Vehicle control device

Abstract

To provide a vehicle control device which can detect abnormal heat generation of a CPU or a heat radiation abnormality of a cooling mechanism while suppressing the increase in the size, the increase in the number of components and the increase in the cost.SOLUTION: A vehicle control device comprises: a memory; a CPU; a temperature sensor which is built in the CPU; and a cooling mechanism which cools the CPU. The memory stores a standard pattern SP1, a standby time tw, a standard temperature Ts and a normal temperature difference. The CPU performs monitoring by making the memory store the load state of the CPU. The CPU calculates a temperature difference ΔTse between an evaluation temperature Te of the temperature sensor and the standard temperature Ts at a time point when the standby time tw elapses from the start of the first pattern SP1 when the load state changes in the standard pattern SP1, and determines an abnormality when the temperature difference ΔTse is larger than the normal temperature difference.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device. [Background technology]

[0002] Inventions related to CPU cooling mechanisms have been known for some time (see Patent Document 1 below). The CPU cooling mechanism described in Patent Document 1 places a temperature sensor IC near the fins of a heat sink, and detects abnormalities in the cooling mechanism by comparing the temperature during actual operation with data obtained by statistically calculating temperature difference characteristics. This makes it possible to detect defects in the cooling mechanism that would normally be undetectable because the contact surface cannot be directly observed, such as poor physical contact of the cooling members (Patent Document 1, Abstract, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-355421 A Summary of the Invention [Problem to be solved by the invention]

[0004] The cooling mechanism described in Patent Document 1 can detect whether the CPU is being cooled normally by comparing the difference between the CPU temperature during actual operation and the temperature sensor IC temperature with a threshold value (paragraph 0013, etc.). However, when this conventional cooling mechanism is applied to a vehicle control device, a temperature sensor IC is required in addition to the CPU, which leads to problems such as an increase in the size of the vehicle control device, an increase in the number of parts, and an increase in cost.

[0005] The present disclosure provides a vehicle control device that is capable of detecting abnormal heat generation in a CPU or abnormal heat dissipation in a cooling mechanism while suppressing increases in size, number of parts, and costs. [Means for solving the problem]

[0006] One aspect of the present disclosure is a vehicle control device comprising a memory, a CPU, a temperature sensor built into the CPU, and a cooling mechanism for cooling the CPU, wherein the memory stores a standard pattern which is a temporal change in the load state of the CPU, a waiting time from the start of the standard pattern to the acquisition of an evaluated temperature by the temperature sensor, a standard temperature of the CPU at the point when the waiting time has elapsed after the normal load state of the CPU is changed using the standard pattern, and a normal temperature difference from the standard temperature when at least one of the CPU and the cooling mechanism is normal, and the CPU stores the load state of the CPU in the memory and monitors it, and when the load state of the CPU changes using the standard pattern, calculates the temperature difference between the evaluated temperature at the point when the waiting time has elapsed from the start of the standard pattern and the standard temperature, and determines an abnormality if the temperature difference is greater than the normal temperature difference. Effect of the Invention

[0007] According to the above aspect of the present disclosure, it is possible to provide a vehicle control device that is capable of detecting abnormal heat generation in a CPU or abnormal heat dissipation in a cooling mechanism while suppressing increases in size, number of parts, and costs. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram illustrating an embodiment of a vehicle control device according to the present disclosure. [Diagram 2] 2 is a flow chart showing an example of a process executed by the vehicle control device of FIG. 1; [Diagram 3] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Figure 4] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Diagram 5] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Figure 6] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Figure 7] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Figure 8]2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Figure 9] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; [Figure 10] 2 is a graph showing an example of a temperature change of the CPU in FIG. 1; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of a vehicle control device according to the present disclosure will be described with reference to the drawings. Fig. 1 is a block diagram showing an embodiment of a vehicle control device according to the present disclosure.

[0010] The vehicle control device 10 of this embodiment is mounted on, for example, a vehicle 1 and controls each part of the vehicle 1. The vehicle 1 includes, for example, a gasoline engine vehicle, a diesel engine vehicle, a hybrid vehicle, an electric vehicle, and a hydrogen vehicle. The vehicle 1 includes, for example, a sensor 2, an actuator 3, an input device 4, and an alarm device 5. Other general components of the vehicle 1 will not be illustrated or described.

[0011] The sensor 2 includes, for example, an external sensor and a vehicle sensor. The external sensor includes, for example, a monocular camera, a stereo camera, a laser radar, a millimeter wave radar, an infrared sensor, an ultrasonic sensor, etc., and detects objects around the vehicle 1. The vehicle sensor includes, for example, a wheel speed sensor, an acceleration sensor, an angular velocity sensor, a receiver for a global navigation satellite system (GNSS), an accelerator sensor, a brake sensor, a steering angle sensor, etc., and detects the speed, acceleration, angular velocity, position, accelerator operation amount, brake operation amount, steering angle, etc. of the vehicle 1.

[0012] The actuator 3 drives the power train, braking device, steering device, etc. of the vehicle 1 based on, for example, a control signal input from the vehicle control device 10, and causes the vehicle 1 to move forward, backward, accelerate, decelerate, stop, and steer.

[0013] The input device 4 includes, for example, a touch panel, an operation button, a gaze detection device, a voice recognition device, an operation lever, etc. The input device 4, for example, accepts operations and inputs by the driver of the vehicle 1 and outputs a signal according to the operation and inputs by the driver to the vehicle control device 10.

