Control device for a motor vehicle

Abstract

To provide a control device for an automobile capable of coping with not only on-fixation of a switch and high-level fixation of a signal but also off-fixation of the switch and low-level fixation of the signal.SOLUTION: The first arithmetic core 11 is supplied with operating power VCC and activated when the ignition is turned on, and performs network communication with the outside via the vehicle-mounted network IC13. The second arithmetic core 12 is supplied with power from the battery when the ignition of the vehicle is turned on, and performs on / off control of network communication in the first arithmetic core. The in-vehicle network IC13 and the second arithmetic core 12 are constantly supplied with power from the battery 14. The second arithmetic core 12 outputs the second start signal by the initializing process, and the vehicle-mounted network IC13 outputs the first start signal by the supply of power. When both the first and second start signals are output, the operating power is supplied to the first arithmetic core.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automobile control device equipped with a sub-microcomputer having a backup function for wakeup failures. [Background technology]

[0002] Patent Document 1 describes a vehicle control device that cuts off a wake-up signal after a predetermined time has elapsed since a wake-up command was issued when a switch that operates an electrical component is stuck in the on state. That is, Patent Document 1 forcibly stops the wake-up state caused by the switch being stuck on, thereby reducing the dark current when the ignition is off. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-172503 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the vehicle control device of Patent Document 1 aims to reduce the dark current when the ignition is off, so it takes into consideration the problem of the switch being stuck on but not the problem of the switch being stuck off.

[0005] For example, if an OTA (Over the Air) reprogramming request is made via CAN communication, a malfunction in the CAN wake-up function could result in an inability to wake up (stuck off), or an inability to perform normal shutdown processing (stuck on), etc. For this reason, it is expected that in the future it will become increasingly important to deal with not only stuck on (signal stuck at high level), but also stuck off (signal stuck at low level).

[0006] The present invention has been made in view of the above circumstances, and its object is to provide an automobile control device that can deal with not only switches stuck on or signals stuck at a high level, but also switches stuck off or signals stuck at a low level. [Means for solving the problem]

[0007] A control device for an automobile according to one aspect of the present invention comprises an in-vehicle network IC that is supplied with power from a battery regardless of whether the vehicle ignition is on or off and outputs a first start-up signal in response to this power supply; a first calculation core that is started up when the vehicle ignition is turned on and receives operating power and performs network communication with the outside via the in-vehicle network IC; and a second calculation core that is supplied with power from a battery regardless of whether the vehicle ignition is on or off and is also supplied with power from the battery when the vehicle ignition is turned on, outputs a second start-up signal through initialization processing, and controls on / off of network communication in the first calculation core; and when both the first start-up signal and the second start-up signal are output, operating power is supplied to the first calculation core. [Effects of the Invention]

[0008] In the present invention, a second computing core is provided to control the first computing core, and based on the wake-up signal output from the in-vehicle network IC and the enable signal of the wake-up signal output from the second computing core, it detects whether the switch controlling the first computing core is stuck on or off, or whether the signal controlling the first computing core is stuck at a high level or a low level, thereby enabling normal wake-up and shutdown of the first computing core. This makes it possible to provide a control device for an automobile that can deal with not only a switch being stuck on or a signal being stuck at a high level, but also a switch being stuck off or a signal being stuck at a low level. [Brief explanation of the drawings]

[0009] [Figure 1]1 is a circuit diagram showing an example of the configuration of an automobile control device according to an embodiment of the present invention; [Figure 2] FIG. 10 is a diagram for explaining wake-up specifications of an in-vehicle network IC. [Figure 3] 10A and 10B are schematic diagrams showing a mode switching operation during normal repetition of engine start and stop. [Figure 4] 4 is a diagram showing the mode switching operation shown in FIG. 3 over time. FIG. [Figure 5] FIG. 10 is a schematic diagram showing a mode switching operation at the time of CAN wake-up while the engine is stopped. [Figure 6] FIG. 6 is a diagram showing the mode switching operation shown in FIG. 5 over time. [Figure 7] 10A and 10B are schematic diagrams showing a mode switching operation from a battery disconnected state to a battery connected state during battery replacement; [Figure 8] FIG. 8 is a diagram showing the mode switching operation shown in FIG. 7 over time. [Figure 9] 10 is a timing chart showing the states of each signal for performing diagnosis by monitoring the state of a CAN wake-up signal input terminal in a sub-microcomputer. [Figure 10] 10 is a flowchart showing an initialization process performed by a sub-microcomputer. [Figure 11] 10 is a flowchart showing processing by a sub-microcomputer in a low power consumption mode. [Figure 12] 10 is a flowchart showing a process in normal control by a sub-microcomputer. [Figure 13] FIG. 10 is a diagram illustrating the states of each signal when a failure occurs. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 shows an example of the configuration of an automobile control device according to an embodiment of the present invention. ECU 10 is a multi-core computing device that includes a main microcomputer 11 as a first computing core, a sub-microcomputer 12 as a second computing core, and an in-vehicle network IC 13. Power is supplied to ECU 10 from a battery 14, and an ignition signal (IG signal) is input via an ignition switch IGN-SW.

