Electronic control device

Abstract

To properly transmit messages to an in-vehicle network.SOLUTION: An electronic control device 1 includes a first control unit 4 that transmits a message placed on a communication channel to an in-vehicle network, a second control unit 5 that transmits a message placed on the communication channel to the in-vehicle network, and an internal network 10 that connects the first control unit and the second control unit so that data communication is possible. The first control unit has a relay channel different from the communication channel, and transmits a message placed on the relay channel to the second control unit via the internal network. The second control unit has a relay channel different from the communication channel, and places the message received from the first control unit via the internal network on the communication channel via the relay channel and transmits the message to the in-vehicle network.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an electronic control device. [Background technology]

[0002] For example, an electronic control unit (hereinafter referred to as an ECU (Electronic Control Unit)) mounted on a vehicle may cooperate with other ECUs to realize one application. For this reason, multiple ECUs are connected to be able to communicate data via an in-vehicle network. For example, CAN (Controller Area Network) (registered trademark) is widely used as a communication protocol for the in-vehicle network. In recent years, the number of CAN channels required for an ECU has been increasing, resulting in a situation where a single microcomputer cannot meet the requirements. For example, Patent Document 1 discloses a configuration that can handle an increase in the number of CAN channels by combining multiple microcomputers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7136893 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, depending on the network configuration, messages may be concentrated on a specific CAN bus due to an increase in traffic in the in-vehicle network. The number of mailboxes that function as message buffers in a microcontroller is finite, and it may not be possible to allocate messages and mailboxes one-to-one. There is a method in which multiple messages share one mailbox, and messages and mailboxes are allocated in an n-to-1 ratio (n is a natural number greater than or equal to 2). However, when the number of messages becomes enormous, it may become impossible to queue them all. As a result, messages may not be sent properly to the in-vehicle network.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide an electronic control unit that can appropriately transmit a message to an in-vehicle network. [Means for solving the problem]

[0006] According to the invention described in claim 1, a first control unit (4) transmits a message placed on a communication channel to an in-vehicle network. A second control unit (5) transmits a message placed on a communication channel to an in-vehicle network. An internal network (10) connects the first control unit and the second control unit so that data communication is possible. The first control unit has a relay channel different from the communication channel, and transmits a message placed on the relay channel to the second control unit via the internal network. The second control unit has a relay channel different from the communication channel, and transmits a message received from the first control unit via the internal network to the communication channel via the relay channel and transmits the message to the in-vehicle network.

[0007] In the first control unit, messages to be sent to the in-vehicle network are distributed between the communication channel and the relay channel, so that messages can be distributed between messages sent directly from the first control unit to the in-vehicle network and messages sent from the first control unit to the in-vehicle network via the second control unit. By increasing the degree of freedom in placing messages to be sent to the in-vehicle network in the mailbox, it is possible to prevent a situation in which messages cannot be queued, and messages can be appropriately sent to the in-vehicle network. Although a communication delay occurs by passing through the second control unit, variation in communication intervals can be suppressed by avoiding queuing. [Brief description of the drawings]

[0008] [Figure 1] A functional block diagram showing the overall configuration of one embodiment. [Diagram 2] Diagram showing channels and mailboxes [Diagram 3] flowchart [Figure 4] Diagram of message and mailbox placement [Diagram 5] Diagram of message and mailbox placement [Figure 6] Time Chart [Figure 7] Diagram of message and mailbox placement [Figure 8] Diagram of message and mailbox placement [Figure 9] Diagram of message and mailbox placement [Figure 10] Diagram of message and mailbox placement [Figure 11] Diagram of message and mailbox placement [Figure 12] Diagram of message and mailbox placement [Figure 13] Diagram of message and mailbox placement [Figure 14] Time Chart DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment in which the present invention is applied to an engine ECU that controls an actuator of an engine will be described with reference to the drawings. Note that the present invention is not limited to being applied to an engine ECU that controls an actuator of an engine, but can also be applied to an ECU that performs other controls.