[0014] The notification device 5 includes, for example, a display device, an indicator lamp, a speaker, a buzzer, etc. The notification device 5 notifies the driver of various information including abnormalities in the vehicle control device 10, for example, by various displays using the display device or the indicator lamp, or by sounds emitted from the speaker or the buzzer, based on a signal input from the vehicle control device 10.

[0015] The vehicle control device 10 performs advanced driving assistance and automatic driving of the vehicle 1, for example, by controlling the actuator 3 based on various information detected by the sensor 2. The vehicle control device 10 includes, for example, central processing units (CPUs) 11 and 12, a memory 13, and a cooling mechanism 14. The vehicle control device 10 also includes, for example, an input / output unit and a timer, which are not shown, and various programs.

[0016] The vehicle control device 10 can be configured, for example, by one or more microcomputers or firmware. In the example shown in Fig. 1, the vehicle control device 10 includes two CPUs 11 and 12, but it is sufficient to include at least one CPU 11. In addition, if the CPU 11 includes a built-in memory, the vehicle control device 10 does not need to include the memory 13 external to the CPU 11.

[0017] The CPU 11 includes, for example, a temperature sensor 111, an abnormality detection unit 112, and a vehicle control unit 113. The temperature sensor 111 is, for example, a semiconductor temperature sensor built into the CPU 11. The temperature sensor 111 is, for example, configured with a thermal diode, and detects the temperature of the CPU 11. The abnormality detection unit 112 and the vehicle control unit 113 represent functions of the CPU 11 that are realized by, for example, the CPU 11 executing a program stored in the memory 13.

[0018] The abnormality detection unit 112 determines an abnormality based on, for example, the temperature of the CPU 11 detected by the temperature sensor 111. When the abnormality detection unit 112 determines an abnormality, it outputs a control signal to the notification device 5 to notify the driver of the vehicle 1 of the determined abnormality. The abnormality determined by the abnormality detection unit 112 includes, for example, abnormal heat generation of the CPU 11 and abnormal heat dissipation of the cooling mechanism 14. The abnormal heat generation of the CPU 11 is, for example, a state in which some abnormality occurs in the CPU 11 and the temperature of the CPU 11 becomes higher than that of a normal CPU 11. The heat dissipation abnormality of the cooling mechanism 14 will be described later.

[0019] The vehicle control unit 113 performs advanced driving assistance and automatic driving of the vehicle 1, for example, by controlling the actuator 3 based on various information detected by the sensor 2. More specifically, the vehicle control unit 113 executes control such as constant speed automatic driving, following the preceding vehicle, brake control, or lane keeping, for example, by controlling the actuator 3. In addition, the vehicle control unit 113 limits the control to be executed, for example, when an abnormality is detected by the abnormality detection unit 112.

[0020] CPU 12 has, for example, the same configuration as CPU 11. CPU 12 may also have, for example, abnormality detection unit 112 and vehicle control unit 113 of CPU 11. In this case, CPU 11 does not need to have abnormality detection unit 112 and vehicle control unit 113. As described above, when CPU 11 has all the configurations in FIG. 1, CPU 12 can be omitted.

[0021] The memory 13 is configured with, for example, a RAM. The memory 13 may also include a RAM and a ROM. The memory 13 stores, for example, various programs for implementing the functions of the abnormality detection unit 112 and the vehicle control unit 113. The memory 13 also stores, for example, standard patterns SP1 and SP2 which are temporal changes in the load state of the CPU 11, and a waiting time tw (FIGS. 3, 4, etc.) from the start of the standard patterns SP1 and SP2 to the acquisition of the evaluation temperature Te by the temperature sensor 111.

[0022] The memory 13 also stores, for example, the standard temperature Ts of the CPU 11 at time S2 when the load state of the normal CPU 11 is changed between the standard patterns SP1 and SP2 and the standby time tw has elapsed, and the normal temperature difference ΔTn (FIGS. 3, 4, etc.) from the standard temperature Ts when the CPU 11 and the cooling mechanism 14 are normal. The memory 13 also stores, for example, a limit on the processing of the CPU 11 according to the range of the difference between the temperature difference ΔTse and the normal temperature difference ΔTn as shown in Table 1 described later. The memory 13 also stores, for example, information input from the CPU 11 and the CPU 12. If the CPU 11 has a built-in memory, the information to be stored in the memory 13 may be stored in the memory built in the CPU 11.

[0023] The cooling mechanism 14 includes, for example, a heat dissipation sheet (not shown) and a heat sink. The heat dissipation sheet contacts, for example, the CPU 11 and transfers heat from the CPU 11 to the heat sink. The heat sink contacts, for example, the heat dissipation sheet via a heat receiving plate, and dissipates the heat from the CPU 11 transferred from the heat dissipation sheet by a plurality of fins. The cooling mechanism 14 may include a cooling fan that air-cools the fins, or a heat pipe that transfers heat from the heat receiving plate to the fins.

[0024] If the cooling mechanism 14 is properly installed relative to the CPU 11, it can efficiently cool the CPU 11. However, if the cooling mechanism 14 is improperly installed, causing some kind of obstruction in the heat transfer path or if the cooling fan breaks down, the heat dissipation of the CPU 11 is hindered, and the temperature of the CPU 11 is more likely to rise than when the cooling mechanism 14 is normal. This state is called a heat dissipation abnormality in the cooling mechanism 14.

[0025] Hereinafter, the processing of the vehicle control device 10 of this embodiment will be described in detail with reference to Fig. 2 to Fig. 10. Fig. 2 is a flow diagram showing an example of processing executed by the vehicle control device 10 of Fig. 1. Fig. 3 and Fig. 4 are graphs showing an example of temperature change of the CPU 11 of Fig. 1.

