Vehicle Control System

Abstract

To properly suppress electricity of a battery from being exhausted, while being able to deal with functional evolution and functional change of a vehicle, flexibly and quickly.SOLUTION: A vehicle control system is provided with a battery BT and an electricity control part that can control a specific relay 101 for distributing electricity from the battery BT to a control device. A slave node includes a specific slave node subjected to configuration by a master node 2 so that the control device connected to the slave node is continuously actuated, when an abnormality occurs in communication with the master node 2. When an abnormality occurs in communication between the master node 2 and the specific slave node and when a predetermined interruption condition is satisfied, the master node 2 transmits a control command signal to the electricity control part so that electricity supply to the control device connected to the specific slave node is interrupted.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The technology disclosed herein belongs to the technical field of vehicle control systems. [Background technology]

[0002] In recent years, the electrification of vehicles has become prominent, and devices mounted on vehicles are increasingly being controlled electronically.

[0003] Patent Document 1 shows an example of the configuration of an in-vehicle network in which ECUs are connected to each other via an in-vehicle network, and devices such as sensors and actuators are connected to each ECU (see FIG. 1 of Patent Document 1).

[0004] Furthermore, Patent Document 2 discloses that in a control system comprising a central control unit that calculates target outputs for multiple actuators based on the output of each sensor, and multiple relay units (terminal control units) that are respectively provided between the central control unit and each actuator and the communication path and relay the control signals generated by the central control unit, some of the relay units output a constantly on signal to the connected actuators when there is an abnormality in the communication status with the central processing unit. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-212725 [Patent Document 2] Patent Publication No. 2021-20651 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the operating device to be operated is kept on at all times as a fail-safe function as in Patent Document 2, the operating device remains on even when the ignition or power supply of the vehicle is turned off. As a result, the power stored in the battery continues to be consumed, which may result in the battery running out of power.

[0007] As in Patent Document 1, by placing an ECU including a microcomputer for each operating device, it becomes possible to perform a certain degree of control based on signals from switches including sensors, making it possible to turn off the operating device at the appropriate time.

[0008] However, when a microcomputer is installed in each operating device, the operating device and the microcomputer must be built as a unit. This means that when the operating device's functions evolve, the entire unit must be replaced, which poses a problem of being unable to flexibly and quickly respond to the rapid evolution and changes in vehicle functions in recent years.

[0009] The technology disclosed herein has been developed in consideration of these points, and its purpose is to provide a vehicle control system that can flexibly and quickly respond to functional evolution and changes in the vehicle while appropriately suppressing battery power depletion. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems, the technology disclosed herein is directed to a vehicle control system in which a master node and a plurality of slave nodes are connected via a network, and each of the slave nodes operates an operating device that is an object of operation based on information transmitted from the master node. The technology includes a battery that stores power to be supplied to the operating device, a relay for distributing power from the battery to the operating device, and a power operation unit that is connected to the master node via a network and is capable of operating the relay based on information transmitted from the master node, wherein the slave node includes a specific slave node configured by the master node so that the connected operating device may continue to operate when a communication abnormality occurs between the slave node and the master node, the specific slave node does not have a microcomputer, and the power operation unit is connected to the master node by a communication line separate from the communication line between the master node and the specific slave node, and the master node transmits information to the power operation unit so that the power supply to the operating device connected to the specific slave node is cut off when a communication abnormality occurs between the master node and the specific slave node and a predetermined cut-off condition is satisfied.

[0011] With this configuration, the specific slave node does not have a microcomputer, so it cannot determine the situation by itself and cut off the power supply to the operation device, and it does not change the operation of the operation device unless it receives information from the master node. Therefore, if a communication abnormality occurs between the master node and the specific slave node, the specific slave node may continue to operate the operation device, which may result in the battery power being depleted.

[0012] In contrast, with the technology disclosed herein, the power control unit cuts off the power supply to the operation device, thereby stopping the operation device and preventing the operation device from consuming battery power. As a result, it is possible to appropriately prevent the battery power from running out.

[0013] Furthermore, because the specific slave node does not have a microcomputer, when the function of the operation device changes, it is not necessary to replace the specific slave node along with the operation device. This makes it possible to flexibly and quickly respond to functional evolution and changes in the vehicle.

[0014] In the vehicle control system, the power operation unit may be a slave node connected to the relay and separate from the specific slave node, and configured by the master node to be able to turn off the relay.