[0011] Here, we take the example of an in-vehicle network IC 13 being a CAN-IC (CAN gate chip). The main microcomputer 11 is configured to perform CAN communication (signal lines CANH and CANL) with the other control devices 20, 30, and 40 via the CAN-IC 13, thereby transmitting and receiving data between them. The main microcomputer 11 and the sub-microcomputer 12, and the sub-microcomputer 12 and the CAN-IC 13, respectively, communicate with each other via SPI communication (signal lines SPI_Tx and SPI_Rx).

[0012] Sub-microcomputer 12 and CAN-IC 13 are constantly supplied with power from battery 14. Furthermore, power supply terminals of main microcomputer 11 and CAN-IC 13 are supplied with operating power (voltage VCC) from power supply IC 15. For example, the voltage of battery 14 is 12V, and the operating power voltage VCC output from power supply IC 15 is 5V.

[0013] The operation of the power supply IC 15 is controlled by the output of an OR gate 16. The OR gate 16 receives as inputs a self-holding signal MRLY output from the main microcomputer 11, an ignition signal (IG signal) input from an ignition switch IGN-SW, and a final CAN wake-up signal CWU_Out output from an OR gate 17. The IG signal is also input to an IG signal input terminal of the main microcomputer 11 and an IG signal input terminal of the sub-microcomputer 12.

[0014] A CAN wakeup signal (first activation signal) CWU output from the CAN-IC 13 is input to a first input terminal of an AND gate 18 and a CAN wakeup signal input terminal CWU_In of the sub-microcomputer 12. Furthermore, a sub-microcomputer wakeup signal SWU output from the sub-microcomputer 12 is input to a first input terminal of an AND gate 19 and also input to a wakeup signal input terminal SWU_In of the sub-microcomputer 12. A CAN wakeup enable signal (second activation signal) CWU_ENA output from the sub-microcomputer 12 is input to a second input terminal of the AND gate 18 and also input to an enable signal input terminal CWU_ENA_In of the sub-microcomputer 12. Furthermore, an enable signal SWU_ENA output from the sub-microcomputer 12 is input to a second input terminal of the AND gate 19 and also input to an enable signal input terminal SWU_ENA_In of the sub-microcomputer 12.

[0015] The outputs of the AND gate 18 and the AND gate 19 are input to the first and second input terminals of the OR gate 17, respectively, and the OR gate 17 is configured to output the final CAN wake-up signal CWU_Out. The wake-up signal SWU of the sub-microcomputer 12 and the enable signal SWU_ENA of the sub-microcomputer 12 function as a third activation signal.

[0016] In the above configuration, the main microcomputer 11 is energized when the ignition switch IGN-SW is turned on (IG signal high level) or when the CAN wake-up signal CWU is sent, and this energized state is maintained by the self-holding signal MRLY. The CAN-IC 13 and main microcomputer 11 can communicate via SPI communication. In this communication, the main microcomputer 11 acts as the master and the CAN-IC 13 acts as the slave. The main microcomputer 11 switches the mode of the CAN-IC 13 via SPI communication, thereby switching the state of the CAN wake-up signal CWU and whether CAN communication is possible.

