ON-BOARD CONTROL DEVICE, CONTROL METHOD AND CONTROL PROGRAM

Abstract

An on-board control device of a vehicle comprises: a first processing unit configured to perform forwarding processing for the transmission of a message to be transmitted between several on-board devices of the vehicle; a second processing unit configured to perform vehicle-related processing that differs from forwarding processing; and a determination unit configured to dynamically determine a first period for the first processing unit to perform forwarding processing and a second period for the second processing unit to perform processing.

Description

TECHNICAL AREA

[0001] The present disclosure relates to an on-board control device of a vehicle, a control method, and a control program. The present application claims priority from Japanese application No. JP 2022-064471A, filed on April 8, 2022, the entire contents of which are deemed incorporated by reference. TECHNICAL BACKGROUND

[0002] A vehicle is equipped with various onboard devices, such as an electronic control unit (ECU) that controls an engine, transmission, and the like; a body control unit that controls headlights, power windows, and the like; and an information system control unit for a navigation system, multimedia system, and the like. In recent years, it has been proposed to implement several virtual machines, providing the functions of multiple ECUs, within a single onboard device of the vehicle. When the multiple virtual machines are executed within this single onboard device, task execution time is allocated to each virtual machine using a time-sharing procedure. Patent document no.1 discloses how to change the execution time of tasks assigned to a respective virtual machine depending on the position of an ignition switch and the engine state (accessory OFF, accessory ON, immediately after ignition OFF, immediately after ignition on, ignition stable). PREVIOUSLY KNOWN TECHNICAL DOCUMENTS PATENT DOCUMENTS

[0003] Patent Document No. 1: JP 2012 - 185 531 A BRIEF SUMMARY OF THE INVENTION

[0004] An on-board control device of a vehicle according to one aspect of the present disclosure comprises: a first processing unit configured to perform forwarding processing for forwarding a message to be transmitted between several on-board devices of the vehicle; a second processing unit configured to perform vehicle-related processing that is different from the forwarding processing; and a determination unit configured to dynamically determine a first period for performing the forwarding processing by the first processing unit and a second period for performing the processing by the second processing unit.

[0005] A tax procedure according to one aspect of the present disclosure comprises: a step involving the execution of forwarding processing to forward a message to be transmitted between several on-board devices of the vehicle; a step involving the execution of vehicle-related processing that is distinct from the forwarding processing; and a step involving the dynamic determination of a first period for executing the forwarding processing and a second period for executing the processing that is distinct from the forwarding processing.

[0006] A control program according to one aspect of the present disclosure is a control program for use in an on-board control device of a vehicle, which is configured to perform forwarding processing for forwarding a message to be transmitted between several on-board devices of the vehicle, and vehicle-related processing that is different from the forwarding processing, wherein the control program serves to cause a computer to act as a determining unit that is configured to dynamically determine a first period for performing the forwarding processing and a second period for performing the processing that is different from the forwarding processing.

[0007] The present disclosure can be realized not only as an on-board control device of a vehicle with the characteristic configuration described above, as a control method with steps corresponding to characteristic processing in the on-board control device, and as a control program to cause the on-board control device to perform the characteristic processing, but also as an on-board system of a vehicle comprising the on-board control device, and some or all units of the on-board control device can be realized as an integrated semiconductor circuit. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a block diagram showing an example of an on-board system configuration according to an exemplary embodiment. Fig. Figure 2 is a block diagram showing an example of an integrated control unit design according to the exemplary embodiment. Fig. Figure 3 is a schematic diagram for describing a virtual environment in an integrated control unit according to the exemplary embodiment. Fig. Figure 4 is a functional block diagram showing an example of functions of the integrated control unit according to the embodiment. Fig. 5A is a time diagram that shows an example of a relationship between a first period, a second period, and the time of receipt of a message. Fig. 5B is a diagram describing the determination of the first period and the second period by the integrated control unit according to the embodiment. Fig. Figure 6 is a diagram to describe an example of phase change detection during message transmission. Fig. Figure 7 is a flowchart showing an example of period determination processing performed by an integrated control unit according to the embodiment shown. Fig. Figure 8 is a functional block diagram showing a modified example of the functions of the integrated control unit according to the embodiment. OVERVIEW OF FORMS OF REVELATION TECHNICAL TASK

[0008] An onboard device of a vehicle includes a relay device that forwards communication between multiple onboard devices of the vehicle. If such a relay device is implemented using a virtual machine, relay processing cannot be performed efficiently if no task execution time is allocated for the period during which a message is received from one of the vehicle's onboard devices. ADVANTAGEOUS EFFECTS OF REVELATION