[0015] With this configuration, the relay can be turned off by a slave node connected to a relay to which a specific slave node is connected. This allows the number of parts to be minimized. Furthermore, as long as a slave node is connected to a relay to which a specific slave node is connected via a communication line separate from the communication line between the master node and the specific slave node, it can be configured by the master node to function as a power control unit. This allows redundancy to be maximized.

[0016] In the vehicle control system, the shut-off condition may include a condition that the vehicle is parked in a parking lot and a power unit of the vehicle is turned off.

[0017] The shutoff condition may include a condition that the vehicle is parked in a parking lot and the power unit is on for a predetermined time.

[0018] In other words, if the power unit is turned off while the vehicle is parked in a parking lot, it can be assumed that the driver has chosen not to drive for at least a certain period of time. Even if the power unit is not turned off, if the vehicle has been parked in a parking lot for a certain period of time, it can also be assumed that the driver has chosen not to drive for at least a certain period of time. Therefore, by setting such a state as a shut-off condition, the operating device can be shut down at an appropriate time. [Effects of the Invention]

[0019] As described above, the technology disclosed herein makes it possible to provide a vehicle control system that can flexibly and quickly respond to functional evolution and changes in the vehicle while appropriately suppressing battery power depletion. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a vehicle control system. [Figure 2] FIG. 2 is a conceptual diagram showing an example of the division of functions between a master node and a slave node. [Figure 3] FIG. 3 is a block diagram illustrating an example of the configuration of a master node. [Figure 4] FIG. 4 is a block diagram illustrating an example of the configuration of a slave node. [Figure 5] FIG. 5 is a circuit block diagram showing an example of the configuration of the driver group. [Figure 6] FIG. 6 is a flowchart showing an example of the operation of the vehicle control system. [Figure 7] FIG. 7 is a flowchart showing an example of the operation of the wipers. [Figure 8] FIG. 8 is a block diagram showing a wiper control system including a relay operating system. [Figure 9] FIG. 9 is a flowchart showing the processing operation when the master node cuts off the power supply to the operation device. [Figure 10] FIG. 10 is a block diagram showing a modified example of the vehicle control system. DETAILED DESCRIPTION OF THE INVENTION

[0021] Exemplary embodiments will now be described in detail with reference to the drawings.

[0022] In this disclosure, the configurations indicated by the terms "system," "unit," "module," and "node" may be partially or entirely realized by dedicated circuits such as an ASIC (Application Specific Integrated Circuit) or a PLA (Programmable Logic Array). Also, some or all of the configurations may be realized by a processor circuit that executes computer-readable instructions (e.g., a program) to perform predetermined processing steps and thereby perform specific functions.

[0023] In the following description, the term "on-board device" refers to a device mounted on the vehicle CA that has at least one of a sensor and a device to be operated (such as a motor or an LED). When referring to an on-board device that is to be operated, it may be simply referred to as an operation device.

[0024] (Overall composition) <Vehicle control system> FIG. 1 shows an example of the configuration of a vehicle control system according to an embodiment.

[0025] As shown in FIG. 1, a vehicle control system 1 is mounted on a vehicle CA, and is configured such that a master node 2 and a plurality of slave units are connected via an on-board communication network.

[0026] In the example of Figure 1, the multiple slave units are exemplified as a combination switch unit 4, left and right side mirror units 5, a steering switch unit 6, a cluster switch unit 31, an overhead console unit 32, left and right seat heater units 33, and left and right door latch units 34. Each slave unit is equipped with a slave node 7 (see Figure 4) that has a common configuration. For convenience, the left and right side mirror units 5, door latch units 34, and seat heater units 33 are each assigned the same reference numeral.

[0027] The master node 2 and each slave node 7 are connected via a communication line B that conforms to the CXPI (Clock Extension Peripheral Interface).

[0028] Specifically, the master node 2 and a plurality of slave units (in this example, the combination switch unit 4, the steering switch unit 6, the cluster switch unit 31, the right side mirror unit 5, the right seat heater unit 33, and the right door latch unit 34) are bus-connected via a communication line B1. Furthermore, the master node 2 and a plurality of other slave units (in this example, the overhead console unit 32, the left side mirror unit 5, the left seat heater unit 33, and the left door latch unit 34) are bus-connected via a communication line B2. As will be described in detail later, in this embodiment, a configuration is provided with a plurality of communication lines (two in FIG. 1) in consideration of a fail-safe function. Note that the communication line B1 and the communication line B2 may be communicatively connected. Furthermore, the number of communication lines may be three or more. Note that the communication method is not limited to CXPI, and other communication methods (whether wired or wireless) may be used.