[0017] The sub-microcomputer 12 is connected to a battery 14 and is constantly powered. An IG signal is input to the sub-microcomputer 12, allowing it to recognize the state of the main microcomputer 11. A CAN wake-up signal CWU, a sub-microcomputer 12 wake-up signal SWU, a CAN wake-up enable signal CWU_ENA, and a sub-microcomputer 12 enable signal SWU_ENA are input to the sub-microcomputer 12, and the main microcomputer 11 can be diagnosed based on the state of each signal. The sub-microcomputer 12 communicates with and diagnoses the CAN-IC 13 instead of the main microcomputer 11, allowing the ECU 10 to operate even when the main microcomputer 11 is shut down.

[0018] In the SPI communication between the CAN-IC 13 and the sub-microcomputer 12, the sub-microcomputer 12 acts as the master and the CAN-IC 13 acts as the slave. By switching the mode of the CAN-IC 13 via SPI communication from the sub-microcomputer 12, the state of the CAN wake-up enable signal CWU_ENA and whether CAN communication is possible are switched.

[0019] The final CAN wakeup signal CWU_Out output from the OR gate 17 is designed so that if the CAN wakeup signal CWU from the CAN-IC 13 fails and is stuck off (fixed to low level), the main microcomputer 11 can be turned on (wake up) instead by the wakeup signal SWU from the sub-microcomputer 12. Also, if the CAN wakeup signal CWU from the CAN-IC 13 fails and is stuck on (fixed to high level), this final CAN wakeup signal CWU_Out can turn off (shut down) the main microcomputer 11 by the enable signal SWU_ENA from the sub-microcomputer 12.

[0020] 2(a) and (b) are intended to explain the wake-up specifications of the CAN-IC 13 and show the mode transitions of the CAN-IC 13. As shown in (a), the CAN-IC 13 transitions between four modes, Reset, Sleep, Standby, and Normal, as indicated by the arrows. As shown in (b), Reset is a state in which no power is supplied (a state in which the battery 14 is not connected), Standby is a state in which CAN communication is not possible, Normal is a state in which CAN communication is possible, and Sleep is a low-power consumption state.

[0021] In the reset mode, the CAN wake-up signal CWU is off. When the battery 14 is connected and power is supplied, the device goes into standby mode. In standby mode, CAN communication is not possible, but power is still being supplied. The CAN wake-up signal CWU is designed to be on in standby mode. In normal use, the mode is specified via SPI communication to transition to normal mode (a state in which CAN communication is possible). In normal mode, the CAN wakeup signal CWU is turned on, so this state is maintained. When the main microcomputer 11 is shut down, it is put into a low power consumption state (waiting for wake-up) by transitioning to a sleep mode. Normal operation involves transitions between normal mode and sleep mode. In the following explanation, the on (ON) or off (OFF) of a signal is used synonymously with the "1" level and "0" level, or the high level and low level of a signal.

[0022] Next, the operation of switching modes by SPI communication between the sub-microcomputer 12 and the CAN-IC 13 will be described. Fig. 3 is a schematic diagram showing a mode switching operation when the engine is normally started and stopped repeatedly, and Fig. 4 is a diagram showing the mode switching operation shown in Fig. 3 over time. When the engine is stopped, the system is in sleep mode. When the ignition switch IGN-SW is turned on, the main microcomputer 11 starts up and executes initialization processing for the main microcomputer 11. When the sub-microcomputer 12 detects that the ignition switch IGN-SW is turned on, it sets the CAN-IC 13 to normal mode via SPI communication. This puts the CAN-IC 13 in a state where it can perform CAN communication. When the initialization process is completed, the main microcomputer 11 goes into normal control, and the sub-microcomputer 12 goes into normal mode.

[0023] When the ignition switch IGN-SW is turned off, a shutdown process is executed for the main microcomputer 11. When the sub-microcomputer 12 detects that the ignition switch IGN-SW is turned off, it sets the CAN-IC 13 to sleep mode via SPI communication. The main microcomputer 11 shuts down in response to the sleep mode of the CAN-IC 13. At this time, the sub-microcomputer 12 enters the low power consumption mode. As described above, the engine repeatedly starts and stops depending on whether the ignition switch IGN-SW is on or off.

