Control system, mobile object and information processing method for control system

Abstract

To provide: a control system in which decrease in communication speed is suppressed by reducing the amount of communication caused by serial communication; a mobile object; and an information processing method for the control system.SOLUTION: In a control system in which signals are sent and received via serial communication between a plurality of control devices, a management controller 86 includes a generation unit 108 which generates a data frame including a plurality of sub-data fields, and a transmission unit 110 which transmits the data frame to a bus 102, and a junction box controller 94 includes: a reception unit 116 which receives the data frame transmitted to the bus by the management controller; a determination unit 118 which determines commands for each of a plurality of devices based on information written in the data frame; and a control unit 120 which controls each of the devices based on the commands determined by the determination unit.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a control system, a mobile body, and an information processing method for the control system. [Background technology]

[0002] The following Patent Document 1 discloses a system in which data is transmitted and received between a plurality of electronic control units via control area network communication. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-144221 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need for better control systems, better vehicles, and better methods of processing information for control systems.

[0005] The present invention aims to solve the above-mentioned problems. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a control system for transmitting and receiving signals between multiple control devices via serial communication, wherein a first control device among the multiple control devices has a generation unit that generates a data frame including multiple subdata fields and a transmission unit that transmits the data frame generated by the generation unit, and a second control device among the multiple control devices has a reception unit that receives the data frame transmitted from the first control device, a determination unit that determines instructions for each of multiple devices based on information written in the subdata field of the data frame received by the reception unit, and a control unit that controls each of the devices based on each of the instructions determined by the determination unit, wherein the generation unit writes status information, which is information indicating the status selected from multiple statuses, into the subdata field that is pre-assigned to the status information, and the determination unit determines the instructions for each of the devices based on one of the data frames received by the reception unit.

[0007] A second aspect of the present disclosure is a mobile object including the control system according to the first aspect.

[0008] A third aspect of the present disclosure is an information processing method for a control system that transmits and receives signals between multiple control devices via serial communication, wherein a first control device among the multiple control devices executes a generation step in which a generation unit generates a data frame including multiple subdata fields, and a transmission step in which a transmission unit transmits the data frame generated by the generation unit; and a second control device among the multiple control devices executes a reception step in which a reception unit receives the data frame transmitted from the first control device, a determination step in which a determination unit determines a command for each of multiple devices based on information written in the subdata frame of the data frame received by the reception unit, and a control step in which a control unit controls each of the devices based on each command determined by the determination unit; and in the generation step, status information that indicates the status selected from multiple statuses is written into the subdata frame that is pre-assigned to the status information, and in the determination step, the determination unit determines the command for each of the devices based on one of the data frames received by the reception unit. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a better control system, a better moving body, and a better information processing method for a control system. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a moving object according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a power supply system according to an embodiment. [Figure 3] FIG. 3 is a schematic diagram showing the configuration of a control system according to an embodiment. [Figure 4] FIG. 4 is a control block diagram of a management controller and a junction box controller in one embodiment. [Figure 5] FIG. 5 is a diagram showing the configuration of a data field in one embodiment. [Figure 6] FIG. 6 is a diagram showing an example of signal allocation to statuses. [Figure 7] FIG. 7 is a control block diagram of a management controller and a junction box controller in a comparative example. [Figure 8] FIG. 8 is a flowchart of a data frame transmission process in one embodiment. [Figure 9] FIG. 9 is a flowchart of a device control process according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] In an electric vertical take-off and landing aircraft (eVTOL aircraft), a rotor is driven by an electric motor. The rotor generates vertical and horizontal thrust. The eVTOL aircraft is a hybrid aircraft. The eVTOL aircraft has a generator and a battery as power sources for the electric motor. Electric power generated by the generator is supplied to the electric motor. When the power generated by the generator is insufficient to meet the power demand from the electric motor, power stored in the battery is supplied to the electric motor.

[0012] The power supply system that supplies the generator's power to the electric motor has many contactors. Each contactor is controlled by a controller (lower controller), but the commands of each controller are determined by another controller (upper controller).

[0013] The upper controller and lower controller send and receive signals via control area network communication. Control area network communication uses serial communication. The upper controller generates a data frame containing command information for each contactor and transmits the generated data frame to the bus. This increases the amount of communication on the bus, which can reduce the communication speed.