[0029] Figure 2 is a conceptual diagram showing an example of the allocation of functions between the master node 2 and the slave node 7 in response to the actions of the vehicle CA. In Figure 2, the operational process of the vehicle CA is divided into a recognition process Iz, a decision process Pz, and an operation process Oz, and each process is subdivided. The functions 20 allocated to the master node 2 are surrounded by a dashed line, and the functions 30 allocated to the slave node 7 are surrounded by a solid line.

[0030] In the following explanation, the processing performed in each of the steps of the recognition process Iz, the judgment process Pz, and the operation process Oz in the master node 2 and the slave node 7 will be explained using an example of a case where the weather changes from sunny to rainy (hereinafter simply referred to as "weather change").

[0031] [Cognitive process] In the recognition process Iz, information acquired by the sensors is recognized based on output signals from the sensors mounted on the on-board devices. In this disclosure, the term "sensor" is used to broadly include sensors that measure and detect various physical quantities such as temperature, voltage, and current, as well as switches that accept various operations, cameras that capture images of the inside and outside of the vehicle, radar that recognizes targets outside the vehicle, and mechanical-electrical conversion signals from actuators. The sensors acquire vehicle behavior information, occupant operation information, occupant state information, and / or external environment information (hereinafter collectively referred to as "detection information").

[0032] The recognition process Iz includes processes Iz2 and Iz3 executed by the slave node 7 and processes Iz4 and Iz5 executed by the master node 2.

[0033] First, in step Iz1, some kind of detection information is detected by a sensor mounted on the in-vehicle device. As a specific example, when there is a "change in weather" as described above, the detection information (e.g., the adhesion of raindrops, a change in the amount of received light) is detected by a raindrop sensor and a light receiving sensor (not shown).

[0034] The slave node 7 receives the output of the sensor via a port P (described later) (step Iz2). The output here includes, for example, the detection signal of the sensor, physical quantities such as current, voltage, and temperature detected by the sensor, and the electromechanical conversion signal of the actuator.

[0035] In the next step Iz3, the slave node 7 performs signal processing on the sensor output and transmits it as a detection signal to the master node 2. The signal processing here is, for example, protocol conversion into a signal that complies with CXPI.

[0036] That is, in the slave node 7, in steps Iz2 and Iz3, the input from the sensor is converted into a predetermined signal format and transmitted to the master node 2 as a detection signal without recognizing or determining the specific content of the input information.

[0037] The master node 2 receives the detection signal from the slave node 7 (step Iz4), and recognizes the specific content of the detection information input from the sensor to the slave node 7 based on the change over time of the detection signal and the connection data described later (step Iz5). In the example of "weather change" mentioned above, the information processing provides recognition information, for example, that the light intensity transmitted through the windshield has fallen below a predetermined value, making it dark outside the car, and that it has started to rain. In the following explanation, the information recognized in the recognition step will be referred to as "recognition information."

[0038] [Judgment process] In the determination process Pz, the behavior and response of the vehicle CA are determined based on the recognition information recognized in the recognition process. Processes Pz1 to Pz4, which are components of the determination process Pz, are executed by the master node 2.

[0039] Specifically, in step Pz1, the master node 2 determines the behavioral goal of the vehicle CA based on the recognition information recognized in the recognition step Iz. In the example of "weather change" mentioned above, the goal determined is, for example, "to behave appropriately when it becomes dark outside the vehicle and starts to rain."

[0040] In the next step Pz2, the master node 2 sets an action plan to achieve the objective determined in step Pz1. At this time, action plans including alternative measures are enumerated, and, for example, an action list listing the action plans is generated. For example, the action plan corresponding to the above-mentioned "behavior when the outside environment is dark and it is raining" includes action plans such as "operate the wipers," "turn on the automatic headlight function of the vehicle CA," and "limit the upper speed limit of the vehicle CA."

[0041] In the next step Pz3, the master node 2 determines which of the actions listed in the action plan will actually be executed. For example, it selects the action to actually be executed from the action list. In the example of "weather change" mentioned above, for example, the actions to be executed are "turn on the wipers" and "turn on the vehicle's automatic headlight function."

[0042] In the next step Pz4, the master node 2 selects a means (hereinafter also referred to as a "response means") for realizing the action determined in step Pz3. In the example of "weather change," for example, for the actions "operate the wipers" and "turn on the vehicle's automatic light function," the wiper unit 8 (see FIG. 8), headlight unit (not shown), and taillight unit (not shown) are selected.

[0043] [Operating process] The operation process Oz includes processes Oz1 and Oz2 executed by the master node 2 and processes Oz3 to Oz5 executed by the slave node 7.