[0009] According to the present disclosure, in the case of an on-board control device of a vehicle that performs forwarding processing for forwarding messages to be transmitted between several on-board devices of the vehicle and vehicle-related processing that differs from the forwarding processing, a first period for performing the forwarding processing and a second period for performing the processing that differs from the forwarding processing can be suitably determined. DESCRIPTION OF FORMS OF DISCLOSURE

[0010] The following is a brief description of embodiments of the present disclosure. (1) An on-board control device of a vehicle according to the present embodiment comprises: a first processing unit configured to perform forwarding processing for the transmission of a message to be transmitted between several on-board devices of the vehicle; a second processing unit configured to perform vehicle-specific processing that is distinct from the forwarding processing; and a determination unit configured to dynamically determine a first period for the first processing unit to perform the forwarding processing and a second period for the second processing unit to perform the processing. This makes it possible to determine the first period for performing the forwarding processing and the second period for performing the processing that is distinct from the forwarding processing in a suitable manner. (2) In (1), the message can be transmitted cyclically between the multiple on-board devices of the vehicle, and the receiving unit can determine the first period based on a message cycle. This makes it possible to allocate the first period to a time during which the message can be received. (3) In (2), the determining unit can determine the first period based on a probability distribution of the message reception probability over time. This makes it possible to assign the first period to a period during which the probability of the message being received is high. (4) In (3), the unit of determination can determine the first period based on a comparison between the probability distribution and the threshold. This makes it possible to use a threshold to determine a period during which the probability of receiving the message is high. (5) In (3) or (4), the on-board control device may include a generating unit configured to generate the probability distribution. This makes it possible to determine the first period using the probability distribution generated in the on-board control device. (6) In (5), the generating unit can generate the probability distribution based on a message reception history at the on-board control device. This makes it possible to use the message reception history to obtain a probability distribution that reflects the message reception cycle. (7) In (6), the onboard control device may include a phase-change detection unit configured to detect a change in the phase of a cyclic transmission of the message, and the generation unit may generate the probability distribution based on the reception history of the message after the phase change detected by the phase-change detection unit. This makes it possible to obtain a probability distribution that reflects the reception cycle of the message after the transmission phase has changed. (8) In (3) or (4), the determining unit can determine the first period based on the probability distribution generated by an external device provided outside the vehicle. This eliminates the need to generate the probability distribution in the on-board control device. The on-board control device can determine the first period using the probability distribution generated in the external device. (9) In one of (1) to (8), the unit of determination can determine the first period and the second period at a time based on a fixed cycle that includes the first period and the second period. This makes it possible to determine the first period and the second period at a suitable time. (10) In one of (1) to (9), the on-board control device may include a state change detection unit configured to detect a change in the state of the vehicle, and the determination unit may determine the first period and the second period when the state change detection unit detects a change in state. This makes it possible to determine the first period and the second period at a suitable time. (11) In (10), the change in the vehicle's condition may include a change in the vehicle's driving condition. This makes it possible to determine the first period and the second period at the time when the vehicle's driving condition changes. (12) In (10), the change in the state of the vehicle may include a change in the configuration of an on-board network of the vehicle, which includes the vehicle's multiple on-board devices. This makes it possible to determine the first period and the second period at the time when the configuration of the vehicle's on-board network changes. (13) In (10), the change in the vehicle's state may include at least one of the vehicle's multiple on-board devices switching from a normal operating state to a sleep state or from the sleep state to the normal operating state. This makes it possible to determine the first and second periods at the time when the vehicle's on-board device changes between the normal operating state and the sleep state. (14) A control method according to the present embodiment comprises: a step involving the execution of forwarding processing to forward a message to be transmitted between several on-board devices of the vehicle; a step involving the execution of vehicle-related processing that is distinct from the forwarding processing; and a step involving the dynamic determination of a first period for executing the forwarding processing and a second period for executing the processing that is distinct from the forwarding processing. This makes it possible to determine the first period for executing the forwarding processing and the second period for executing the processing that is distinct from the forwarding processing in a suitable manner. (15) A control program according to the present embodiment is a control program for use in an on-board control device of a vehicle, which is configured to perform forwarding processing for forwarding a message to be transmitted between several on-board devices of the vehicle and vehicle-related processing that is different from the forwarding processing, wherein the control program serves to cause a computer to act as a determining unit that is configured to dynamically determine a first period for performing the forwarding processing and a second period for performing the processing that is different from the forwarding processing.This makes it possible to determine, in a suitable manner, the first period for performing the forwarding processing and the second period for performing the processing that differs from the forwarding processing. DETAILED DESCRIPTION OF EXAMPLES OF EXECUTION

[0011] The following section describes exemplary embodiments of the present disclosure in detail with reference to the drawings. It should be noted that at least some of the exemplary embodiments described below can be combined with one another as required. 1. On-board system of a vehicle

[0012] Fig. Figure 1 is a block diagram showing an example of an on-board system configuration for a vehicle according to the present embodiment. The on-board system 100 is installed in a vehicle.

