2 to keep the feedback constant through such a feedback system, and sets the input voltage V in down.

[0195] However, due to the feedback control, if there is a rapid load variation in the reconfiguration circuit 209, tracking the output voltage V becomes difficult. o1 deactivated, and a temporary increase or decrease occurs at the time of load variation. This temporary voltage variation can also be seen in the output voltage V. o2 appear as interference between outputs.

[0196] The power supply control signal V PLS is a voltage pulse signal that is generated before the time of load variation relative to the reference voltages V REF1 and V REF2 to be added, and is previously stored, for example, in the tax information database 212 or the like.

[0197] By entering the power supply control signal V PLS In the inductor current control unit 298 it is possible to increase or decrease the inductor current I L to control before the point at which the load current changes rapidly, and it is possible to reduce the temporary voltage variation of the output voltage.

[0198] As described above, it is possible to control the power supply circuit such that the supply current for the reconfiguration circuit 209 is increased or decreased before the load variation due to the reconfiguration and operation of the reconfiguration circuit 209, and using a simple analog circuit.

[0199] Consequently, it is possible to reduce the temporary increase / decrease of the output voltage of the switching power supply circuit 275, and it is possible to create the control ECU 201 for autonomous driving with high reliability, low cost and a small area.

[0200] Although the invention carried out by the present inventors has been specifically described on the basis of the embodiments, the present invention is of course not limited to the embodiments and various modifications can be made without deviating from the core.

[0201] The present invention is not limited to the embodiments described above and includes various modifications. The embodiments are described in detail, for example, to facilitate the description of the present invention and are not limited to encompassing all of the described configurations.

[0202] Furthermore, some of the configurations of a particular embodiment can be replaced by configurations of other embodiments, or configurations of other embodiments can be added to the configurations of the particular embodiment. For some of the configurations of the individual embodiments, it is also possible to add other configurations, remove configurations, or exchange configurations.

[0203] Furthermore, some or all of the individual configurations, functions, processing units, and processing mechanisms can be designed using integrated circuits and implemented in hardware. Alternatively, the individual configurations and functions can be implemented in software using analysis programs, which are then executed by a processor. Information such as programs, tables, and files for implementing the individual functions can be stored in a recording device such as a memory chip, hard disk drive, or solid-state drive (SSD), or on a recording medium such as an IC card, SD card, or DVD.

[0204] Furthermore, only the control lines or information lines necessary for the explanation are shown, and these control lines or information lines do not represent all the control lines or information lines required for a product. In fact, almost all configurations can be interconnected. Reference symbol list 10 in-vehicle system 101 Camera 102 Radar 103 Sensor for the vehicle's own position 104 Key for automatic operation 105 wireless communication device 106 Auxiliary control ECU 107 Brake control ECU 108 Engine control ECU 109 Power steering control ECU 201 Control ECU for autonomous driving 202 Mode database 203 Processing element database 204 Communication interface 205 Information Collection Unit 206 Power Supply Control Unit 207 Functional control unit 208 Communication interface 209 Reconfiguration circuit 210 Control logic unit for autonomous driving 211 Power supply circuit 212 Benefits Tax Database 212 Power supply circuit 276 Non-reconfiguration circuit< / leistungsversorgungssteuerdatenbank> < / leistungsversorgungssteuerverarbeitung>