[0026] 2, the vehicle control device 10 executes, for example, a process P1 for monitoring the load state of the CPU 11. The CPU 11 detects the current value of the CPU 11, for example, by the abnormality detection unit 112, and stores time-series data of the current value in the memory 13 as a time change in the load state of the CPU 11 for monitoring. Note that the CPU 11 may store a physical quantity other than the current value, such as a temperature detected by the temperature sensor 111, in the memory 13 as the load state of the CPU 11. Next, the CPU 11 executes, for example, a standard pattern determination process P2 by the abnormality detection unit 112.

[0027] The driver of the vehicle 1 inputs a request for advanced driving assistance or automatic driving to the vehicle control unit 113 of the vehicle control device 10 via the input device 4, for example, by operating a switch, using voice, or by looking at the vehicle. Then, the CPU 11 executes vehicle control processing related to the advanced driving assistance or automatic driving, for example, by the vehicle control unit 113. This vehicle control processing includes at least one of constant speed automatic driving, following the preceding vehicle, brake control, and lane keeping. When the CPU 11 starts the vehicle control processing, the processing load of the CPU 11 increases, and the load state of the CPU 11 changes.

[0028] The vehicle control process described above includes, for example, image processing calculations of the monocular camera and stereo camera included in the sensor 2. Furthermore, the vehicle control device 10 executes a RAM check by the CPU 11, for example, when the vehicle 1 is started or stopped. The RAM check includes, for example, a full-area RAM check. The RAM check is, for example, a process for detecting a failure of the memory 13. When the CPU 11 executes the image processing calculations and the RAM check, the processing load of the CPU 11 increases, and the load state of the CPU 11 changes.

[0029] In standard pattern determination process P2 shown in Fig. 2, CPU 11, for example, compares the change over time of the actual load state of CPU 11 stored in memory 13 by abnormality detection unit 112 with standard patterns SP1, SP2 stored in advance in memory 13 as shown in Fig. 3 and Fig. 4. In this process P2, if abnormality detection unit 112 determines that the change over time of the actual load state of CPU 11 differs from the standard patterns SP1, SP2 (NO), CPU 11 executes vehicle control process P3 by vehicle control unit 113, for example.

[0030] In this process P3, the vehicle control device 10 executes the vehicle control process related to the above-mentioned advanced driving assistance or autonomous driving, for example, by the vehicle control unit 113 of the CPU 11. Note that in this process P3, the vehicle control device 10 may execute a RAM check, for example, by the abnormality detection unit 112 of the CPU 11. Thereafter, the vehicle control device 10 ends the process flow shown in Fig. 2. In addition, the vehicle control device 10 repeatedly executes the process flow shown in Fig. 2 at a predetermined period.

[0031] On the other hand, if the anomaly detection unit 112 determines in the standard pattern determination process P2 that the time-dependent change in the load state of the CPU 11 is equivalent to the standard patterns SP1 and SP2 (YES), the CPU 11 executes a process P4 to acquire the standard temperature Ts, for example. Note that the standard patterns SP1 and SP2 shown in Figs. 3 and 4 indicate the time-dependent change in the current value of the CPU 11 as the time-dependent change in the load state of the CPU 11.

[0032] 3 and 4, the abnormality detection unit 112 of the CPU 11 acquires, for example, the standard temperature Ts and standby time tw of the CPU 11 stored in the memory 13. This standard temperature Ts is the temperature of the normal CPU 11 at time S2 when the standby time tw has elapsed from time S1 when the standard patterns SP1 and SP2 are started after the load state of the normal CPU 11 is changed using the standard patterns SP1 and SP2. Note that in Figs. 3 and 4, the temperature change of the normal CPU 11 is indicated by a dashed line, and the actual temperature change of the CPU 11 is indicated by a solid line.

[0033] More specifically, the standard patterns SP1 and SP2 of the load state of the CPU 11 include a step-like first pattern SP1 that changes from a first load state LC1 to a higher second load state LC2 and then returns to the first load state LC1, as shown in Fig. 3. Also, the standard patterns SP1 and SP2 of the load state of the CPU 11 include a step-like second pattern SP2 that changes from the second load state LC2 to the first load state LC1 and then returns to the second load state LC2, as shown in Fig. 4.

[0034] Here, the first load state LC1 of the CPU 11 is, for example, a state in which the CPU 11 is not executing driving control processing, RAM check, or image calculation processing, and the second load state LC2 of the CPU 11 is, for example, a state in which the CPU 11 is executing at least one of driving control processing, RAM check, and image calculation processing.

[0035] The waiting time tw in the first pattern SP1 is set to the time until the temperature of the normal CPU 11, indicated by the dashed line, drops and stabilizes after the load state of the normal CPU 11 is changed according to the first pattern SP1 as shown in Fig. 3 in a state without the cooling mechanism 14. The waiting time tw in the second pattern SP2 is set to the time until the temperature of the normal CPU 11, indicated by the dashed line, rises and stabilizes after the load state of the normal CPU is changed according to the second pattern SP2 as shown in Fig. 4 in a state without the cooling mechanism 14.

[0036] Next, the vehicle control device 10 executes a process P5 for acquiring an evaluation temperature Te, for example, by the abnormality detection unit 112 of the CPU 11. In this process P5, the abnormality detection unit 112 acquires the temperature detected by the temperature sensor 111 at time point S2 when the standby time tw has elapsed from time point S1 when the standard patterns SP1 and SP2 are started, and stores the temperature in the memory 13 as the evaluation temperature Te.