[0013] The on-board system 100 according to the present embodiment comprises an integrated control unit 200 and individual control units 300A, 300B, 300C, 300D and 300E. The on-board system 100 is an on-board network of the vehicle, which is formed by the integrated control unit 200, the individual control units 300A, 300B, 300C, 300D and 300E and communication cables (communication buses) that connect them.

[0014] The multiple individual control units 300A, 300B, 300C, 300D, and 300E are located in various parts of the vehicle. These individual control units individually control and monitor the hardware of their respective vehicle components. For example, they could be control units for a control system, a body control system, and an information system. These individual control units are examples of "vehicle onboard equipment." It should be noted that in the following description the individual control units 300A, 300B, 300C, 300D and 300E are also referred to collectively as “individual control units 300”.

[0015] The integrated control unit 200 is connected to each of the individual control units 300A, 300B, 300C, 300D, and 300E via on-board buses 400A, 400B, and 400C, such as CAN (Controller Area Network) buses. Specifically, individual control units 300A and 300B are connected to bus 400A. Individual control units 300C and 300D are connected to bus 400B. Individual control unit 300E is connected to bus 400C. The integrated control unit 200 and each of the individual control units 300A, 300B, 300C, 300D, and 300E can communicate with each other.

[0016] The integrated control unit 200 and the individual control units 300 use a communication protocol for the cyclical sending and receiving of messages. This communication protocol is, for example, CAN or CAN FD (CAN with flexible data rate).

[0017] The integrated control unit 200 functions as a gateway, forwarding communication between multiple individual control units 300. These individual control units 300 can send messages. The integrated control unit 200 forwards messages between individual control units connected to different buses. For example, the integrated control unit 200 can forward messages between individual control unit 300A, connected to bus 400A, and individual control unit 300C, connected to bus 400B.

[0018] The integrated control unit 200 is connected to an external communication device 350 via bus 400C. The external communication device 350 is, for example, a wireless communication terminal, such as a 5G or 4G device, and is, for example, a TCU (telematics control unit). The external communication device 350 can communicate with a server 600. The external communication device 350 forwards communication between the integrated control unit 200 and the server 600. 2. Design of the integrated control unit

[0019] Fig. Figure 2 is a block diagram showing an example of the design of the integrated control unit according to the present embodiment. The integrated control unit 200 has a processor 201, a non-volatile memory 202, a volatile memory 203 and a communication interface (I / F) 204.

[0020] Volatile memory 203, for example, is a semiconductor memory, such as SRAM (static random access memory) or DRAM (dynamic random access memory). Non-volatile memory 202, for example, is flash memory, a hard drive, or the like. Non-volatile memory 202 allows data to be read from and stored in it.

[0021] The Processor 201, for example, is a CPU (central processing unit). However, the Processor 201 is not limited to a CPU. The Processor 201 can also be a GPU (graphics processing unit). The Processor 201 is designed to run a computer program. However, the Processor 201 can also contain, for example, an ASIC (application-specific integrated circuit) or a programmable logic device such as an FPGA (field-programmable gate array) in a section of it.

[0022] Communication interface 204 is a communication interface that conforms to the aforementioned communication protocol for the vehicle's on-board network. Communication interface 204 includes several communication ports and is connected via these ports to each of the 400A, 400B, and 400C buses. Communication interface 204 is connected via these buses to each of the individual control units 300A, 300B, 300C, 300D, and 300E. The integrated control unit 200 can communicate with the individual control units 300A, 300B, 300C, 300D, and 300E via communication interface 204. Furthermore, the integrated control unit 200 can communicate with the server 600 via communication interface 204 using the external communication device 350.

[0023] The non-volatile memory 202 contains a hypervisor 251, guest operating systems 252A and 252B, and applications (APPs) 253A and 253B. The hypervisor 251 is run by the processor 201 and causes the integrated control unit 200 to function as a virtual machine.

[0024] Fig. Figure 3 is a schematic diagram describing a virtual environment in the integrated control unit according to the present embodiment. The hypervisor 251 operates with hardware 260 (the processor 201, the non-volatile memory 202, the volatile memory 203, the communication interface 204, etc.). The hypervisor 251 can emulate virtual hardware (HW) 260A and 260B. A virtual machine 261A is implemented by emulating virtual HW 260A, and a virtual machine 261B is implemented by emulating virtual HW 260B. Hereinafter, virtual machine 261A is also referred to as "VM_1", and virtual machine 261B is also referred to as "VM_2". VM_1 is an example of a "first processing unit", and VM_2 is an example of a "second processing unit".