[0024] Fig. 5 is a schematic diagram showing a mode switching operation at the time of CAN wake-up when the engine is stopped, and Fig. 6 is a diagram showing the mode switching operation shown in Fig. 5 over time. When the engine is stopped, the CAN-IC 13 is designed to automatically transition to standby mode upon receiving the CAN wake-up signal CWU. When the CAN wake-up signal CWU is turned on, the main microcomputer 11 starts up and executes initialization processing. When the sub-microcomputer 12 detects that the CAN-IC 13 has transitioned to standby mode, it sets the CAN-IC 13 to normal mode via SPI communication. This puts the CAN-IC 13 into a state where it can communicate via CAN. On the other hand, when the initialization process is completed, the main microcomputer 11 returns to normal control, and CAN communication, OTA reprogramming, etc. are executed.

[0025] Fig. 7 is a schematic diagram showing a mode switching operation from a battery disconnected state to a battery connected state during battery replacement, and Fig. 8 is a diagram showing the mode switching operation shown in Fig. 7 over time. When the ECU 10 changes from a disconnected state (OFF) to a connected state (ON), the CAN-IC 13 automatically transitions from the reset state to standby mode. The sub-microcomputer 12 also starts up, and initialization processing of the sub-microcomputer 12 is performed. At this time, the CAN-IC 13 is instructed to transition to sleep mode via SPI communication. The CAN wake-up signal CWU turns on, but the CAN wake-up enable signal CWU_ENA remains off (default is set to off), so the main microcomputer 11 does not start up. After instructing the CAN-IC 13 to transition to sleep mode via SPI communication, the sub-microcomputer 12 turns on the CAN wake-up enable signal CWU_ENA. Then, when the initialization processing is completed, the ignition switch IGN-SW is turned off, and the CAN-IC 13 enters low-power mode.

[0026] 9 is a timing chart showing the state of each signal for performing diagnosis by monitoring the state of the CAN wake-up signal input terminal in the sub-microcomputer 12. When the battery 14 is not connected before time t0, the state of the sub-microcomputer 12 is battery off (OFF), the state of the main microcomputer 11 is shutdown, the state of the CAN-IC 13 is reset, and the diagnosis possibility is not possible.

[0027] At time t0, when the battery 14 is turned on (ON), i.e., when the battery 14 is connected to the ECU 10, the CAN wakeup signal CWU is turned on (ON), and the CAN wakeup signal input terminal CWU_In is also turned on (ON). As a result, the sub-microcomputer 12 enters the initialization process, and the CAN-IC 13 enters the standby mode. In this state, a stuck-off diagnosis is possible. The CAN wakeup signal CWU and the CAN wakeup signal input terminal CWU_In are turned off (OFF) after a predetermined time has elapsed (time t1). When the initialization process of the sub-microcomputer 12 is completed, the sub-microcomputer 12 enters the low power consumption mode. In this state, the CAN-IC 13 is in the sleep mode, and the stuck-on diagnosis is possible.

[0028] When the ignition switch IGN-SW is turned on (time t2), the state of the sub-microcomputer 12 transitions to normal processing, the state of the main microcomputer 11 is initialization processing, and the state of the CAN-IC 13 remains in sleep mode, enabling stuck-on diagnosis. A predetermined time after the ignition switch IGN-SW is turned on, the self-holding signal MRLY (main relay) turns on (time t3). When a predetermined time has elapsed since the CAN wakeup signal CWU and the CAN wakeup signal input terminal CWU_In turned on (time t4), the state of the CAN-IC 13 changes to normal mode. When the CAN-IC 13 is in normal mode, a stuck-off diagnosis is possible.

[0029] When the ignition switch IGN-SW is turned off (time t5), the main microcomputer 11 executes shutdown processing. Subsequently, at time t6, the CAN wake-up signal CWU and the CAN wake-up signal input terminal CWU_In are turned off, and the CAN-IC 13 enters sleep mode. When the self-hold signal MRLY is turned off at time t7, the main microcomputer 11 shuts down. At this time, the sub-microcomputer 12 switches from normal processing to a low power consumption state, and the CAN-IC 13 enters sleep mode. In this state, a stuck-on diagnosis is possible.