[0037] Next, the vehicle control device 10 executes a process P6 in which the abnormality detection unit 112 of the CPU 11 calculates a temperature difference ΔTse between the standard temperature Ts and the evaluation temperature Te of the CPU 11, as shown in Figures 3 and 4. In this process P6, the abnormality detection unit 112 stores the calculated temperature difference ΔTse in the memory 13, for example.

[0038] Next, the vehicle control device 10 executes the abnormality determination process P7 shown in Fig. 2, for example, by the abnormality detection unit 112 of the CPU 11. In this process P7, the abnormality detection unit 112 acquires the temperature difference ΔTse and the normal temperature difference ΔTn from the memory 13, and determines whether the temperature difference ΔTse is equal to or smaller than the normal temperature difference ΔTn. In this process P7, if the abnormality detection unit 112 determines that the temperature difference ΔTse is equal to or smaller than the normal temperature difference ΔTn (YES), the CPU 11 determines that the CPU 11 is normal, and executes the vehicle control process P3 described above.

[0039] On the other hand, in the abnormality determination process P7, if the abnormality detection unit 112 determines that the temperature difference ΔTse is not equal to or less than the normal temperature difference ΔTn (NO), that is, that the temperature difference ΔTse is larger than the normal temperature difference ΔTn, the abnormality detection unit 112 determines that there is an abnormality in the CPU 11. Next, the abnormality detection unit 112 executes, for example, a process P8 for discriminating an abnormality.

[0040] In this process P8, the abnormality detection unit 112 of the CPU 11 determines whether the cause of the abnormality is abnormal heat generation by the CPU 11 or abnormal heat dissipation by the cooling mechanism 14. In this process P8, if the change over time in the load state of the CPU 11 is equivalent to the first pattern SP1 shown in Fig. 3 or the second pattern SP2 shown in Fig. 4, the abnormality detection unit 112 determines that the abnormality determined in the above-mentioned abnormality determination process P7 is abnormal heat generation by the CPU 11.

[0041] Next, the vehicle control device 10 executes a process P9 in which the difference between the temperature difference ΔTse and the normal temperature difference ΔTn is calculated by, for example, the abnormality detection unit 112 of the CPU 11. Next, the vehicle control device 10 executes a process P10 in which the abnormality detection unit 112 of the CPU 11 determines limitations on the processing by the CPU 11. In this process P10, the abnormality detection unit 112 determines limitations on the control by the CPU 11 based on, for example, criteria such as those shown in Table 1 below.

[0042] [Table 1]

[0043] The judgment criteria as shown in Table 1 used by the abnormality detection unit 112 in this process P10 are stored in advance in, for example, the memory 13. Specifically, in the example shown in Table 1, when the difference between the temperature difference ΔTse and the normal temperature difference ΔTn is equal to or greater than 10 [° C.] and less than 20 [° C.], the abnormality detection unit 112 does not restrict the vehicle control process and notifies the driver of the vehicle 1 of an abnormality including abnormal heat generation of the CPU 11 via the notification device 5.

[0044] Furthermore, the abnormality detection unit 112 restricts the processes in order from low to high processing loads in response to an increase in the difference between the temperature difference ΔTse and the normal temperature difference ΔTn. Specifically, the abnormality detection unit 112 restricts the vehicle control processes in the order of constant speed automatic driving, preceding vehicle following, brake control, and lane keeping in response to an increase in the difference between the temperature difference ΔTse and the normal temperature difference ΔTn.

[0045] Furthermore, the abnormality detection unit 112 stops all vehicle control processing when the difference between the temperature difference ΔTse and the normal temperature difference ΔTn becomes 40° C. or more, for example. Furthermore, when the abnormality detection unit 112 restricts or completely stops the vehicle control processing, the abnormality detection unit 112 notifies the driver of the vehicle 1 of the vehicle control processing that is restricted or stopped one by one via the notification device 5. After that, in the vehicle control processing P3, the vehicle control device 10 executes the vehicle control processing that is not restricted by the abnormality detection unit 112, and ends the processing flow shown in FIG. 2.

[0046] The operation of the vehicle control device 10 of this embodiment will be described below.

[0047] As described above, the vehicle control device 10 of this embodiment includes the memory 13, the CPU 11, the temperature sensor 111 built in the CPU 11, and the cooling mechanism 14 for cooling the CPU 11. The memory 13 stores, for example, standard patterns SP1 and SP2, a waiting time tw, and a standard temperature Ts as shown in FIG. 3 and FIG. 4, and a normal temperature difference ΔTn as shown in FIG. 2. The standard patterns SP1 and SP2 are a time change in the load state of the CPU 11. The waiting time tw is a time from the start of the standard patterns SP1 and SP2 to the acquisition of the evaluation temperature Te by the abnormality detection unit 112. The standard temperature Ts is the temperature of the CPU 11 at the time when the waiting time tw has elapsed after the load state of the normal CPU 11 is changed by the standard patterns SP1 and SP2. The normal temperature difference ΔTn is a temperature difference with respect to the standard temperature Ts when at least one of the CPU 11 and the cooling mechanism 14 is normal. The CPU 11 stores the load state of the CPU 11 in the memory 13 and monitors it. Furthermore, when the load state of the CPU 11 changes in the standard patterns SP1 and SP2, the CPU 11 calculates a temperature difference ΔTse between the evaluation temperature Te and the standard temperature Ts at a time point S2 when the standby time tw has elapsed since the start of the standard patterns SP1 and SP2. Then, when the temperature difference ΔTse is larger than the normal temperature difference ΔTn, the CPU 11 determines that an abnormality has occurred.