[0025] The guest operating system 252A runs in VM_1. Within VM_1, the application 253A runs on the guest operating system 252A. The guest operating system 252B runs in VM_2. Within VM_2, the application 253B runs on the guest operating system 252B. The application 253A is software for implementing the function of a gateway. Since the processor 201 executes the application 253A, the integrated control unit 200 can perform forwarding processing to relay messages between the individual control units 300. The application 253B is software for implementing a function other than that of a gateway. For example, the application 253B is window control software. The processor 201 executes the application 253B, which enables the integrated control unit 200 to control a window.

[0026] Hypervisor 251 manages the execution periods of VM_1 and VM_2. These periods are allocated using a time-sharing procedure. The execution period of VM_1 is the "first period," and the execution period of VM_2 is the "second period."

[0027] With renewed reference to Fig. 2. In the non-volatile memory 202, a control program 254, which is a computer program, as well as cycle information 255, history data 256 and a schedule table 257, which are to be used in the control program 254, are stored.

[0028] The tax program 254 is a program for determining the execution periods of VM_1 and VM_2.

[0029] The cycle information 255 specifies a message transmission cycle for each of the individual control units 300A, 300B, 300C, 300D, and 300E. At least some of the individual control units 300A, 300B, 300C, 300D, and 300E may have different message transmission cycles. The message transmission cycle may be the same for at least some of the individual control units 300A, 300B, 300C, 300D, and 300E. For example, the message transmission cycle for individual control unit 300A is T1 seconds, and the message transmission cycle for individual control unit 300B is T2 seconds. The cycle information 255 contains a message transmission cycle for each of the individual control units 300. Hereinafter, the message transmission cycle is also referred to as the "individual cycle."

[0030] The history data 256 is a reception history of messages that the integrated control unit 200 has received from the individual control units 300. The history data 256 contains identification information of the individual control unit 300, which is the transmission source, and the time of receipt of the message.

[0031] Schedule table 257 is a table for defining a first and a second time period. Schedule table 257 stores the first and second time periods determined by the control program 254. Hypervisor 251 operates VM_1 and VM_2 according to the first and second time periods specified in schedule table 257. 3. Functions of the integrated control unit

[0032] Fig. Figure 4 is a functional block diagram showing an example of functions of the integrated control unit according to the present embodiment.

[0033] When the processor 201 executes the control program 254, the functions of a determination unit 211, a generation unit 212, a phase change detection unit 213 and an accumulation unit 214 are realized.

[0034] The determination unit 211 dynamically determines a first period for VM_1 to execute the forwarding processing and a second period for VM_2 to execute the processing. The determination unit 211 determines the first period based on the transmission cycles of messages from the individual control units 300.

[0035] Fig. Figure 5A is a timing diagram showing an example of the relationship between the first period, the second period, and the message reception time. In the communication protocol used in the vehicle's on-board system 100, messages are sent cyclically from the individual control units 300. In the example of Fig. 5A, a message sent by the individual control unit 300A is indicated by "M_1", a message sent by the individual control unit 300B is indicated by "M_2", a message sent by the individual control unit 300C is indicated by "M_3", the respective first period is indicated by "VM_1" and the respective second period is indicated by "VM_2".

[0036] The first period and the second period are designated within a basic cycle. Fig. 5A shows an example where the first period and the second period are determined in a fixed way within the basic cycle. That is, in the example of Fig. 5A The first and second periods do not vary in the individual basic cycles. In this case, the messages M_1, M_2, and M_3 are not necessarily received by the integrated control unit 200 during the first period. Since in the example of Fig. 5A If message M_1 is received in the first period, VM_1 can perform forwarding processing of message M_1 in the first period. However, since messages M_2 and M_3 are not received during the first period, the integrated control unit 200 must wait for the next first period to forward messages M_2 and M_3.

[0037] The integrated control unit 200 according to the present embodiment determines the first period according to the transmission cycle of messages from the individual control units 300. For this reason, the integrated control unit 200 receives all of the messages M_1, M_2 and M_3 in the first period, and the forwarding processing is carried out efficiently.

[0038] With renewed reference to Fig. 4. The determination unit 211 determines, in particular, the first period based on probability distributions of the reception probability of messages over time (hereinafter referred to as "reception probability distributions"). The generation unit 212 generates the reception probability distributions.