[0010] 1, an engine ECU (hereinafter, referred to as ECU) 1 is connected to other ECUs so as to be able to perform data communications with them via a first CAN bus 2 and a second CAN bus 3 as an in-vehicle network. The ECU 1 may communicate data with the other ECUs via the first CAN bus 2 and the second CAN bus 3 in accordance with a CAN communication protocol, and may cooperate with the other ECUs to realize one application.

[0011] The ECU 1 includes a main microcomputer 4, a sub-microcomputer 5, a first AND element 6, a second AND element 7, a first CAN transceiver IC (Integrated Circuit) 8, and a second CAN transceiver IC 9. The main microcomputer 4 and the sub-microcomputer 5 each include a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an I / O (Input / Output), etc. The main microcomputer 4 and the sub-microcomputer 5 each function as a control unit that controls the operation of the ECU 1, and perform, for example, CAN communication control with the first CAN bus 2 and the second CAN bus 3, engine actuator control, etc.

[0012] The functions provided by the main microcomputer 4 and the sub-microcomputer 5 can be provided by software recorded in a physical memory device and a computer that executes the software, software only, hardware only, or a combination of these. For example, when the main microcomputer 4 and the sub-microcomputer 5 are provided by electronic circuits that are hardware, they can be provided by digital circuits or analog circuits including a large number of logic circuits. The main microcomputer 4 and the sub-microcomputer 5 execute programs stored in non-transitional physical recording media, thereby executing processes corresponding to the programs and executing methods corresponding to the programs. The main microcomputer 4 is a microcomputer that starts up, for example, following the power-on of the ECU 1, and the sub-microcomputer 5 is a microcomputer that starts up, for example, when a start-up command notification is input from the main microcomputer 4. That is, the main microcomputer 4 starts up first, and then the sub-microcomputer 5 starts up.

[0013] As shown in FIG. 2, the main microcomputer 4 and the sub-microcomputer 5 each have three channels, CAN1, CAN2, and CAN3. Furthermore, each channel has three mailboxes that function as a message buffer. The number of channels in the main microcomputer 4 and the sub-microcomputer 5 is not limited to "3" and may be other than "3". Furthermore, the number of mailboxes in each channel is not limited to "3" and may be other than "3". Furthermore, the number of channels and the number of mailboxes in each channel may be different between the main microcomputer 4 and the sub-microcomputer 5.

[0014] Each mailbox stores messages. There are two methods for storing messages in mailboxes: one where messages and mailboxes are stored in a one-to-one relationship, and one where multiple messages share a mailbox and messages and mailboxes are stored in an n-to-one relationship (n is a natural number greater than or equal to 2). The one-to-one method of storing messages and mailboxes is sometimes called "FullCAN", while the n-to-one method of storing messages and mailboxes is sometimes called "BasicCAN". As mentioned above, with the n-to-1 method of storing messages and mailboxes, if the number of messages becomes huge, it is possible that the messages cannot be queued.

[0015] The first AND element 6 combines the CAN transmission signals output from the main microcomputer 4 and the sub-microcomputer 5, respectively. The first channel transmission port (CAN1-Tx) of the main microcomputer 4 is connected to the first input terminal of the first AND element 6. The first channel transmission port (CAN1-Tx) of the sub-microcomputer 5 is connected to the second input terminal of the first AND element 6. The output terminal of the first AND element 6 is connected to the input terminal of the first CAN transceiver IC8. The output terminal of the first CAN transceiver IC8 is connected to the first channel reception port (CAN1-Rx) of the main microcomputer 4 and the first channel reception port (CAN1-Rx) of the main sub-microcomputer 5.

[0016] The high level terminal and the low level terminal of the first CAN transceiver IC8 are each connected to the first CAN bus 2. The first CAN transceiver IC8 converts the dominant and recessive on the first CAN bus 2 to and from a predetermined voltage signal, and controls the transmission of CAN transmission signals to the first CAN bus 2 and the reception of CAN reception signals from the first CAN bus 2 in the ECU 1. The first channels of the main microcomputer 4 and the sub-microcomputer 5 correspond to communication channels.