[0048] With this configuration, the vehicle control device 10 of this embodiment can determine abnormalities such as abnormal heat generation in the CPU 11, as described above, without using any temperature sensor other than the temperature sensor 111 built into the CPU 11. Therefore, the vehicle control device 10 of this embodiment can detect abnormal heat generation in the CPU 11 while suppressing increases in size, number of parts, and cost.

[0049] In the vehicle control device 10 of the present embodiment, the standard patterns SP1 and SP2 include a first pattern SP1 as shown in FIG. 3 and a second pattern SP2 as shown in FIG. 4. The first pattern SP1 is a pattern in which the load state changes from the first load state LC1 to a higher second load state LC2 and returns to the first load state LC1. The second pattern SP2 is a pattern in which the load state changes from the second load state LC2 to the first load state LC1 and returns to the second load state LC2. The waiting time tw in the first pattern SP1 is set to a time until the temperature of the CPU 11 drops and stabilizes after the load state of the normal CPU 11 is changed to the first pattern SP1 in a state without the cooling mechanism 14. The waiting time tw in the second pattern SP2 is set to a time until the temperature of the CPU 11 rises and stabilizes after the load state of the normal CPU 11 is changed to the second pattern SP2 in a state without the cooling mechanism 14. The CPU 11 determines that the CPU 11 is abnormally heated when the temperature difference ΔTse is larger than the normal temperature difference ΔTn.

[0050] With this configuration, the vehicle control device 10 of this embodiment can determine abnormal heat generation in the CPU 11 when the abnormality determined based on the temperature difference ΔTse being greater than the normal temperature difference ΔTn includes at least one of abnormal heat generation in the CPU 11 and abnormal heat dissipation in the cooling mechanism 14.

[0051] Furthermore, in the vehicle control device 10 of this embodiment, the CPU 11 executes a plurality of processes with different processing loads, and limits the processes according to the difference between the temperature difference ΔTse and the normal temperature difference ΔTn. With this configuration, the vehicle control device 10 of this embodiment can minimize the processes to be restricted by sequentially restricting, for example, constant speed automatic driving, preceding vehicle following, brake control, lane keeping, etc., thereby suppressing the temperature rise of the CPU 11 and preventing malfunction of the CPU 11.

[0052] Furthermore, in the vehicle control device 10 of this embodiment, the memory 13 stores limitations on the processing of the CPU 11 according to the difference between the temperature difference ΔTse and the normal temperature difference ΔTn as shown in the above-mentioned Table 1. Furthermore, the CPU 11 limits the processing of the CPU 11 according to the difference between the temperature difference ΔTse and the normal temperature difference ΔTn. With this configuration, the vehicle control device 10 of this embodiment can more effectively suppress a rise in the temperature of the CPU 11, more reliably prevent malfunction of the CPU 11, and improve the safety of the vehicle 1.

[0053] Furthermore, in the vehicle control device 10 of this embodiment, when the CPU 11 restricts the processing of the CPU 11, the CPU 11 notifies the restriction of the processing of the CPU 11 via the notification device 5. With such a configuration, the vehicle control device 10 of this embodiment can notify the driver of the vehicle 1 of the restriction or stop of the vehicle control processing by the CPU 11, thereby further improving the safety of the vehicle 1.

[0054] In the vehicle control device 10 of this embodiment, the second load state LC2 is a state in which the CPU 11 is executing a RAM check or image calculation processing. With this configuration, the vehicle control device 10 of this embodiment can detect abnormalities including abnormal heat generation of the CPU 11 or abnormal heat dissipation of the cooling mechanism 14 in the second load state LC2 when the CPU 11 is executing a RAM check or image calculation processing.

[0055] In the vehicle control device 10 of this embodiment, the first load state LC1 is a state in which the CPU 11 is not executing the driving control process, the RAM check, or the image calculation process. With this configuration, the vehicle control device 10 of this embodiment can detect abnormalities including abnormal heat generation of the CPU 11 or abnormal heat dissipation of the cooling mechanism 14 when the CPU 11 executes at least one of the driving control process, the RAM check, and the image calculation process.

[0056] The vehicle control device 10 of the present embodiment is not limited to the above-mentioned configuration. For example, if the CPU 12 is equipped with the abnormality detection unit 112, the CPU 12 can detect abnormalities including abnormal heat generation of the CPU 11 or abnormal heat dissipation of the cooling mechanism 14. Hereinafter, some modified examples of the vehicle control device 10 according to the above-mentioned embodiment will be described.

[0057] 5 and 6 are graphs showing temperature changes of the CPU 11 according to the first modification of the vehicle control device 10. In the example shown in FIG. 5 and FIG. 6, the standard patterns SP1 and SP2 include a first pattern SP1 and a second pattern SP2, similar to the example shown in FIG. 3 and FIG. 4. More specifically, the first pattern SP1 changes from a first load state LC1 to a higher second load state LC2 and returns to the first load state LC1. Also, the second pattern SP2 changes from the second load state LC2 to the first load state LC1 and returns to the second load state LC2. On the other hand, in the example shown in FIG. 5, the waiting time tw in the first pattern SP1 is set to a time until the temperature of the CPU 11 rises and reaches a maximum temperature Tmax when the load state of the CPU 11 is changed in the first pattern SP1 in a state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14. In addition, the waiting time tw in the second pattern SP2 is set to the time it takes for the temperature of the CPU 11 to drop and reach the minimum temperature Tmin when the load state of the CPU 11 is changed in the second pattern SP2 while the normal CPU 11 is in a state where it can normally dissipate heat via the cooling mechanism 14.