[0039] The generating unit 212 generates the reception probability distributions using the cycle information 255 and the historical data 256. Fig. Figure 5B is a diagram describing the determination of the first and second periods by the integrated control unit according to the present embodiment. The lower graph in Fig. Figure 5B shows the reception probability distributions. Fig. Reference 5B denotes a reception probability distribution for message M_1 from individual control unit 300A, reference 502 denotes a reception probability distribution for message M_2 from individual control unit 300B, and reference 503 denotes a reception probability distribution for message M_3 from individual control unit 300C. Although the individual control units 300 send messages in defined individual cycles, the transmission times of the messages can shift due to communication arbitration or similar factors when messages are sent simultaneously by multiple individual control units 300. The generating unit 212 generates the reception probability distribution 501 for message M_1 using the individual cycle of individual control unit 300A and the reception history of messages M_1 from individual control unit 300A.The generation unit 212 generates the reception probability distribution 502 for message M_2 using the individual cycle of the individual control unit 300B and the reception history of messages M_2 from the individual control unit 300B. The generation unit 212 generates the reception probability distribution 503 for message M_3 using the individual cycle of the individual control unit 300C and the reception history of messages M_3 from the individual control unit 300C.

[0040] With renewed reference to Fig. 4. The phase change detection unit 213 detects a change in the phase of the cyclic transmission of messages. In a specific example, the phase change detection unit 213 uses the cycle information 255 and the history data 256 to detect a phase change during message transmission.

[0041] Fig. Figure 6 is a diagram that describes an example of detecting a phase change during message transmission. Fig. 6. The deviation in the message transmission time due to communication arbitration is not taken into account. A separate message M_1 is sent by the individual control unit 300A in each individual cycle. An event can occur in the individual control units 300 that changes the phase of the message transmission. For example, if the individual control unit 300A enters a sleep state, it stops sending the message M_1. When the individual control unit 300A returns from the sleep state to a normal operating state, the cyclic transmission of the message M_1 resumes, but the transmission phase of the message M_1 changes from before the sleep state.The phase change detection unit 213 specifies, for example, a past reception state of the message M_1 at the integrated control unit 200 from the cycle information 255 and the history data 256 and detects a phase change when the message M_1 is received. The phase change detection unit 213 can detect a phase change when the message M_1 is received by monitoring the state (normal operating state, sleep state) of the individual control unit 300A.

[0042] With renewed reference to Fig. 4. The generation unit 212 creates a reception probability distribution based on the reception profile of messages after the phase change detected by the phase change detection unit 213. In the example of Fig. 6 The phase change detection unit 213 detects that a phase change occurs at the end of a sleep period of the individual control unit 300A (hereinafter referred to as the "phase change point"). The generation unit 212 records the reception history of the messages M_1 from the phase change point onwards from the history data 256 and generates a reception probability distribution for the message M_1 using the recorded reception history. Accordingly, a reception probability distribution for the message M_1 is generated from the phase change point onwards.

[0043] If multiple phase changes are detected in the message reception history of an individual control unit 300, the message reception history is used starting from the last phase change point. This makes it possible to obtain a reception probability distribution that accurately reflects the current phase of message reception.

[0044] In one example, the generating unit 212 combines several reception probability distributions. Referring again to Fig. In 5B, the reception probability distribution 501 for message M_1 and the reception probability distribution 502 for message M_2 are combined to generate a combined probability distribution 504. Specifically, the generating unit 212 adds the values ​​of the reception probability distributions 501 and 502 for each time point to generate the combined probability distribution 504.

[0045] The determination unit 211 determines the first period based on a comparison between the reception probability distribution generated by the generation unit 212 and a threshold value. The integrated control unit 200 sets a threshold value (indicated by a dashed line in the diagram) for the message reception probability. The determination unit 211 compares the combined probability distribution 504 and the reception probability distribution 503 with the threshold value and determines a period in which the reception probability is greater than or equal to the threshold value as the first period. For example, the determination unit 211 determines the period in the basic cycle that differs from the first period as the second period.

[0046] With renewed reference to Fig. 4. The generating unit 212 generates a reception probability distribution at a given time based on the base cycle, and the determining unit 211 determines the first and second periods at a given time based on the base cycle. In a specific example, the generating unit 212 generates a reception probability distribution at the time the base cycle begins, based on the reception profile between a phase detection point and the current base cycle. The determining unit 211 uses the reception probability distribution generated by the generating unit 212 to determine the first and second periods in the next base cycle.It should be noted that the generating unit 212 does not necessarily generate a reception probability distribution for every basic cycle, and the determining unit 211 does not necessarily determine the first and second periods for every basic cycle. For example, the generating unit 212 can generate a reception probability distribution, and the determining unit 211 can determine the first and second periods, for any predetermined number of basic cycles (for example, all three basic cycles).

[0047] The determination unit 211 stores the specified first period and the specified second period in the schedule table 257. Accordingly, the schedule table 257 is updated. The hypervisor 251 operates VM_1 and VM_2 according to the first and second periods specified in the schedule table 257. This allows VM_1 to perform forwarding processing during a period when the probability of receiving messages is high.