[0044] In step Oz1, the master node 2 determines an operation target and its operation amount for realizing the action or response determined in the judgment step Pz. Here, the operation target broadly includes objects that are operated to realize the action or response, and includes, for example, lighting devices and actuators. Lighting devices include various LEDs and bulbs used for headlights, indicators, turn signals, etc. Actuators include body-related devices such as wipers 81 (see FIG. 8) and mirror drive motors, and power-related devices used for the engine, brakes, etc.

[0045] In the example of "weather change" mentioned above, for example, the operation of the wiper unit 8 is determined to be turning on the windshield wipers 81 and the operation speed and interval of the wipers 81. Also, for example, the operation of the headlight unit and taillight unit is determined to be turning on the headlights and taillights and their illuminance.

[0046] In the next step Oz2, the master node 2 (1) identifies the port P to which the operation target is connected (hereinafter referred to as "operation port P") based on the connection data, (2) generates an instruction code that commands the output content of the operation port P, and (3) executes the process of transmitting the generated instruction code to the slave node provided with the operation port P. In the example of "weather change" mentioned above, for example, the master node 2 transmits an operation instruction signal that commands the output content of the operation port P to which the wiper 81 is connected to the wiper unit 8, transmits an operation instruction signal indicating the output content of the operation port P to which the headlight is connected to the headlight unit, and transmits an operation instruction signal indicating the output content of the operation port P to which the taillight is connected to the taillight unit.

[0047] Each slave node 7 receives an operation command signal from the master node 2, and outputs an operation signal based on the command code from an operation port P based on the operation command signal.

[0048] Specifically, each slave node 7 generates a signal to be output from the operation port P based on the operation command signal after converting the protocol of the operation command signal and / or referring to a designated register (step Oz3). Then, the operation signal is output from the operation port P designated by the operation command signal to the operation device (step Oz4). As a result, (1) the wiper unit 8 drives the wipers 81, (2) the headlight unit turns on the headlights, and (3) the taillight unit turns on the taillights.

[0049] Next, a detailed description will be given of the configurations of the master node 2 and the slave node 7. Fig. 3 is a block diagram showing an example of the configuration of the master node 2, and Fig. 4 is a block diagram showing an example of the configuration of the slave node 7.

[0050] The master node 2 illustrated in FIG. 3 includes a communication module 21, a recognition module 22, a judgment module 23, an operation module 24, and a memory 25.

[0051] The master node 2 is configured, for example, by one or more electronic control units (ECUs). The electronic control unit may be configured using a single integrated circuit (IC) or multiple ICs. Furthermore, the IC may include a single core or die, or multiple cooperating cores or dies.

[0052] The communication module 21 has the function of receiving a reception signal from each slave node 7 via the communication line B and transmitting a transmission signal to each slave node 7 .

[0053] The memory 25 stores configuration data and the like corresponding to each slave node 7. The memory 25 may be an internal memory built into the IC constituting the ECU, or an external memory attached to the IC. The memory may also store, for example, a program for operating the CPU mounted on the IC, or information such as the processing results of the CPU.

[0054] The recognition module 22 executes the recognition process of steps Iz4 and Iz5 of the above-mentioned recognition process Iz. Specifically, the recognition module 22 executes the recognition process to recognize the detection information acquired by the detection device based on the connection data stored in the memory and the change over time of the detection signal received from the slave node.

[0055] The recognition module 22 includes a decoding module 221 that decodes the detection signal received from the slave node 7, and an information module 222 that performs the information processing of the above-mentioned step Iz5.

[0056] The determination module 23 executes the determination processing of the above-mentioned determination steps Pz (Pz1 to Pz4). Specifically, the determination module 23 executes the determination processing to determine the behavior of the vehicle CA based on the recognition information recognized in the recognition processing executed by the recognition module 22.

[0057] The judgment module 23 includes a goal determination module 231 that executes the aforementioned process Pz1, an action planning module 232 that executes the aforementioned process Pz2, an action determination module 233 that executes the aforementioned process Pz3, and a response determination module 234 that executes the aforementioned process Pz4.

[0058] The operation module 24 executes the processes of steps Oz1 and Oz2 of the operation process Oz. Specifically, it executes the operation process of identifying an operation device corresponding to the vehicle action determined in the determination process, generating an operation command signal for instructing the operation of the identified operation device, and transmitting the signal to the slave node to which the operation device is connected.

[0059] The operation module 24 includes an operation determination module 241 that executes the above-mentioned process Oz1, and an instruction generation module 242 that executes the above-mentioned process Oz2.