[0058] In this first modification, the memory 13 stores the above-mentioned maximum temperature Tmax as the standard temperature Ts when the change over time of the load state of the CPU 11 is equivalent to the first pattern SP1 shown in Fig. 5. The CPU 11 then acquires, as the evaluation temperature Te, the temperature of the CPU 11 at the time S2 when the first pattern SP1 changes from the second load state LC2 to the first load state LC1. The CPU 11 can then determine an abnormality, including abnormal heat generation of the CPU 11 or abnormal heat dissipation of the cooling mechanism 14, when the temperature difference ΔTse between the evaluation temperature Te and the standard temperature Ts is larger than the normal temperature difference ΔTn.

[0059] In addition, in this modification 1, the memory 13 stores the above-mentioned minimum temperature Tmin as the standard temperature Ts when the change over time of the load state of the CPU 11 is equivalent to the second pattern SP2 shown in Fig. 6. Then, the CPU 11 acquires, as the evaluation temperature Te, the temperature of the CPU 11 at the time point S2 when the second pattern SP2 changes from the first load state LC1 to the second load state LC2. Then, when the temperature difference ΔTse between the evaluation temperature Te and the standard temperature Ts is larger than the normal temperature difference ΔTn, the CPU 11 can determine an abnormality including abnormal heat generation of the CPU 11 or abnormal heat dissipation of the cooling mechanism 14.

[0060] Therefore, according to the vehicle control device 10 of the first modified example shown in Fig. 5 and Fig. 6, not only can an abnormality be determined in the same manner as the vehicle control device 10 according to the above-mentioned embodiment, but also an abnormality can be determined in a shorter time. Note that the state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14 means a state in which the cooling mechanism 14 is normally arranged with respect to the normal CPU 11 and can dissipate heat as designed. In other words, a state in which the cooling mechanism 14 cannot normally dissipate heat is a state in which the dissipation of heat from the CPU 11 is hindered, for example, when some kind of failure occurs in the heat transfer path due to improper installation of the cooling mechanism 14 or when the cooling fan breaks down.

[0061] 7 and 8 are graphs showing temperature changes of the CPU 11 according to the second modification of the vehicle control device 10. In the example shown in FIG. 7 and FIG. 8, the standard patterns SP1 and SP2 include a first pattern SP1 and a second pattern SP2, similar to the example shown in FIG. 3 and FIG. 4. More specifically, the first pattern SP1 changes from a first load state LC1 to a higher second load state LC2 and maintains that state. Also, the second pattern SP2 changes from the second load state LC2 to the first load state LC1 and maintains that state. The standby time tw in the first pattern SP1 is set to a time until the temperature of the CPU 11 rises and stabilizes when the load state of the CPU 11 is changed in the first pattern SP1 in a state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14. The standby time tw in the second pattern SP2 is set to a time until the temperature of the CPU 11 falls and stabilizes when the load state of the CPU 11 is changed in the second pattern SP2 in a state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14.

[0062] In this modified example 2, the CPU 11 acquires, as the evaluation temperature Te, the temperature of the CPU 11 at a time point S2 when the load state of the CPU 11 changes between the standard patterns SP1 and SP2 and the temperature of the CPU 11 stabilizes. Also, the memory 13 stores in advance the standard temperature Ts of the CPU 11 at a time point when the standby time tw has elapsed after the load state of the normal CPU 11 changes between the standard patterns SP1 and SP2. When the temperature difference ΔTse between the evaluation temperature Te and the standard temperature Ts is larger than the normal temperature difference ΔTn, the CPU 11 can determine an abnormality including abnormal heat generation of the CPU 11 or heat dissipation abnormality of the cooling mechanism 14. According to the vehicle control device 10 of this modified example 2, not only can the same effect as that of the vehicle control device 10 of the above-mentioned embodiment be achieved, but also the vehicle control device 10 can determine an abnormality including abnormal heat generation of the CPU 11 or heat dissipation abnormality of the cooling mechanism 14 using the simpler standard patterns SP1 and SP2.

[0063] In this modified example 2, the second load state LC2 in the first pattern SP1 is, for example, a state in which the CPU 11 is executing a full-range RAM check or constant-speed automatic driving control. This allows the vehicle control device 10 to detect abnormal heat generation in the CPU 11 or abnormal heat dissipation in the cooling mechanism 14 when the CPU 11 is executing a full-range RAM check or constant-speed automatic driving control. Also, the second load state LC2 in the second pattern SP2 is, for example, a state in which the CPU 11 is executing vehicle control. This allows the vehicle control device 10 to detect abnormal heat generation in the CPU 11 or abnormal heat dissipation in the cooling mechanism 14 when the CPU 11 is executing vehicle control.

[0064] 9 and 10 are graphs showing temperature changes of the CPU 11 according to the third modified example of the vehicle control device 10. In the examples shown in Figs. 9 and 10, the standard patterns SP1 and SP2 include a first pattern SP1 and a second pattern SP2, similar to the examples shown in Figs. 3 and 4. More specifically, the first pattern SP1 changes from a first load state LC1 to a higher second load state LC2 and returns to the first load state LC1. Also, the second pattern SP2 changes from the second load state LC2 to the first load state LC1 and returns to the second load state LC2.