[0048] The accumulation unit 214 accumulates the message reception history of the integrated control unit 200. Each time a message is forwarded by the VM_1, the accumulation unit 214 records the identification information of the message's transmission source and the message's reception time in the history data 256. This adds new information to the history data 256. 4. Operation of the integrated control unit

[0049] The operation of the integrated control unit according to this embodiment is described below. The processor 201 of the integrated control unit 200 executes the control program 254 to perform a period determination process as described below. Fig. Figure 7 is a flowchart showing an example of period determination processing performed by the integrated control unit according to the present embodiment.

[0050] When the period determination processing begins, processor 201 determines whether a basic cycle has started or not (step S101). If the basic cycle has not started (NO in step S101), processor 201 executes step S101 again.

[0051] Once the basic cycle has begun (YES in step S101), the processor 201 refers to the cycle information 255 and the history data 256 and detects a phase change upon receiving a message from an individual control unit 300 (step S102). The processor 201 records the reception history from the phase change point onwards from the history data 256 (step S103).

[0052] Processor 201 generates a message reception probability distribution based on cycle information 255 and the reception history from the phase change point (step S104). If multiple reception probability distributions overlap, Processor 201 combines them to create a merged probability distribution.

[0053] Processor 201 compares the reception probability distribution with a threshold (step S105) and specifies a period in which the reception probability is greater than or equal to the threshold. Processor 201 designates the specified period as the first period and designates the period other than the first period in the basic cycle as the second period (step S106).

[0054] Processor 201 stores the determined first period and the determined second period in schedule table 257 and updates schedule table 257 (step S107). This completes the period determination processing. 5. Variation Examples

[0055] In the preceding embodiment, if there is an overlap between several reception probability distributions, a combined probability distribution is generated by merging the reception probability distributions, and the first period is determined by comparing the combined probability distribution with a threshold. However, this does not constitute a limitation.For example, the determination unit 211 can compare the reception probability distribution with a threshold to specify a period in which the reception probability is greater than or equal to the threshold, and if two or more periods are specified and the length of an empty period (a period in which the reception probability is less than the threshold) between adjacent periods is less than or equal to a predetermined value, a period containing the adjacent periods and the empty period can be determined as the first period.

[0056] In the preceding embodiment, the first period is determined in the integrated control unit 200 based on the message reception probability distribution; however, this is not a limitation. The first period can also be determined based on the message cycle without using the reception probability distribution. For example, the determination unit 211 can estimate the next message reception time based on the message transmission cycle of the individual control unit 300, which is specified in the cycle information 255, and define a period with a predetermined width centered around the estimated message reception time as the first period.

[0057] In the preceding embodiment, the generation unit 212, which is contained in the integrated control unit 200, generates the message reception probability distribution; however, this is not a limitation. The server 600 can have a function corresponding to the generation unit 212 and generate the message reception probability distribution. In this case, the integrated control unit 200 can acquire the reception probability distribution by communicating with the server and determine the first period and the second period using the acquired reception probability distribution.

[0058] In the above embodiment, the determination unit 211 determines the first period and the second period at a time based on the basic cycle; however, this does not represent a limitation. For example, the determination unit 211 can determine the first period and the second period when a change in the vehicle's state is detected.

[0059] Fig.Figure 8 is a functional block diagram showing a modified example of the functions of the integrated control unit according to the embodiment. The integrated control unit 200 according to this modified example has the function of a state change detection unit 215. The state change detection unit 215 detects a change in the state of the vehicle. When the state change detection unit 215 detects a change in the state of the vehicle, the generation unit 212 generates a message reception probability distribution. When the state change detection unit 215 detects a change in the state of the vehicle, the determination unit 211 determines the first period and the second period based on the reception probability distribution.

[0060] For example, the change in the vehicle's state detected by the state change detection unit 215 could be a change in the vehicle's driving state. The state change detection unit 215, for instance, acquires a measurement of the vehicle's speed from a speed sensor and determines, based on the vehicle's speed, whether the vehicle is moving or stationary. The state change detection unit 215 detects a change in the vehicle's state from a driving state to a stationary state, or vice versa. When the state change detection unit 215 detects a change in the vehicle's driving state, the generation unit 212 creates a receive probability distribution, and the determination unit 211 determines the first and second time periods based on this receive probability distribution.

[0061] For example, the change in the vehicle's state detected by the state change detection unit 215 could be a change in the configuration of the vehicle's on-board network. The state change detection unit 215 detects the connection of a new individual control unit 300 to the vehicle's on-board network and detects the removal of an individual control unit 300 from the vehicle's on-board network. When the state change detection unit 215 detects a change in the configuration of the vehicle's on-board network, the generation unit 212 generates a reception probability distribution, and the determination unit 211 determines the first and second periods based on this reception probability distribution.