[0017] The second AND element 7 combines the CAN transmission signals output from the main microcomputer 4 and the sub-microcomputer 5, respectively. The second channel transmission port (CAN2-Tx) of the main microcomputer 4 is connected to the first input terminal of the second AND element 7. The second channel transmission port (CAN2-Tx) of the sub-microcomputer 5 is connected to the second input terminal of the second AND element 7. The output terminal of the second AND element 7 is connected to the input terminal of the second CAN transceiver IC9. The output terminal of the second CAN transceiver IC9 is connected to the second channel reception port (CAN2-Rx) of the main microcomputer 4 and the second channel reception port (CAN2-Rx) of the main sub-microcomputer 5.

[0018] The high level terminal and the low level terminal of the second CAN transceiver IC9 are each connected to the second CAN bus 3. The second CAN transceiver IC9 converts or inversely converts the dominant and recessive on the second CAN bus 3 to or from a predetermined voltage signal, and controls the transmission of CAN transmission signals to the second CAN bus 3 and the reception of CAN reception signals from the second CAN bus 3 in the ECU 1. The second channels of the main microcomputer 4 and the sub-microcomputer 5 also correspond to communication channels.

[0019] The main microcomputer 4 and the sub-microcomputer 5 are connected to each other so as to be able to communicate data with each other via a third CAN bus 10 serving as an internal network. The third channel transmission port (CAN3-Tx) of the main microcomputer 4 is connected to the third channel reception port (CAN3-Tx) of the sub-microcomputer 5 via the third CAN bus 10. The third channel transmission port (CAN3-Tx) of the sub-microcomputer 5 is connected to the third channel reception port (CAN3-Tx) of the main microcomputer 4 via the third CAN bus 10. Each of the third channels of the main microcomputer 4 and the sub-microcomputer 5 corresponds to a relay channel. The main microcomputer 4 and the sub-microcomputer 5 communicate data with each other using H / L signals via the third CAN bus 10.

[0020] In the above configuration, the main microcomputer 4 can enable or disable BasicCAN transmission, which transmits messages using a method based on BasicCAN, for example, for channel 1. When BasicCAN transmission for channel 1 is enabled, the main microcomputer 4 can arrange messages and mailboxes in an n-to-1 ratio for all mailboxes. On the other hand, when BasicCAN transmission for channel 1 is disabled, the main microcomputer 4 cannot arrange messages and mailboxes in an n-to-1 ratio for all mailboxes, and can only arrange messages and mailboxes in a 1-to-1 ratio.

[0021] Furthermore, the main microcontroller 4 can enable or disable FullCAN transmission, which uses the FullCAN method to send messages to channel 3. When FullCAN transmission for channel 3 is enabled, the main microcontroller 4 can place messages and mailboxes in a one-to-one relationship in all mailboxes. On the other hand, when FullCAN transmission for channel 3 is disabled, the main microcontroller 4 cannot place messages in any mailboxes. FullCAN transmission for channel 3 corresponds to relay mode.

[0022] The main microcomputer 4, for example, outputs an operation confirmation signal to the sub-microcomputer 5 at a constant cycle, and monitors at least one of the sub-microcomputer 5 and the third CAN bus 10 for abnormal operation based on the input state of a response signal to the operation confirmation signal from the sub-microcomputer 5. For example, when the main microcomputer 4 inputs a positive signal from the sub-microcomputer 5 within a certain time after outputting the operation confirmation signal to the sub-microcomputer 5, the main microcomputer 4 determines that both the sub-microcomputer 5 and the third CAN bus 10 are operating normally. On the other hand, when the main microcomputer 4 inputs a negative signal from the sub-microcomputer 5 within a certain time after outputting the operation confirmation signal to the sub-microcomputer 5, or when a certain time has passed without inputting any signal from the sub-microcomputer 5, the main microcomputer 4 determines that at least one of the sub-microcomputer 5 and the third CAN bus 10 is operating abnormally, and determines that at least one of the sub-microcomputer 5 and the third CAN bus 10 has occurred. The method of determining the occurrence of an abnormal operation of at least one of the sub-microcomputer 5 and the third CAN bus 10 is not limited to the above-mentioned method.