[0014] The control system of the present disclosure can reduce the number of data frames transmitted and received between controllers, thereby reducing the amount of communication on the bus and preventing a decrease in communication speed.

[0015] [One embodiment] [Configuration of moving objects] FIG. 1 is a schematic diagram of a moving body 10 in one embodiment. The moving body 10 in one embodiment is an electric vertical take-off and landing aircraft (eVTOL aircraft). The moving body 10 has an airframe 12. The airframe 12 is provided with a cockpit, a cabin, etc. A pilot sits in the cockpit and operates the moving body 10. Passengers sit in the cabin. The moving body 10 may be operated automatically.

[0016] The moving body 10 has a front wing 14 and a rear wing 16. When the moving body 10 moves forward, lift is generated on each of the front wing 14 and the rear wing 16.

[0017] The vehicle 10 has eight VTOL rotors 18 and two cruise rotors 22. One VTOL electric motor 20 is provided for each VTOL rotor 18. Two cruise electric motors 24 are provided for each cruise rotor 22.

[0018] [Power supply system configuration] 2 is a schematic diagram showing the configuration of a power supply system 26 according to one embodiment. The power supply system 26 has two power supply systems: a first power supply system 28a and a second power supply system 28b. The power supply system 26 includes a first main power supply device 30a as the main power supply for the first power supply system 28a. The power supply system 26 includes a second main power supply device 30b as the main power supply for the second power supply system 28b.

[0019] Each of the first main power supply unit 30a and the second main power supply unit 30b has a gas turbine 32, a generator 34, and a power drive unit (hereinafter referred to as PDU) 36. The gas turbine 32 drives the generator 34, which then generates electricity. The PDU 36 converts AC power generated by the generator 34 into DC power and outputs it. When starting the gas turbine 32, the PDU 36 converts DC power input to the PDU 36 into AC power and outputs it to the generator 34. The generator 34 is operated by the AC power, and the generator 34 drives the gas turbine 32.

[0020] Each of the first main power supply device 30a and the second main power supply device 30b may include various sensors such as voltage sensors and current sensors, and elements such as fuses, relays, breakers, diodes, transistors, resistors, coils, and capacitors.

[0021] The power supply system 26 includes a first power supply circuit 38a, a second power supply circuit 38b, a third power supply circuit 38c, and a fourth power supply circuit 38d.

[0022] The first power supply circuit 38a supplies the DC power output from the first main power supply device 30a to the first load module 40a. The second power supply circuit 38b supplies the DC power output from the first main power supply device 30a to the second load module 40b. The third power supply circuit 38c supplies the DC power output from the second main power supply device 30b to the third load module 40c. The fourth power supply circuit 38d supplies the DC power output from the second main power supply device 30b to the fourth load module 40d.

[0023] Each of the first load module 40 a, the second load module 40 b, the third load module 40 c, and the fourth load module 40 d has two VTOL drive units 42 and one cruise drive unit 44.

[0024] Each VTOL drive device 42 has an inverter 46 and a VTOL electric motor 20. The inverter 46 converts DC power input thereto into three-phase AC power and outputs it to the VTOL electric motor 20.

[0025] Each cruise drive device 44 has an inverter 48 and a cruise electric motor 24. The inverter 48 converts DC power input thereto into three-phase AC power and outputs it to the cruise electric motor 24.

[0026] Each of the first load module 40a and the third load module 40c includes a DC-DC converter 50. The DC-DC converter 50 reduces the voltage of the DC power input to the DC-DC converter 50 and outputs the reduced voltage to a device that operates on DC power. The device that operates on DC power is, for example, a cooling device that cools the PDU 36, the inverter 46, the inverter 48, etc.

[0027] Each of the first load module 40a, the second load module 40b, the third load module 40c and the fourth load module 40d may have various sensors such as voltage sensors, current sensors, fuses, relays, breakers, diodes, transistors, resistors, coils, capacitors and other elements.

[0028] A first auxiliary power supply unit 52a is connected to the first power supply circuit 38a. A second auxiliary power supply unit 52b is connected to the second power supply circuit 38b. A third auxiliary power supply unit 52c is connected to the third power supply circuit 38c. A fourth auxiliary power supply unit 52d is connected to the fourth power supply circuit 38d.