[0030] 10 is a flowchart showing the initialization process by the sub-microcomputer 12, which performs a stuck-off diagnosis. In the initialization process, input processing is performed on the CAN wakeup signal input terminal CWU_In (step ST1), and it is determined whether the CAN wakeup signal CWU input from the CAN wakeup signal input terminal CWU_In exceeds the threshold value of the off voltage (step ST2). If it is determined that the threshold value has been exceeded, a stuck-off state is detected (step ST3), and the sub-microcomputer 12 transitions to sleep mode via SPI communication (step ST4), and ends the process (RETURN). If it is determined that the threshold value has not been exceeded, the sub-microcomputer 12 transitions to sleep mode via SPI communication (step ST4), and ends the process (RETURN).

[0031] FIG. 11 is a flowchart showing processing in the low power consumption mode by the sub-microcomputer 12, in which a stuck-on diagnosis is performed. In the low power consumption mode, input processing of the CAN wake-up signal input terminal CWU_In is performed (step ST11), and it is determined whether or not the CAN wake-up signal input terminal CWU_In has exceeded the threshold value of the ON voltage (step ST12). If it is determined that the threshold value has been exceeded, a stuck-on state is detected (step ST13), and then it is determined whether or not the ignition switch IGN-SW has exceeded the threshold value of the ON voltage (step ST14). If it is determined in step ST12 that the threshold value has not been exceeded, the process proceeds to step ST14, where it is determined whether or not the ignition switch IGN-SW has exceeded the threshold value of the ON voltage (step ST14). If it is determined in step ST14 that the threshold value has been exceeded, the process transitions to normal mode by SPI communication (step ST15), and the process ends (RETURN). On the other hand, if it is determined in step ST14 that the threshold value has not been exceeded, the process ends as is (RETURN).

[0032] 12 is a flowchart showing normal control by the sub-microcomputer 12, which performs stuck-off diagnosis. In normal control, as in the initialization process, input processing of the CAN wakeup signal input terminal CWU_In is performed (step ST21), and it is determined whether or not the CAN wakeup signal input terminal CWU_In has exceeded the threshold value of the off voltage (step ST22). If it is determined that the threshold value has been exceeded, a stuck-off state is detected (step ST23), a transition to sleep mode is made via SPI communication (step ST24), and the process ends (RETURN). If it is determined that the threshold value has not been exceeded, a transition to sleep mode is made via SPI communication (step ST24), and the process ends (RETURN).

[0033] Figure 13 shows the state of each signal when a fault occurs. On-failures and off-failures of each signal can be detected according to the on / off states of the CAN wake-up signal CWU, the sub-microcomputer wake-up signal SWU, the CAN wake-up signal enable signal CWU_ENA, the sub-microcomputer enable signal SWU_ENA, and the final output CAN wake-up signal CWU_Out.

[0034] For example, during normal wakeup, the CAN wakeup signal CWU transitions from off to on. In this case, the wakeup signal SWU of the sub-microcontroller remains off. The CAN wakeup enable signal CWU_ENA of the sub-microcontroller is on in the initial state. The enable signal SWU_ENA of the sub-microcontroller is also on. Then, the CAN wakeup signal CWU_Out that is finally output turns on, waking up the main microcontroller.

[0035] Next, if the CAN wakeup signal CWU has an off failure, the CAN wakeup signal CWU is fixed at off. If it is detected that the CAN wakeup signal CWU is stuck at off, the wakeup signal SWU of the sub-microcomputer 12 is turned on from off, thereby turning on the CAN wakeup enable signal CWU_ENA and the wakeup enable signal SWU_ENA of the sub-microcomputer 12. As a result, the final CAN wakeup signal CWU_Out is turned on, and the main microcomputer 11 is woken up.

[0036] If the CAN wakeup signal CWU has an on-failure, the CAN wakeup signal CWU is fixed at on. If it is detected that the CAN wakeup signal CWU is stuck on, the wakeup signal SWU of the sub-microcomputer 12 is turned off, causing the CAN wakeup enable signal CWU_ENA to transition from on to off, and the wakeup enable signal SWU_ENA of the sub-microcomputer 12 to turn on. Then, the final CAN wakeup signal CWU_Out changes from on to off, and the main microcomputer 11 is shut down. By performing similar operations, ON and OFF failures of each signal can be detected.