[0023] Furthermore, the main microcomputer 4 monitors abnormalities in the transmission of a message from the sub-microcomputer 5, for example, based on the input state of a transmission abnormality notification signal from the sub-microcomputer 5. When an abnormality in the transmission of a message occurs, the sub-microcomputer 5 outputs a transmission abnormality notification signal to the main microcomputer 4. The main microcomputer 4 determines that the transmission of the message from the sub-microcomputer 5 is normal, for example, unless it receives a transmission abnormality notification signal from the sub-microcomputer 5. On the other hand, when the main microcomputer 4 receives a transmission abnormality notification signal from the sub-microcomputer 5, for example, it determines that the transmission of the message from the sub-microcomputer 5 is abnormal, and determines that an abnormality in the transmission of the message from the sub-microcomputer 5 has occurred. The method of determining that an abnormality in the transmission of a message from the sub-microcomputer 5 has occurred is not limited to the method described above.

[0024] Next, the operation of the above-mentioned configuration will be described with reference to Figs. 3 to 14. Here, the message transmission setting process performed by the main microcomputer 4 will be described. The main microcomputer 4 periodically performs the message transmission setting process at a fixed cycle. When the timing to start the message transmission setting process is established, the main microcomputer 4 determines whether the operation of both the sub-microcomputer 5 and the third CAN bus 10 is normal (S1). When the main microcomputer 4 determines that the operation of both the sub-microcomputer 5 and the third CAN bus 10 is normal (S1: YES), it determines whether the transmission of the message from the sub-microcomputer 5 is normal (S2).

[0025] When the main microcomputer 4 determines that the message transmission from the sub-microcomputer 5 is normal (S2: YES), it disables BasicCAN transmission on channel 1 and enables FullCAN transmission on channel 3 (S3), terminates the message transmission setting process, and waits for the establishment of the timing to start the next message transmission setting process. In other words, when the main microcomputer 4 determines that the operation of the sub-microcomputer 5, the operation of the third CAN bus 10, and the message transmission from the sub-microcomputer 5 are all normal, it disables BasicCAN transmission on channel 1 and enables FullCAN transmission on channel 3.

[0026] On the other hand, when the main microcomputer 4 identifies the occurrence of an operational abnormality in at least one of the sub-microcomputer 5 or the third CAN bus 10 and identifies that the operation of at least one of the sub-microcomputer 5 or the third CAN bus 10 is not normal (S1: NO), it sets the BasicCAN transmission of channel 1 to be enabled and the FullCAN transmission of channel 3 to be disabled (S4), ends the message transmission setting process, and waits for the establishment of the start timing of the next message transmission setting process. When the main microcomputer 4 identifies the occurrence of an abnormality in the transmission of a message from the sub-microcomputer 5 and identifies that the transmission of a message from the sub-microcomputer 5 is not normal (S2: NO), it also performs the above-mentioned step S4 in this case. That is, when the main microcomputer 4 identifies that at least one of the operation of the sub-microcomputer 5, the operation of the third CAN bus 10, or the transmission of a message from the sub-microcomputer 5 is abnormal, it sets the BasicCAN transmission of channel 1 to be disabled and sets the FullCAN transmission of channel 3 to be enabled.

[0027] In this way, as long as the operation of the sub-microcomputer 5, the operation of the third CAN bus 10, and the transmission of messages from the sub-microcomputer 5 are all normal, the main microcomputer 4 is unable to allocate messages and mailboxes in an n-to-1 ratio for channel 1 and can only allocate them in a 1-to-1 ratio, while it is able to allocate messages and mailboxes in a 1-to-1 ratio for channel 3. On the other hand, if an abnormality occurs in at least any of the operation of the sub-microcomputer 5, the operation of the third CAN bus 10, or the transmission of messages from the sub-microcomputer 5, the main microcomputer 4 is able to allocate messages and mailboxes in an n-to-1 ratio for channel 1 and is unable to allocate messages for channel 3.