[0029] Each of the first auxiliary power supply 52a, the second auxiliary power supply 52b, the third auxiliary power supply 52c, and the fourth auxiliary power supply 52d has a battery 54. The battery 54 is, for example, a lithium ion battery.

[0030] Each of the first auxiliary power supply 52a, the second auxiliary power supply 52b, the third auxiliary power supply 52c, and the fourth auxiliary power supply 52d may have various elements such as various sensors such as voltage sensors and current sensors, fuses, relays, breakers, diodes, transistors, resistors, coils, and capacitors.

[0031] The first power supply circuit 38a and the third power supply circuit 38c are connected by a first connection circuit 56a, and the second power supply circuit 38b and the fourth power supply circuit 38d are connected by a second connection circuit 56b.

[0032] The power supply system 26 includes a main junction box 58 and a battery junction box 60 .

[0033] The main junction box 58 has a first disconnecting device 62a and a second disconnecting device 62b. The first disconnecting device 62a can disconnect the first main power supply device 30a from the first power supply circuit 38a and the second power supply circuit 38b. The second disconnecting device 62b can disconnect the second main power supply device 30b from the third power supply circuit 38c and the fourth power supply circuit 38d.

[0034] The main junction box 58 has a third disconnecting device 64a, a fourth disconnecting device 64b, a fifth disconnecting device 64c, and a sixth disconnecting device 64d. The third disconnecting device 64a can disconnect the first main power supply device 30a from the first power supply circuit 38a. The fourth disconnecting device 64b can disconnect the first main power supply device 30a from the second power supply circuit 38b. The fifth disconnecting device 64c can disconnect the second main power supply device 30b from the third power supply circuit 38c. The sixth disconnecting device 64d can disconnect the second main power supply device 30b from the fourth power supply circuit 38d.

[0035] The main junction box 58 has a first connection device 66a and a second connection device 66b. The first connection device 66a can connect the first power supply circuit 38a and the third power supply circuit 38c via the first connection circuit 56a. The second connection device 66b can connect the second power supply circuit 38b and the fourth power supply circuit 38d via the second connection circuit 56b.

[0036] Each of the first breaking device 62a, the second breaking device 62b, the third breaking device 64a, the fourth breaking device 64b, the fifth breaking device 64c, the sixth breaking device 64d, the first connecting device 66a, and the second connecting device 66b has two contactors 68. One contactor 68 is provided on the positive wiring, and the other contactor 68 is provided on the negative wiring.

[0037] The main junction box 58 includes a first reverse current prevention device 70a, a second reverse current prevention device 70b, a third reverse current prevention device 70c, and a fourth reverse current prevention device 70d. Each of the first reverse current prevention device 70a, the second reverse current prevention device 70b, the third reverse current prevention device 70c, and the fourth reverse current prevention device 70d includes a diode 72 and an insulated gate bipolar transistor (hereinafter referred to as an IGBT) 74. When the IGBT 74 is OFF, the diode 72 prevents reverse current flow in each of the first power supply circuit 38a, the second power supply circuit 38b, the third power supply circuit 38c, and the fourth power supply circuit 38d. When the IGBT 74 is ON, the diode 72 is bypassed and reverse current is allowed in each of the first power supply circuit 38a, the second power supply circuit 38b, the third power supply circuit 38c, and the fourth power supply circuit 38d.

[0038] The battery junction box 60 includes a seventh disconnecting device 78a, an eighth disconnecting device 78b, a ninth disconnecting device 78c, and a tenth disconnecting device 78d. Each of the seventh disconnecting device 78a, the eighth disconnecting device 78b, the ninth disconnecting device 78c, and the tenth disconnecting device 78d includes three contactors 80 and one pre-charge resistor 82. Of the three contactors 80, one contactor 80 is provided on the positive electrode wiring. Of the three contactors 80, another contactor 80 is provided on the negative electrode wiring. Of the three contactors 80, yet another contactor 80 is provided in a pre-charge circuit that bypasses the contactor 80 provided on the negative electrode. The pre-charge resistor 82 is provided in series with the contactor 80 in the pre-charge circuit.

[0039] The seventh shutoff device 78a can shut off the first auxiliary power supply 52a from the first power supply circuit 38a. The eighth shutoff device 78b can shut off the second auxiliary power supply 52b from the second power supply circuit 38b. The ninth shutoff device 78c can shut off the third auxiliary power supply 52c from the third power supply circuit 38c. The tenth shutoff device 78d can shut off the fourth auxiliary power supply 52d from the fourth power supply circuit 38d.