[0062] For example, the change in the vehicle's state detected by the state change detection unit 215 can be a switch between a normal operating state and a sleep state in at least one individual control unit 300. The state change detection unit 215 detects that the individual control unit 300 has switched from the normal operating state to the sleep state, and detects that the individual control unit 300 has switched from the sleep state to the normal operating state. In a specific example, an individual control unit 300 (e.g., the individual control unit 300E) is a power source management control unit that manages the power sources of the individual control units 300A, 300B, 300C, and 300D, and the power source management control unit manages the switching between the normal operating state and the sleep state of the individual control units 300A, 300B, 300C, and 300D.When a switch between normal operating state and sleep state occurs in an individual control unit 300, the power source management control unit notifies the integrated control unit 200 that the switch between normal operating state and sleep state has occurred in the individual control unit 300 and provides the integrated control unit 200 with the identification information of the individual control unit 300. When the state change detection unit 215 receives this notification, the state change detection unit 215 detects that the switch between normal operating state and sleep state has occurred in the individual control unit 300.When the state change detection unit 215 detects the switch between the normal operating state and the sleep state in the individual control unit 300, the generation unit 212 generates a reception probability distribution, and the determination unit 211 determines the first period and the second period based on the reception probability distribution.

[0063] For the foregoing embodiment, a configuration has been described in which the virtual machines of hypervisor type 261A and 261B perform forwarding processing and processing that differs from forwarding processing (window control processing), but there is no restriction in this respect. The forwarding processing and the processing that differs from forwarding processing need not be performed by virtual machines, but can, for example, be performed by two container-type virtual machines, or can be performed by two applications running on a shared operating system. 6. Effects of the exemplary embodiment

[0064] The integrated control unit 200 comprises a virtual machine 261A (first processing unit), a virtual machine 261B (second processing unit), and a destination unit 211. Virtual machine 261A performs forwarding processing to relay messages to be transmitted between the multiple individual control units 300. Virtual machine 261B performs vehicle-specific processing that differs from forwarding processing. The destination unit 211 dynamically determines a first period for virtual machine 261A to perform forwarding processing and a second period for virtual machine 261B to perform processing. This allows for the appropriate determination of the first period for forwarding processing and the second period for the processing that differs from forwarding processing.

[0065] Messages between the multiple individual control units 300 can be transmitted cyclically. The determination unit 211 can determine the first period based on the message cycles. This makes it possible to assign the first period to a timeframe during which messages can be received.

[0066] The determination unit 211 can determine the first period based on a message reception probability distribution over time. This makes it possible to assign the first period to a time period during which the probability of receiving a message is high.

[0067] The determination unit 211 can determine the first period based on a comparison between the reception probability distribution and a threshold value. This makes it possible to use a threshold value to determine a period during which the probability of receiving a message is high.

[0068] The integrated control unit 200 can have a generation unit 212. The generation unit 212 generates a reception probability distribution. This makes it possible to determine the first period using the reception probability distribution generated in the integrated control unit 200.

[0069] The generation unit 212 can generate the reception probability distribution based on a message reception history at the integrated control unit 200. This makes it possible to use the message reception history to obtain a probability distribution that reflects the message reception cycle.

[0070] The integrated control unit 200 can include a phase change detection unit 213. The phase change detection unit 213 detects a change in the phase of the cyclic transmission of messages. The generation unit 212 can generate a reception probability distribution based on the message reception history from the phase change point detected by the phase change detection unit 213. This makes it possible to obtain a probability distribution that reflects the message reception cycle from the phase change point of transmission.

[0071] The determination unit 211 can determine the first period based on a reception probability distribution generated by a server 600 (external device) located outside the vehicle. This eliminates the need to generate a reception probability distribution in the integrated control unit 200. The integrated control unit 200 can determine the first period using the reception probability distribution generated in the server 600.

[0072] The determination unit 211 can determine the first period and the second period at a given time based on a basic cycle (a fixed cycle) that includes the first period and the second period. This makes it possible to determine the first period and the second period at a suitable time.

[0073] The integrated control unit 200 can include a state change detection unit 215. The state change detection unit 215 detects a change in the vehicle's state. The determination unit 211 can determine the first and second periods when the state change detection unit 215 detects a change in the vehicle's state. This makes it possible to determine the first and second periods at a suitable time.

[0074] A change in the vehicle's condition can include a change in the vehicle's driving condition. This makes it possible to determine the first and second periods at the time when the vehicle's driving condition changes.