[0037] As described above, the present invention provides the following effects. When a battery is connected, the CAN-IC 13 automatically transitions from the reset state to standby mode, preventing the main microcomputer 11 from starting up. When a battery is connected, the CAN wake-up signal CWU is turned on, but the CWU enable signal CWU_ENA of the sub-microcomputer 12 is turned off, so the main microcomputer 11 does not start up.

[0038] Furthermore, if the battery 14 is connected to the ECU 10, the CAN wake-up signal CWU can be diagnosed at all times. The diagnosis can be performed by monitoring the state of the CAN wake-up signal input terminal CWU_In with the sub-microcomputer 12. This diagnosis is possible as long as the battery 14 is connected to the ECU 10, regardless of the state of the main microcomputer 11.

[0039] Furthermore, even if the CAN wakeup signal CWU is stuck off, the main microcomputer 11 can be woken up by the sub-microcomputer 12. When it is detected that the CAN wakeup signal CWU is stuck off, the CAN wakeup signal CWU from the CAN-IC 13 cannot be turned on, but the main microcomputer 11 can be woken up by changing the wakeup signal SWU from the sub-microcomputer 12 from off to on.

[0040] In addition, even if the CAN wakeup signal CWU is stuck on, the sub-microcomputer 12 can shut down the main microcomputer 11. When it is detected that the CAN wakeup signal CWU is stuck on, it will always be on and will not be able to shut down, but by turning off the enable signal, the final CAN wakeup signal CWU_Out can be turned off.

[0041] In this way, by having the sub-microcontroller 12 monitor the CAN wake-up signal input terminal CWU_In and perform diagnosis, diagnosis is possible as long as the battery 14 is on (as long as the battery 14 is connected), regardless of the state of the main microcontroller 11. That is, by combining the main microcomputer 11 and the sub-microcomputer 12, the CAN wake-up signal can be diagnosed at all times, and when the CAN wake-up signal fails, the wake-up signal can be output from the sub-microcomputer 12 instead. Therefore, it is possible to deal with not only the case where a switch is stuck on or a signal is stuck at a high level, but also the case where a switch is stuck off or a signal is stuck at a low level.

[0042] It should be noted that the configurations, methods, etc. described in the above-described embodiments are merely schematic illustrations to enable the present invention to be understood and practiced. Therefore, the present invention is not limited to the described embodiments, and can be modified in various forms without departing from the scope of the technical idea set forth in the claims.

[0043] For example, in the above embodiment, mode transition is realized by a logic circuit, but similar logic may be realized by software. Furthermore, although the case where the in-vehicle network is CAN communication has been described, it goes without saying that other communication methods may also be used. [Explanation of symbols]

[0044] 10...ECU (automotive control device), 11...main microcontroller (first calculation core), 12...sub-microcontroller (second calculation core), 13...in-vehicle network IC (CAN-IC), 14...battery, 15...power supply IC, 16, 17...OR gate, 18, 19...AND gate, 20, 30, 40...other control devices, IGN-SW...ignition switch, CWU...CAN wake-up signal, CWU_ENA...CWU enable signal of sub-microcontroller, SWU...wake-up signal of sub-microcontroller, SWU_ENA...enable signal of sub-microcontroller, CWU_Out...final CAN wake-up signal, MRLY...self-holding signal

Claims

1. an in-vehicle network IC that receives power from a battery regardless of whether the vehicle ignition is on or off, and outputs a first activation signal in response to the power supply; a first calculation core that is started by being supplied with operating power when an ignition of the vehicle is turned on, and that performs network communication with an external device via the in-vehicle network IC; a second arithmetic core that receives power from a battery regardless of whether an ignition of the vehicle is on or off, receives power from the battery when the ignition of the vehicle is on, outputs a second activation signal through initialization processing, and performs on / off control of network communication in the first arithmetic core; When the first activation signal and the second activation signal are both output, operating power is supplied to the first calculation core. Automotive control devices.

2. 2. The automobile control device according to claim 1, wherein the first activation signal output from the in-vehicle network IC is directly input to the second arithmetic core.

3. the in-vehicle network IC outputs the first activation signal when the second arithmetic core performs an on-control of network communication; 2. The automobile control device according to claim 1, wherein the second calculation core is configured to be able to output a third startup signal, and when the third startup signal is output, operating power is supplied to the first calculation core, causing it to be started, even if the first startup signal and the second startup signal are not output.

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