[0040] When the first main power supply 30a and the first load module 40a are precharged with DC power from the first auxiliary power supply 52a, the seventh shutoff device 78a outputs DC power from the first auxiliary power supply 52a to the first power supply circuit 38a via a precharge circuit. When the first main power supply 30a and the second load module 40b are precharged with DC power from the second auxiliary power supply 52b, the eighth shutoff device 78b outputs DC power from the second auxiliary power supply 52b to the second power supply circuit 38b via a precharge circuit. When the second main power supply 30b and the third load module 40c are precharged with DC power from the third auxiliary power supply 52c, the ninth shutoff device 78c outputs DC power from the third auxiliary power supply 52c to the third power supply circuit 38c via a precharge circuit. When the second main power supply 30b and the fourth load module 40d are precharged with DC power from the fourth auxiliary power supply 52d, the tenth circuit breaker 78d outputs DC power from the fourth auxiliary power supply 52d to the fourth power supply circuit 38d via the precharge circuit.

[0041] [Control system configuration] 3 is a schematic diagram showing the configuration of a control system in one embodiment. The control system 84 in one embodiment includes a management controller 86, a flight controller 88, a gas turbine controller 90, a generator controller 92, a junction box controller 94, a battery controller 96, a DC-DC controller 98, and a motor controller 100.

[0042] The management controller 86, flight controller 88, gas turbine controller 90, generator controller 92, junction box controller 94, battery controller 96, DC-DC controller 98, and motor controller 100 are each connected to a bus 102. The management controller 86, flight controller 88, gas turbine controller 90, generator controller 92, junction box controller 94, battery controller 96, DC-DC controller 98, and motor controller 100 each transmit and receive signals via control area network communication (hereinafter referred to as CAN communication).

[0043] The management controller 86 manages the power supplied to each of the first load module 40a, the second load module 40b, the third load module 40c, and the fourth load module 40d. The flight controller 88 manages the operation of each of the first load module 40a, the second load module 40b, the third load module 40c, and the fourth load module 40d.

[0044] The gas turbine controller 90 controls the rotation speed and torque of the gas turbine 32 based on information sent from the management controller 86. The gas turbine controller 90 monitors the state of the gas turbine 32 and sends information indicating the state of the gas turbine 32 to the management controller 86.

[0045] The generator controller 92 controls the rotation speed and torque of the generator 34 based on information sent from the management controller 86. The generator controller 92 monitors the status of the generator 34 and the PDU 36, and sends information indicating the status of the generator 34 and the PDU 36 to the management controller 86.

[0046] The junction box controller 94 controls the main junction box 58 based on information sent from the management controller 86. The junction box controller 94 controls the ON / OFF of each contactor 68 in the main junction box 58 and controls the ON / OFF of each IGBT 74. The junction box controller 94 monitors the status of the main junction box 58 and sends information indicating the status of the main junction box 58 to the management controller 86.

[0047] The battery controller 96 controls the battery junction box 60 based on information sent from the management controller 86. The battery controller 96 controls the ON / OFF of each contactor 80 in the battery junction box 60. The battery controller 96 monitors the status of the battery 54 and the battery junction box 60, and sends information indicating the status of the battery 54 and the battery junction box 60 to the management controller 86. The battery controller 96 sends information such as the SOC (State of Charge) of the battery 54, the upper limit of the output power of the battery 54, and the upper limit of the input power of the battery 54 to the management controller 86 as the status of the battery junction box 60. The battery controller 96 sends information such as the ON / OFF status of each contactor 80 to the management controller 86 as the status of the battery junction box 60.

[0048] The DC-DC controller 98 controls the DC-DC converter 50 based on information sent from the flight controller 88. The motor controller 100 controls the VTOL drive unit 42 and the cruise drive unit 44 based on information sent from the flight controller 88.

[0049] In CAN communication, all data is transmitted in frames. There are four types of frames: data frame, remote frame, error frame, and overload frame. Of these four types of frames, data frames are used to transmit data from one node (controller) to one or more nodes.

[0050] The following describes information processing in the control system 84 using data frames transmitted from the management controller 86 to the junction box controller 94.