[0065] In this modification 3, the waiting time tw in the first pattern SP1 includes a first waiting time tw1 and a second waiting time tw2. The first waiting time tw1 is the time until the temperature of the CPU 11 rises and reaches the maximum temperature when the load state of the CPU 11 is changed according to the first pattern SP1 in a state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14. The second waiting time tw2 is the time until the temperature of the CPU 11 rises and reaches the maximum temperature and then drops and stabilizes when the load state of the CPU 11 is changed according to the first pattern SP1.

[0066] In addition, in this modified example 3, the waiting time tw in the second pattern SP2 includes a third waiting time tw3 and a fourth waiting time tw4. The third waiting time tw3 is the time until the temperature of the CPU 11 drops to the minimum temperature when the load state of the CPU 11 is changed in the second pattern SP2 in a state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14. The fourth waiting time tw4 is the time until the temperature of the CPU 11 drops to the minimum temperature and then rises and stabilizes when the load state of the CPU 11 is changed in the second pattern SP2 in a state in which the normal CPU 11 can normally dissipate heat via the cooling mechanism 14.

[0067] In this modification 3, the CPU 11 determines that the CPU 11 is abnormally heated when the temperature difference ΔTse1 between the standard temperature Ts1 and the evaluation temperature Te1 during the first standby time tw1 is larger than the normal temperature difference ΔTn1 and the temperature difference ΔTse2 during the second standby time tw2 is equal to or smaller than the normal temperature difference ΔTn2. Furthermore, the CPU 11 determines that the cooling mechanism 14 is abnormally heated when the temperature difference ΔTse1 during the first standby time tw1 is equal to or smaller than the normal temperature difference ΔTn1 and the temperature difference ΔTse2 during the second standby time tw2 is larger than the normal temperature difference ΔTn2.

[0068] In this third modification, the CPU 11 determines that the CPU 11 has generated abnormal heat when the temperature difference ΔTse3 during the third standby time tw3 is greater than the normal temperature difference ΔTn3 and the temperature difference ΔTse4 during the fourth standby time tw4 is equal to or smaller than the normal temperature difference ΔTn4. Furthermore, the CPU 11 determines that the cooling mechanism 14 has generated abnormal heat when the temperature difference ΔTse3 during the third standby time tw3 is equal to or smaller than the normal temperature difference ΔTn3 and the temperature difference ΔTse4 during the fourth standby time tw4 is greater than the normal temperature difference ΔTn4.

[0069] Like the vehicle control device 10 according to the above-described embodiment, the vehicle control device 10 according to the third modification can distinguish between abnormal heat generation in the CPU 11 and abnormal heat dissipation in the cooling mechanism 14. As described above, the present embodiment and its modifications can provide a vehicle control device 10 that can detect abnormal heat generation in the CPU 11 or abnormal heat dissipation in the cooling mechanism 14 while suppressing increases in size, number of parts, and costs.

[0070] The above describes in detail an embodiment of the vehicle control device according to the present disclosure using the drawings, but the specific configuration is not limited to this embodiment, and even if there are design changes, etc., within the scope that does not deviate from the gist of the present disclosure, they are included in the present disclosure. [Explanation of symbols]

[0071] 5. Notification device 10 Vehicle control device 11 CPU 111 Temperature Sensor 13. Memory 14 Cooling mechanism LC1 1st load state LC2 Second load state SP1 First pattern (standard pattern) SP2 2nd pattern (standard pattern) Te Evaluation temperature Ts standard temperature tw Waiting time tw1 1st standby time tw2 Second waiting time tw3 Third waiting time tw4 4th waiting time ΔTn Normal temperature difference ΔTn1 Normal temperature difference ΔTn2 Normal temperature difference ΔTn3 Normal temperature difference ΔTn4 Normal temperature difference ΔTse Temperature difference ΔTse1 Temperature difference ΔTse2 Temperature difference ΔTse3 Temperature difference ΔTse4 Temperature difference

Claims

1. A vehicle control device including a memory, a CPU, a temperature sensor built into the CPU, and a cooling mechanism for cooling the CPU, The memory includes: A standard pattern which is a change in the load state of the CPU over time; A waiting time from the start of the standard pattern to the acquisition of the evaluation temperature by the temperature sensor; a standard temperature of the CPU when the standby time has elapsed after changing the normal load state of the CPU according to the standard pattern; and a normal temperature difference with respect to the standard temperature when at least one of the CPU and the cooling mechanism is normal; is stored, The CPU includes: storing the load state of the CPU in the memory and monitoring it; When the load state of the CPU changes in the standard pattern, a temperature difference between the evaluation temperature at a time when the standby time has elapsed from the start of the standard pattern and the standard temperature is calculated; If the temperature difference is greater than the normal temperature difference, an abnormality is determined; the standard pattern includes a first pattern in which the load state changes from a first load state to a higher second load state and then returns to the first load state, and a second pattern in which the load state changes from the second load state to the first load state and then returns to the second load state, the standby time in the first pattern is set to a time until the temperature of the CPU drops and stabilizes after a normal load state of the CPU is changed in the first pattern in a state without the cooling mechanism, the standby time in the second pattern is set to a time until a temperature of the CPU increases and stabilizes after a normal load state of the CPU is changed in the second pattern in a state without the cooling mechanism, The vehicle control device is characterized in that the CPU determines that the CPU is abnormally heated when the temperature difference is larger than the normal temperature difference.