[0028] A specific example will be described with reference to Fig. 4 to Fig. 14. The main microcomputer 4 and the sub-microcomputer 5 each transmit a message at a 5 millisecond cycle. As shown in Fig. 4, it is assumed that the main microcomputer 4 places a message with CANID "0x001" in mailbox 1 of channel 1, a message with CANID "0x002" in mailbox 2 of channel 1, and a message with CANID "0x011" in mailbox 1 of channel 2, and the sub-microcomputer 5 places a message with CANID "0x101" in mailbox 1 of channel 1, and a message with CANID "0x111" in mailbox 1 of channel 2.

[0029] When a request to send messages with CANIDs "0x003" and "0x004" occurs and the main microcontroller 4 determines based on the results of the message sending setting process performed immediately before that that all operations of the sub-microcontroller 5 and message sending from the sub-microcontroller 5 are normal, it disables BasicCAN sending on channel 1 and enables FullCAN sending on channel 3. That is, the main microcontroller 4 places the message with CANID "0x003" in mailbox 1 of channel 3, and places the message with CANID "0x004" in mailbox 2 of channel 3, as shown in Figure 5.

[0030] From this state, when it becomes time to transmit a message (see "t1" in FIG. 6), the main microcomputer 4 transmits a message with CANID "0x001" to the first CAN bus 2, and transmits a message with CANID "0x011" to the second CAN bus 3. At this time, as shown in FIG. 7, mailbox 1 of channel 1 of the main microcomputer 4, in which the message with CANID "0x001" was placed, becomes empty, and mailbox 1 of channel 2 of the main microcomputer 4, in which the message with CANID "0x011" was placed, becomes empty. In addition, the sub-microcomputer 5 waits for arbitration to transmit the message with CANID "0x101" to the first CAN bus 2, and waits for arbitration to transmit the message with CANID "0x111" to the second CAN bus 3.

[0031] Here, the main microcomputer 4 transmits the message with CANID "0x003" to the sub-microcomputer 5 via the third CAN bus 10. When the sub-microcomputer 5 receives the message with CANID "0x003" from the main microcomputer 4 via the third CAN bus 10, it places the received message with CANID "0x003" in mailbox 1 of channel 3. At this time, mailbox 1 of channel 3 of the main microcomputer 4, in which the message with CANID "0x003" was placed, becomes empty, and the message with CANID "0x003" is placed in mailbox 1 of channel 3 of the sub-microcomputer 5. From this point on, the sub-microcomputer 5 moves the message with CANID "0x003" that it placed in mailbox 1 of channel 3 to mailbox 2 of channel 1.

[0032] When it is time to transmit the next message (see "t2" in FIG. 6), the main microcomputer 4 transmits a message with CANID "0x002" to the first CAN bus 2. The sub-microcomputer 5 releases the arbitration wait for the message with CANID "0x111" and transmits the message with CANID "0x111" to the second CAN bus 3. At this time, as shown in FIG. 8, the mailbox 2 of channel 1 of the main microcomputer 4, in which the message with CANID "0x002" had been placed, becomes empty, and the mailbox 2 of channel 2 of the sub-microcomputer 5, in which the message with CANID "0x111" had been placed, becomes empty. The sub-microcomputer 5 continues to wait for arbitration of the message with CANID "0x101" and continues to wait for transmission to the first CAN bus 2.