[0051] [Configuration of management controller and junction box controller] FIG. 4 is a control block diagram of the management controller 86 and the junction box controller 94 in one embodiment.

[0052] The management controller 86 includes a calculation unit 104 and a storage unit 106. The calculation unit 104 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit).

[0053] The calculation unit 104 functions as a generation unit 108 and a transmission unit 110. The generation unit 108 and the transmission unit 110 are realized by the calculation unit 104 executing a program stored in the storage unit 106.

[0054] At least a part of the generating unit 108 and the transmitting unit 110 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). At least a part of the generating unit 108 and the transmitting unit 110 may be realized by an electronic circuit including discrete devices.

[0055] The storage unit 106 is configured by a volatile memory (not shown) and a nonvolatile memory (not shown), which are computer-readable storage media. The volatile memory is, for example, a random access memory (RAM). The nonvolatile memory is, for example, a read-only memory (ROM), a flash memory, etc. Data, etc., are stored in the volatile memory. Programs, tables, maps, etc., are stored in the nonvolatile memory. At least a part of the storage unit 106 may be provided in the above-mentioned processor, integrated circuit, etc.

[0056] The generation unit 108 generates one data frame to be sent to the junction box controller 94 at predetermined intervals. The data frame is made up of multiple fields. The multiple fields include an identifier field, a data field, etc. The generation unit 108 writes identifier information in the identifier field. The identifier information includes information indicating the junction box controller 94 as the destination of the data frame. The generation unit 108 writes status information in the data field. The status information will be described in detail later.

[0057] The transmitter 110 transmits the data frame generated by the generator 108 onto the bus 102 .

[0058] The junction box controller 94 includes a calculation unit 112 and a storage unit 114. The calculation unit 112 is, for example, a processor such as a CPU or a GPU.

[0059] The calculation unit 112 functions as a receiving unit 116, a determining unit 118, and a control unit 120. The receiving unit 116, the determining unit 118, and the control unit 120 are realized by the calculation unit 112 executing a program stored in the storage unit 114.

[0060] At least a part of the receiving unit 116, the determining unit 118, and the control unit 120 may be realized by an integrated circuit such as an ASIC, an FPGA, etc. At least a part of the receiving unit 116, the determining unit 118, and the control unit 120 may be realized by an electronic circuit including discrete devices.

[0061] The storage unit 114 is configured by a volatile memory (not shown) and a nonvolatile memory (not shown), which are computer-readable storage media. The volatile memory is, for example, a RAM. The nonvolatile memory is, for example, a ROM, a flash memory, etc. Data and the like are stored in, for example, the volatile memory. Programs, tables, maps, etc. are stored in, for example, the nonvolatile memory. At least a part of the storage unit 114 may be provided in the above-mentioned processor, integrated circuit, etc.

[0062] The receiving unit 116 receives the data frame transmitted by the management controller 86 to the bus 102. The determining unit 118 determines an ON / OFF command for each IGBT 74 and an ON / OFF command for each contactor 68 based on the status information written in the data field of the data frame received by the receiving unit 116.

[0063] The control unit 120 controls each IGBT 74 based on the ON / OFF command for each IGBT 74 determined by the determination unit 118. The control unit 120 also controls each contactor 68 based on the ON / OFF command for each contactor 68 determined by the determination unit 118.

[0064] [Data Field Configuration] 5 is a diagram showing the configuration of a data field in one embodiment. A data frame transmitted from the management controller 86 to the junction box controller 94 includes a data field having a data length of 4 bytes (32 bits). However, the data length of the data field is not limited to 4 bytes.

[0065] As described above, the generation unit 108 of the management controller 86 writes status information into the data field. The status information is, for example, information indicating the status of the power supply system 26. The devices (IGBTs 74, contactors 68) of the main junction box 58 are controlled according to the status of the power supply system 26. The status of the power supply system 26 includes, for example, an engine start status and an engine stop status. The engine start status indicates the status from when a start request for the gas turbine 32 is accepted until the start of the gas turbine 32 is completed. The engine stop status indicates a state in which the gas turbine 32 is stopped.

[0066] The data field is divided into a plurality of sub-data fields. A sub-data field is assigned in advance to each piece of status information. For example, a sub-data field of 23 to 21 bits is assigned to information indicating the engine start status for the second power supply system 28b.

[0067] [Signal assignment for status] FIG. 6 is a diagram showing an example of signal allocation to statuses.