2. A vehicle control device including a memory, a CPU, a temperature sensor built into the CPU, and a cooling mechanism for cooling the CPU, The memory includes: A standard pattern which is a change in the load state of the CPU over time; A waiting time from the start of the standard pattern to the acquisition of the evaluation temperature by the temperature sensor; a standard temperature of the CPU when the standby time has elapsed after changing the normal load state of the CPU according to the standard pattern; and a normal temperature difference with respect to the standard temperature when at least one of the CPU and the cooling mechanism is normal; is stored, The CPU includes: storing the load state of the CPU in the memory and monitoring it; When the load state of the CPU changes in the standard pattern, a temperature difference between the evaluation temperature at a time when the standby time has elapsed from the start of the standard pattern and the standard temperature is calculated; If the temperature difference is greater than the normal temperature difference, an abnormality is determined; the standard pattern includes a first pattern in which the load state changes from a first load state to a higher second load state and then returns to the first load state, and a second pattern in which the load state changes from the second load state to the first load state and then returns to the second load state, the standby time in the first pattern is set to a time required for the temperature of the CPU to rise and reach a maximum temperature when a load state of the CPU is changed in the first pattern in a state in which the normal CPU can normally dissipate heat via the cooling mechanism, A vehicle control device characterized in that the standby time in the second pattern is set to the time it takes for the temperature of the CPU to drop and reach the minimum temperature when the load state of the CPU is changed in the second pattern while the normal CPU is in a state where it can normally dissipate heat through the cooling mechanism.

3. A vehicle control device including a memory, a CPU, a temperature sensor built into the CPU, and a cooling mechanism for cooling the CPU, The memory includes: A standard pattern which is a change in the load state of the CPU over time; A waiting time from the start of the standard pattern to the acquisition of the evaluation temperature by the temperature sensor; a standard temperature of the CPU when the standby time has elapsed after changing the normal load state of the CPU according to the standard pattern; and a normal temperature difference with respect to the standard temperature when at least one of the CPU and the cooling mechanism is normal; is stored, The CPU includes: storing the load state of the CPU in the memory and monitoring it; When the load state of the CPU changes in the standard pattern, a temperature difference between the evaluation temperature at a time when the standby time has elapsed from the start of the standard pattern and the standard temperature is calculated; If the temperature difference is greater than the normal temperature difference, an abnormality is determined; the standard pattern includes a first pattern in which a load state changes from a first load state to a higher second load state, and a second pattern in which a load state changes from the second load state to the first load state, the standby time in the first pattern is set to a time required for the temperature of the CPU to rise and stabilize when a load state of the CPU is changed in the first pattern in a state in which the normal CPU can normally dissipate heat via the cooling mechanism, A vehicle control device characterized in that the standby time in the second pattern is set to the time it takes for the temperature of the CPU to drop and stabilize when the load state of the CPU is changed in the second pattern while the normal CPU is in a state where it can normally dissipate heat through the cooling mechanism.

4. A vehicle control device including a memory, a CPU, a temperature sensor built into the CPU, and a cooling mechanism for cooling the CPU, The memory includes: A standard pattern which is a change in the load state of the CPU over time; A waiting time from the start of the standard pattern to the acquisition of the evaluation temperature by the temperature sensor; a standard temperature of the CPU when the standby time has elapsed after changing the normal load state of the CPU according to the standard pattern; and a normal temperature difference with respect to the standard temperature when at least one of the CPU and the cooling mechanism is normal; is stored, The CPU includes: storing the load state of the CPU in the memory and monitoring it; When the load state of the CPU changes in the standard pattern, a temperature difference between the evaluation temperature at a time when the standby time has elapsed from the start of the standard pattern and the standard temperature is calculated; If the temperature difference is greater than the normal temperature difference, an abnormality is determined; the standard pattern includes a first pattern in which the load state changes from a first load state to a higher second load state and then returns to the first load state, and a second pattern in which the load state changes from the second load state to the first load state and then returns to the second load state, the standby time in the first pattern includes, when the load state of the CPU is changed in the first pattern in a state in which the normal CPU can normally dissipate heat via the cooling mechanism, a first standby time until the temperature of the CPU rises and reaches a maximum temperature, and a second standby time until the temperature of the CPU drops and becomes stable; the standby time in the second pattern includes a third standby time until the temperature of the CPU drops to a minimum temperature and a fourth standby time until the temperature of the CPU rises and stabilizes when the load state of the CPU is changed in the second pattern in a state in which the normal CPU can normally dissipate heat via the cooling mechanism, The CPU includes: determining that the CPU has abnormally heated up when the temperature difference during the first standby time is greater than the normal temperature difference and the temperature difference during the second standby time is equal to or smaller than the normal temperature difference; determining that a heat dissipation abnormality occurs in the cooling mechanism when the temperature difference during the first standby time is equal to or smaller than the normal temperature difference and the temperature difference during the second standby time is larger than the normal temperature difference; determining that the CPU has abnormally heated up when the temperature difference during the third standby time is greater than the normal temperature difference and the temperature difference during the fourth standby time is equal to or smaller than the normal temperature difference; A vehicle control device characterized in that it determines that a heat dissipation abnormality in the cooling mechanism occurs when the temperature difference during the third standby time is equal to or smaller than the normal temperature difference, and when the temperature difference during the fourth standby time is larger than the normal temperature difference.

5. 5. The vehicle control device according to claim 1, wherein the second load state is a state in which the CPU is executing a RAM check or an image calculation process.

6. 5. The vehicle control device according to claim 1, wherein the first load state is a state in which the CPU does not execute a driving control process, a RAM check, or an image calculation process.

7. 4. The vehicle control device according to claim 3, wherein the second load state in the first pattern is a state in which the CPU is executing a full-range RAM check or a constant-speed automatic driving control.

8. 4. The vehicle control device according to claim 3, wherein the second load state in the second pattern is a state in which the CPU is executing vehicle control.

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