[0033] Here, the main microcomputer 4 transmits the message with CANID "0x004" to the sub-microcomputer 5 via the third CAN bus 10. When the sub-microcomputer 5 receives the message with CANID "0x004" from the main microcomputer 4 via the third CAN bus 10, it places the received message with CANID "0x004" in mailbox 2 of channel 3. At this time, mailbox 2 of channel 3 of the main microcomputer 4, in which the message with CANID "0x004" was placed, becomes empty, and the message with CANID "0x004" is placed in mailbox 2 of channel 3 of the sub-microcomputer 5. From this point on, the sub-microcomputer 5 moves the message with CANID "0x004" that it placed in mailbox 2 of channel 3 to mailbox 3 of channel 1.

[0034] When it is time to send the next message (see "t3" in Figure 6), the sub-microcomputer 5 releases the arbitration wait for the message with CANID "0x101" and sends the message with CANID "0x101" to the first CAN bus 2. At this time, as shown in Figure 9, mailbox 1 of channel 1 of the sub-microcomputer 5, in which the message with CANID "0x101" had been placed, becomes empty.

[0035] When it is time to send the next message (see "t4" in Figure 6), if there is no message in either mailbox on channels 1 or 2 and no message awaiting arbitration, the sub-microcomputer 5 will not send a message. At this time, as shown in Figure 10, when the sub-microcomputer 5 completes moving the message with CANID "0x003" that was placed in mailbox 1 on channel 3, mailbox 1 on channel 3 of the sub-microcomputer 5, where the message with CANID "0x003" was placed, becomes empty, and the message with CANID "0x003" is placed in mailbox 2 on channel 1 of the sub-microcomputer 5.

[0036] When it is time to send the next message (see "t5" in Figure 6), the sub-microcomputer 5 sends the message with CANID "0x003" to the first CAN bus 2. At this time, as shown in Figure 11, mailbox 2 of channel 1 of the sub-microcomputer 5, in which the message with CANID "0x003" had been placed, becomes empty. In addition, when the sub-microcomputer 5 completes the movement of the message with CANID "0x004" that had been placed in mailbox 2 of channel 3, mailbox 2 of channel 3 of the sub-microcomputer 5, in which the message with CANID "0x004" had been placed, becomes empty, and the message with CANID "0x004" is placed in mailbox 3 of channel 1 of the sub-microcomputer 5.

[0037] When it is time to send the next message (see "t6" in Figure 6), the sub-microcomputer 5 sends the message with CANID "0x004" to the first CAN bus 2. At this time, as shown in Figure 12, the mailbox 3 of channel 1 of the sub-microcomputer 5, in which the message with CANID "0x004" was placed, becomes empty.

[0038] In this way, the messages of CANIDs "0x003" and "0x004", for which a transmission request has been generated in the main microcomputer 4, are placed on the channel 3 and then relayed to the sub-microcomputer 5, and are then transmitted from the sub-microcomputer 5 to the first CAN bus 2. Note that the above illustrates a case in which the message of CANID "0x003" transmitted from the main microcomputer 4 to the sub-microcomputer 5 is transmitted at "t5", and the message of CANID "0x004" is transmitted at "t6", but if the transfer of the messages of CANIDs "0x003" and "0x004" is immediately completed in the sub-microcomputer 5, it is also possible that the message of CANID "0x003" is transmitted at "t4", and the message of CANID "0x004" is transmitted at "t5". If a similar situation occurs thereafter, the main microcomputer 4 and the sub-microcomputer 5 repeat the above-mentioned process (see "t11" to "t16" in FIG. 6).

[0039] On the other hand, when a request to send messages with CANIDs "0x003" and "0x004" occurs and the main microcontroller 4 determines based on the results of the message sending setting process performed immediately before that that at least one of the operation of the sub-microcontroller 5, the operation of the third CAN bus 10, or the sending of messages from the sub-microcontroller 5 is abnormal, it sets BasicCAN sending on channel 1 to enabled and FullCAN sending on channel 3 to disabled. That is, the main microcontroller 4 places messages with CANIDs "0x003" and "0x004" in the mailbox 3 of channel 1, as shown in Figure 13.