[0068] The engine start status is further divided into an engine start request acceptance status, an engine start preparation completion status, an engine starting status, and an engine start completion status. Fig. 6 shows the correspondence between each status and each signal in the engine start status of the second power supply system 28b, and the correspondence between each status and a command to each IGBT 74 of the second power supply system 28b.

[0069] When the management controller 86 receives an engine start request from a higher-level system (not shown), the generation unit 108 selects an engine start request reception status as the status. As shown in Fig. 6, the signal "001" is pre-assigned to the engine start request reception status from bits 23 to 21 of the data field. The generation unit 108 generates a data frame in which the signal "001" is included in bits 23 to 21 of the data field.

[0070] When the junction box controller 94 receives a data frame in which the 23rd to 21st bits of the data field are the signals "001", the decision unit 118 decides on an OFF command as the command for each IGBT 74 of the second power supply system 28b.

[0071] As a result, when the second power supply system 28b is in the engine start request acceptance status, each IGBT 74 of the second power supply system 28b is controlled to be turned off.

[0072] Similarly, when the generation unit 108 selects each of the engine start preparation completion status, the engine starting status, and the engine start completion status, the generation unit 108 of the management controller 86 generates a data frame including a signal based on the correspondence relationship shown in Fig. 6. Furthermore, the determination unit 118 of the junction box controller 94 determines a command to each IGBT 74 of the second power supply system 28b based on the correspondence relationship shown in Fig. 6.

[0073] [Comparative Example] FIG. 7 is a control block diagram of the management controller 122 and the junction box controller 124 in the comparative example.

[0074] The configurations of the management controller 122 and the junction box controller 124 in the comparative example are the same as the configurations of the management controller 86 and the junction box controller 94 in the embodiment. However, the management controller 122 in the comparative example and the management controller 86 in the embodiment have different data frame generation methods. Also, the junction box controller 124 in the comparative example and the junction box controller 94 in the embodiment have different methods for determining commands for each IGBT 74 and each contactor 68.

[0075] In the comparative example, the generation unit 108 of the management controller 122 generates a plurality of data frames to be sent to the junction box controller 124 at predetermined intervals. One data frame is generated for each device (contactor 68 or IGBT 74) in the main junction box 58. For example, the main junction box 58 shown in FIG. 2 includes 16 contactors 68 and four IGBTs 74, and therefore 20 data frames are generated. The generation unit 108 writes command information for one device in the data field of each data frame.

[0076] In the comparative example, the determination unit 118 of the junction box controller 124 determines an ON / OFF command for each device based on command information written in the data field of each data frame.

[0077] For this reason, in the comparative example, a large number of data frames are transmitted from the management controller 122 to the junction box controller 124 at predetermined intervals, resulting in a large amount of communication traffic on the bus 102. Normally, when one node (controller) is using the bus 102, other nodes cannot transmit data frames. Therefore, the large amount of communication traffic on the bus 102 reduces the communication speed.

[0078] In contrast to this, in one embodiment, one data frame is transmitted from the management controller 122 to the junction box controller 124 at predetermined intervals, thereby reducing the amount of communication on the bus 102. Furthermore, reducing the amount of communication on the bus 102 can prevent a decrease in communication speed.

[0079] [Data frame sending process] 8 is a flowchart of a data frame transmission process according to an embodiment of the present invention. The data frame transmission process is executed by the management controller 86 at predetermined intervals.

[0080] In step S1, the generation unit 108 generates one data frame to be sent to the junction box controller 94. Status information is written in the data field of the data frame. Then, the process proceeds to step S2.

[0081] In step S2, the transmitter 110 transmits the data frame to the bus 102. Thereafter, the data frame transmission process ends.

[0082] [Device control processing] 9 is a flowchart of a device control process according to an embodiment of the present invention. The device control process is executed by the junction box controller 94 at predetermined intervals.

[0083] In step S11, the receiving unit 116 receives the data frame transmitted by the management controller 86 to the bus 102. Then, the process proceeds to step S12.

[0084] In step S12, the determination unit 118 determines a command to be issued to each device based on the status information written in the data field of the data frame received by the receiving unit 116. Thereafter, the process proceeds to step S13.

[0085] In step S13, the control unit 120 controls each device based on the command for each device determined by the determination unit 118. Thereafter, the device control process ends.