[0075] The change in the vehicle's condition can include a change in the configuration of the vehicle's on-board network, which comprises the multiple individual control units (300). This makes it possible to determine the first and second periods at which the configuration of the vehicle's on-board network changes.

[0076] The change in the vehicle's state can include at least one of the several individual control units 300 switching from a normal operating state to a sleep state or from the sleep state to the normal operating state. This makes it possible to determine the first and second periods at the time when the state of the individual control unit 300 changes between the normal operating state and the sleep state. 7. Appendix

[0077] The embodiments disclosed herein are in every respect illustrative and non-limiting. The scope of the present invention is not defined by the embodiments described above, but by the claims, and all modifications within the meaning and equivalent scope of protection of the claims are included therein. LIST OF REFERENCE SYMBOLS 100 On-board systems of a vehicle 200 Integrated control unit (on-board control device of a vehicle) 201 processor 202 non-volatile memory 203 volatile memory 204 Communication interface (Communication I / F) 211 Unit of determination 212 production units 213 Phase Change Detection Unit 214 accumulation units 215 State change detection unit 251 Hypervisor 252A, 252B Guest Operating System 254 Tax program 255 cycle information 256 historical data 257 Schedule table 260 Hardware 260A, 260B virtual hardware (virtual HW) 261A virtual machine (first processing unit) 261B virtual machine (second processing unit) 300, 300A, 300B, 300C, 300D, 300E individual control unit (on-board device of a vehicle) 350 Device for external communication 400A, 400B, 400C On-board bus of a vehicle 501, 502, 503 Receipt probability distribution 504 combined probability distribution 600 servers (external device) QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2022 - 064 471 A

[0001] JP 2012 - 185 531 A

[0003]

Claims

[1] On-board control device of a vehicle comprising: a first processing unit configured to perform forwarding processing for forwarding a message to be transmitted between a plurality of on-board devices of the vehicle; a second processing unit configured to perform vehicle-related processing different from the forwarding processing; and a determination unit configured to dynamically determine a first period for executing the forwarding processing by the first processing unit and a second period for executing the processing by the second processing unit. [2] On-board control device of a vehicle according to claim 1, wherein the message is transmitted cyclically between the plurality of on-board devices of the vehicle, and the determining unit determines the first period based on a cycle of the message. [3] The on-board control device of a vehicle according to claim 2, wherein the determination unit determines the first period based on a probability assignment of a reception probability of the message over time. [4] The on-board control device of a vehicle according to claim 3, wherein the determining unit determines the first period based on a comparison between the probability distribution and the threshold value. [5] The on-board control device of a vehicle according to claim 3, further comprising: a generating unit configured to generate the probability distribution. [6] The on-board control device of a vehicle according to claim 5, wherein the generating unit generates the probability distribution based on a reception history of the message at the on-board control device. [7] An on-board vehicle control device according to claim 6, further comprising: a phase change detection unit configured to detect a change in a phase of a cyclic transmission of the message, wherein the generation unit generates the probability distribution based on the reception history of the message after the change in phase detected by the phase change detection unit. [8] The on-board control device of a vehicle according to claim 3, wherein the determination unit determines the first time period based on the probability distribution generated by an external device provided outside the vehicle. [9] The on-board control device of a vehicle according to any one of claims 1 to 8, wherein the determination unit determines the first period and the second period at a time based on a fixed cycle including the first period and the second period. [10] An on-board vehicle control device according to any one of claims 1 to 8, further comprising: a state change detection unit configured to detect a change in a state of the vehicle, wherein the determining unit determines the first period and the second period when the state change detecting unit detects a change in the state. [11] An on-board vehicle control device according to claim 10, wherein the change in the state of the vehicle includes a change in a driving state of the vehicle. [12] The on-board control device of a vehicle according to claim 10, wherein the change in the state of the vehicle includes a change in a configuration of an on-board network including the plurality of on-board devices of the vehicle. [13] The on-board control device of a vehicle according to claim 10, wherein the change in the state of the vehicle comprises at least one of the plurality of on-board devices of the vehicle switching from a normal operating state to a sleep state or from the sleep state to the normal operating state. [14] Tax procedures, including: a step of executing relay processing for relaying a message to be transmitted between a plurality of on-board devices of the vehicle; a step of performing vehicle-related processing that is different from the forwarding processing; and a step of dynamically determining a first period for executing the forwarding processing and a second period for executing the processing different from the forwarding processing. [15] A control program for use in an on-board control device configured to execute relay processing for relaying a message to be transmitted between a plurality of on-board devices of the vehicle and vehicle-related processing different from the relay processing, the control program being configured to cause a computer to function as a determining unit configured to dynamically determine a first period for executing the relay processing and a second period for executing the processing different from the relay processing.

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