[0040] In this case, as shown in Fig. 14, messages with CANIDs "0x003" and "0x004" are not transmitted from the main microcomputer 4 to the sub-microcomputer 5. The main microcomputer 4 transmits messages with CANIDs "0x001", "0x002", "0x003", "0x004", and "0x101" in sequence to the first CAN bus 2 each time it is time to transmit a message (see "t21", "t22", "t23", "t24", and "t25" in Fig. 14). In this case as well, if a similar situation occurs thereafter, the main microcomputer 4 repeats the above-mentioned process (see "t31" to "t36" in Fig. 6).

[0041] The above describes an example of a configuration in which the message transmission setting process is performed periodically at a fixed cycle, and when a message transmission request occurs, the BasicCAN transmission on channel 1 and the FullCAN transmission on channel 3 are enabled or disabled based on the result of the message transmission setting process performed immediately before that. However, the message transmission setting process may also be performed when a message transmission request occurs. In other words, when a message transmission request occurs, the main microcomputer 4 may perform the message transmission setting process, and enable or disable the BasicCAN transmission on channel 1 and the FullCAN transmission on channel 3 based on the result of the message transmission setting process.

[0042] In addition, the above describes an example of a configuration in which a portion of a message to be transmitted from the main microcomputer 4 to the first CAN bus 2 is relayed from the main microcomputer 4 to the sub-microcomputer 5 and then transmitted from the sub-microcomputer 5 to the first CAN bus 2, but the processing of the main microcomputer 4 and the processing of the sub-microcomputer 5 may be switched. In other words, a portion of a message to be transmitted from the sub-microcomputer 5 to the first CAN bus 2 may be relayed from the sub-microcomputer 5 to the main microcomputer 4 and then transmitted from the main microcomputer 4 to the first CAN bus 2. In addition, this is not limited to messages to be transmitted to the first CAN bus 2, and may also be applied to messages to be transmitted to the second CAN bus 3.

[0043] As described above, according to this embodiment, the following advantageous effects can be obtained. In the main microcomputer 4, messages to be transmitted to the first CAN bus 2 and the third CAN bus 3 are distributed and allocated to the channels 1 and 2 that function as communication channels and the channel 3 that functions as a relay channel. Messages to be transmitted to the first CAN bus 2 and the third CAN bus 3 can be distributed into messages that are transmitted directly from the main microcomputer 4 to the first CAN bus 2 and the third CAN bus 3 and messages that are transmitted from the main microcomputer 4 to the first CAN bus 2 and the third CAN bus 3 via the sub-microcomputer 5. By increasing the degree of freedom in arranging messages to be transmitted to the first CAN bus 2 and the third CAN bus 3 in the mailbox, it is possible to prevent a situation in which messages cannot be queued, and it is possible to appropriately transmit messages to the first CAN bus 2 and the third CAN bus 3. Although a communication delay occurs by passing through the sub-microcomputer 5, the variation in communication intervals can be suppressed by avoiding queuing.

[0044] As long as no operational abnormality occurs in the sub-microcomputer 5, the relay from the main microcomputer 4 to the sub-microcomputer 5 is set to be enabled, and when an operational abnormality occurs in the sub-microcomputer 5, the relay from the main microcomputer 4 to the sub-microcomputer 5 is set to be disabled. As long as no operational abnormality occurs in the sub-microcomputer 5, messages can be appropriately sent while being distributed, and even if an operational abnormality occurs in the sub-microcomputer 5, messages can be sent using conventional methods.

[0045] As long as no operational abnormality occurs in the third CAN bus 10, the relay from the main microcomputer 4 to the sub-microcomputer 5 is set to be enabled, and if an operational abnormality occurs in the third CAN bus 10, the relay from the main microcomputer 4 to the sub-microcomputer 5 is set to be disabled. As long as no operational abnormality occurs in the third CAN bus 10, messages can be appropriately transmitted while being distributed, and even if an operational abnormality occurs in the third CAN bus 10, messages can be transmitted using conventional methods.