Claims

[1] Electronic control device (201) comprising: a reconfiguration circuit (209) which is a reconfigurable logic circuit; a function control unit (207) that determines an operating mode of the reconfiguration circuit (209) based on a mode determination signal that is input from outside and indicates a driving mode of a vehicle, and controls a reconfiguration of the reconfiguration circuit (209) based on a determination result; a power supply circuit (211) that supplies a power supply voltage to the reconfiguration circuit (209); and a power supply control unit (206) that controls the power supply circuit (211), wherein The power supply control unit (206) controls a supply current generated by the power supply circuit (211) before a load variation of the reconfiguration circuit (209) on the basis of power supply control information as information for controlling the power supply circuit (211). [2] Electronic control device (201) according to claim 1, wherein the power supply circuit (211) supplies the power supply voltage to a logic circuit other than the reconfiguration circuit (209) included in the electronic control device (201). [3] Electronic control device (201) according to claim 1, wherein the power supply control information includes an operating mode of the reconfiguration circuit (209) and reconfiguration control information in the power supply circuit (211) that corresponds to the operating mode, and The power supply control unit (206) acquires the reconfiguration control information corresponding to the operating mode determined by the function control unit (207) from the power supply control information. [4] Electronic control device (201) according to claim 3, further comprising: a benefit tax database (212) which stores the benefit tax information, wherein the power supply control unit (206) searches for the reconfiguration control information corresponding to the operating mode determined by the function control unit (207) from the power supply control information stored in the power supply control database (212). [5] Electronic control device (201) according to claim 4, wherein the power supply circuit (211) is a switching power supply circuit, and the reconfiguration control information stored in the power supply control database (212) includes a control instruction to control an increase / decrease of an inductor current in the switching power supply circuit. [6] Electronic control device (201) according to claim 4, further comprising: a communication device (105) connected to a communication network; and an information collection unit (205) that collects update information of the benefit tax information from the communication network through the communication device (105) and updates the benefit tax information stored in the benefit tax database (212). [7] Electronic control device (201) according to claim 5, further comprising: an observation unit that monitors the power supply voltage supplied to the reconfiguration circuit (209) from the switching power supply circuit, wherein The power supply control unit (206) compares the power supply voltage monitored by the observation unit and a setting voltage previously specified in the power supply control information and updates the power supply control information stored in the power supply control database (212) according to any difference between the monitored power supply voltage and the setting voltage. [8] Electronic control device (201) according to claim 5, wherein the switching power supply circuit has an output switching unit that switches an output destination of the generated power supply voltage to the reconfiguration circuit (209) or another logic circuit, and The output switching unit switches the output target of the power supply voltage on the basis of a power supply control signal output from the power supply control unit (206). [9] In-vehicle system with a control device for autonomous driving for controlling the autonomous driving of a vehicle, wherein The autonomous driving control device comprises a reconfiguration circuit (209), which is a reconfigurable logic circuit, a function control unit (207), which determines an operating mode of the reconfiguration circuit (209) based on a mode determination signal indicating a driving mode when the vehicle is driving autonomously, and controls a reconfiguration of the reconfiguration circuit (209) based on a determination result, a power supply circuit (211), which supplies a power supply voltage to the reconfiguration circuit (209), and a power supply control unit (206), which controls the power supply circuit (211). The power supply control unit (206) controls a supply current generated by the power supply circuit (211) before a load variation of the reconfiguration circuit (209) on the basis of power supply control information as information for controlling the power supply circuit (211). [10] Vehicle-internal system according to claim 9, wherein the power supply control information includes an operating mode of the reconfiguration circuit (209) and reconfiguration control information in the power supply circuit (211) that corresponds to the operating mode, and The power supply control unit (206) acquires the reconfiguration control information corresponding to the operating mode determined by the function control unit (207) from the power supply control information. [11] Vehicle-internal system according to claim 10, further comprising: a benefit tax database (212) which stores the benefit tax information, wherein the power supply control unit (206) searches for the reconfiguration control information corresponding to the operating mode determined by the function control unit (207) from the power supply control information stored in the power supply control database (212). [12] Vehicle-internal system according to claim 11, further comprising: a communication device (105) connected to a communication network; and an information collection unit (205) that collects update information of the benefit tax information from the communication network through the communication device (105) and updates the benefit tax information stored in the benefit tax database (212). [13] Power supply control method in an electronic control device (201) comprising a reconfiguration circuit (209) which is a reconfigurable logic circuit, a function control unit (207) which determines an operating mode of the reconfiguration circuit (209) based on a mode determination signal indicating a driving mode of a vehicle and controls a reconfiguration of the reconfiguration circuit (209) based on a determination result, a power supply circuit (211) which supplies a power supply voltage to the reconfiguration circuit (209), and a power supply control unit (206) which controls the power supply circuit (211), comprising: a step to cause the power supply control unit (206) to control a supply current generated by the power supply circuit (211) prior to a load variation of the reconfiguration circuit (209) on the basis of power supply control information as information for controlling the power supply circuit (211). [14] Benefit tax procedure according to claim 13, wherein the power supply control information includes an operating mode of the reconfiguration circuit (209) and reconfiguration control information in the power supply circuit (211) that corresponds to the operating mode, and The step to control the supply current captures the reconfiguration control information corresponding to the operating mode determined by the function control unit (207) from the power supply control information. [15] A power supply tax method according to claim 14, wherein the reconfiguration tax information corresponding to the operating mode determined by the function control unit (207) is acquired by searching a power supply tax database (212) in which the power supply tax information is stored.

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