[0086] The following additional notes are further disclosed regarding the above embodiment.

[0087] (Appendix 1) A control system (84) of the present disclosure is a control system for transmitting and receiving signals via serial communication among multiple control devices, wherein a first control device (86) of the multiple control devices has a generation unit (108) that generates a data frame including multiple subdata fields and a transmission unit (110) that transmits the data frame generated by the generation unit, and a second control device (94) of the multiple control devices has a reception unit (116) that receives the data frame transmitted from the first control device, a determination unit (118) that determines a command for each of multiple devices based on information written in the subdata fields of the data frame received by the reception unit, and a control unit (120) that controls each of the devices based on the command determined by the determination unit, wherein the generation unit writes status information indicating a status selected from multiple statuses into the subdata fields pre-assigned to the status information, and the determination unit determines the command for each of the devices based on the one data frame received by the reception unit. This reduces the amount of communication via serial communication and suppresses a decrease in communication speed.

[0088] (Appendix 2) In the control system described in Supplementary Note 1, the plurality of control devices may transmit and receive signals via control area network communication, thereby reducing the amount of communication traffic via serial communication and preventing a decrease in communication speed.

[0089] (Appendix 3) A moving body (10) of the present disclosure includes the control system described in Supplementary Note 1 or 2. This reduces the amount of serial communication traffic and suppresses a decrease in communication speed.

[0090] (Appendix 4) The present disclosure provides an information processing method for a control system in which signals are transmitted and received via serial communication between multiple control devices, wherein a first control device among the multiple control devices executes a generating step in which a generating unit generates a data frame including multiple subdata fields and a transmitting step in which a transmitting unit transmits the data frame generated by the generating unit, and a second control device among the multiple control devices executes a receiving step in which a receiving unit receives the data frame transmitted from the first control device, a determining step in which a determining unit determines a command for each of multiple devices based on information written in the subdata frame of the data frame received by the receiving unit, and a control step in which a control unit controls each of the devices based on the command determined by the determining unit, wherein in the generating step, status information indicating a status selected from multiple statuses is written into the subdata frame pre-assigned to the status information, and in the determining step, the determining unit determines the command for each of the devices based on the one data frame received by the receiving unit, thereby reducing the amount of communication via serial communication and preventing a decrease in communication speed.

[0091] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments. [Explanation of symbols]

[0092] 10...Mobile unit 84...Control system 86...Management controller (first control device) 94...Junction box controller (second control device) 108...Generation unit 110...Transmission unit 116: Receiving unit 118: Determining unit 120...Control unit

Claims

1. A control system for transmitting and receiving signals between a plurality of control devices through serial communication, A first control device among the plurality of control devices is a generator for generating a data frame including a plurality of sub-data fields; a transmitter that transmits the data frame generated by the generator; and A second control device among the plurality of control devices is a receiving unit that receives the data frame transmitted from the first control device; a determination unit that determines a command for each of a plurality of devices based on information written in the subdata field of the data frame received by the receiving unit; a control unit that controls each of the devices based on each of the instructions determined by the determination unit; and the generation unit writes status information, which is information indicating the status selected from a plurality of statuses, into the sub-data field assigned in advance to the status information; The determination unit determines the command for each of the devices based on one of the data frames received by the receiving unit.

2. 2. The control system of claim 1, A control system in which the plurality of control devices transmit and receive signals via control area network communication.

3. A mobile object comprising the control system according to claim 1 or 2.

4. An information processing method for a control system that transmits and receives signals by serial communication between a plurality of control devices, comprising: A first control device among the plurality of control devices is a generating step in which a generating unit generates a data frame including a plurality of subdata fields; a transmitting step in which a transmitting unit transmits the data frame generated by the generating unit; Run A second control device among the plurality of control devices is a receiving step in which a receiving unit receives the data frame transmitted from the first control device; a determination step in which a determination unit determines a command for each of a plurality of devices based on information written in the subdata field of the data frame received by the receiving unit; a control step in which a control unit controls each of the devices based on each of the instructions determined by the determination unit; Run In the generating step, status information indicating the status selected from a plurality of statuses is written into the sub-data field previously assigned to the status information; An information processing method for a control system, wherein in the determining step, the determining unit determines the command for each of the devices based on one of the data frames received by the receiving unit.

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