[0046] As long as no abnormality occurs in the transmission of a message from the sub-microcomputer 5, the relay from the main microcomputer 4 to the sub-microcomputer 5 is set to be valid, and if an abnormality occurs in the transmission of a message from the sub-microcomputer 5, the relay from the main microcomputer 4 to the sub-microcomputer 5 is set to be invalid. As long as no abnormality occurs in the transmission of a message from the sub-microcomputer 5, the message can be appropriately transmitted while distributing the message, and even if an abnormality occurs in the transmission of a message from the sub-microcomputer 5, the message can be transmitted using the conventional method.

[0047] In addition to the claims, the present disclosure also includes the following inventions. [1] a first control unit (4) for transmitting a message arranged on a communication channel to an in-vehicle network; A second control unit (5) that transmits a message arranged on the communication channel to an in-vehicle network; an internal network (10) connecting the first control unit and the second control unit so as to be able to communicate data with each other; The first control unit has a relay channel different from the communication channel, and transmits a message placed on the relay channel to the second control unit via the internal network; The second control unit has a relay channel different from the communication channel, and places a message received from the first control unit via the internal network on the communication channel via the relay channel and transmits the message to the in-vehicle network.

[0048] [2] The electronic control device described in [2], wherein the first control unit is capable of setting a relay mode in which a message is placed on the relay channel and transmitted to the second control unit via the internal network to be enabled or disabled.

[0049] [3] The electronic control device described in [2], wherein the first control unit sets the relay mode to be enabled when no operational abnormality occurs in the second control unit, and sets the relay mode to be disabled when an operational abnormality occurs in the second control unit.

[0050] [4] The electronic control device according to [2] or [3], wherein the first control unit sets the relay mode to be enabled when no operational abnormality occurs in the internal network, and sets the relay mode to be disabled when an operational abnormality occurs in the internal network.

[0051] [5] The electronic control device according to any one of claims [2] to [4], wherein the first control unit sets the relay mode to be enabled when no abnormality in the transmission of the message from the second control unit occurs, and sets the relay mode to be disabled when an abnormality in the transmission of the message from the second control unit occurs.

[0052] Although the present disclosure has been described based on the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure.

[0053] The control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more special-purpose computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. Also, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer. [Explanation of symbols]

[0054] In the drawing, 1 is an ECU (electronic control unit), 2 is a first CAN bus (in-vehicle network), 3 is a second CAN bus (in-vehicle network), 4 is a main microcomputer (first control unit), 5 is a sub-microcomputer (second control unit), and 10 is a third CAN bus 10 (internal network).

Claims

1. a first control unit (4) for transmitting a message arranged on a communication channel to an in-vehicle network; A second control unit (5) for transmitting a message arranged on the communication channel to an in-vehicle network; An internal network (10) that connects the first control unit and the second control unit so as to be able to communicate data with each other; The first control unit has a relay channel different from the communication channel, and transmits a message placed on the relay channel to the second control unit via the internal network; The second control unit has a relay channel different from the communication channel, and places a message received from the first control unit via the internal network on the communication channel via the relay channel and transmits the message to the in-vehicle network.

2. 2. The electronic control device according to claim 1, wherein the first control unit is capable of setting a relay mode in which a message is placed on the relay channel and transmitted to the second control unit via the internal network to be enabled or disabled.

3. 3. The electronic control device according to claim 2, wherein the first control unit sets the relay mode to be active when no operational abnormality occurs in the second control unit, and sets the relay mode to be inactive when an operational abnormality occurs in the second control unit.

4. 3. The electronic control device according to claim 2, wherein the first control unit sets the relay mode to be active when no operational abnormality occurs in the internal network, and sets the relay mode to be inactive when an operational abnormality occurs in the internal network.

5. 3. The electronic control device according to claim 2, wherein the first control unit sets the relay mode to be active when no abnormality occurs in the transmission of the message from the second control unit, and sets the relay mode to be inactive when an abnormality occurs in the transmission of the message from the second control unit.

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