[0060] FIG. 4 shows an example of the configuration of the combination switch unit 4 and the right side mirror unit 5 (hereinafter referred to as the "right side mirror unit 5") of the slave node 7 illustrated in FIG.

[0061] 4, the combination switch unit 4 and the right side mirror unit 5 are each provided with a common slave node 7. Each slave node 7 is provided with 12 ports P for connecting in-vehicle devices.

[0062] In this example, the combination switch unit 4 has a wiper switch 41 that operates the wiper 81 connected to ports P1 to P4, a light switch 42 that operates the lights connected to ports P5 to P9, and a turn switch 43 that operates the turn lights connected to ports P10 and P11. P12 is a reserve port. The wiper switch 41, the light switch 42, and the turn switch 43 are examples of in-vehicle devices that include only sensors.

[0063] Similarly, in the right side mirror unit 5, turn light LEDs 51 (hereinafter referred to as "turn LEDs 51") are connected to ports P1 and P2, indicator LEDs 52 are connected to ports P3 to P6, and a mirror folding motor 53 is connected to ports P7 to P12. Here, the turn LEDs 51, LEDs 52, and motor 53 are examples of operation devices among the in-vehicle devices. In particular, the motor 53 has a position sensor that detects the rotation position of the motor, and is an in-vehicle device that has both a sensor and an operation device.

[0064] Each slave node 7 includes a communication module 71 , a register 72 , a selector 73 , a group of drivers 74 , and a timer 75 .

[0065] The communication module 71 is connected to a communication module 21 of the master node 2 (described later) via a communication line B, and is configured to enable two-way communication conforming to CXPI. The communication module 71 includes, for example, an input / output circuit connected to the communication line B, an encoder that generates a signal output from the input / output circuit, and a decoder that converts the signal output from the input / output circuit. Note that, since a conventionally known configuration can be applied to the specific circuit configuration of the communication module 71, a detailed description thereof will be omitted here.

[0066] The driver group 74 includes a plurality of driver groups 740 connected one-to-one to the respective ports P. For example, if the slave node 7 is provided with 12 ports P, the driver group 74 includes 12 driver groups 740.

[0067] The driver group 740 is an IO circuit that can be used as an input port or an output port depending on external settings. For example, a conventionally known general-purpose input / output circuit (GPIO: General Purpose Input / Output) can be applied as the driver group 740. Figure 5 shows an example of the configuration of the driver group 740.

[0068] 5 includes an output circuit 743 connected to a port P, and a driver circuit 741 that drives the output circuit 743 based on a setting value of an output register 742. The setting value of the output register 742 can be rewritten by a setting signal input from an OUT terminal. The output circuit 743 is configured to also function as a semiconductor switch. The output circuit 743 may be configured to include an IPD (Intelligent Power Device).

[0069] The driver group 740 includes an input circuit 745 that receives input to port P, and a receiver circuit 746 that converts the input received by the input circuit 745 into a detection signal. The receiver circuit 746 includes an AD converter 747 and a comparator 748. If the attribute of port P is analog input, the AD converter 747 performs analog-to-digital conversion of the input to port P and outputs the result from the AI ​​terminal. If the attribute of port P is digital input, the comparator 748 outputs the input to port P as a digital signal from the DI terminal.

[0070] The driver group 740 is configured to be able to change the settings of each component based on the configuration signal. For example, the filter multiplier of the digital filter of the receiver circuit 746 can be changed based on the configuration signal.

[0071] The selector 73 has the function of selecting which terminals (OUT terminals, AI terminals, DI terminals) of each driver group 740 to enable based on the attribute information of each port P recorded in the register 72.

[0072] When the AI ​​terminal is enabled, an analog input signal is input from port P. In this case, the analog input signal is converted into a digital signal by input circuit 745 and AD converter 747, output from the AI ​​terminal, and written to register 72 via selector 73.

[0073] When the DI terminal is enabled, a digital input signal is input from the port P. In this case, the digital input signal is output from the DI terminal via the input circuit 745 and the comparator 748, and written to the register 72 via the selector 73.

[0074] When the OUT terminal is enabled, the output setting information is reflected in the output register 742 of the driver circuit 741 via the selector 73. Then, the driver circuit 741 outputs one of a digital signal, an analog signal, or a PWM signal from the port P via the output circuit 743 based on the setting information of the output register 742.

[0075] As for the specific circuit configuration of the selector, a conventionally known configuration can be used, and therefore a detailed description thereof will be omitted here.

[0076] The register 72 stores configuration data set for each slave node 7. The configuration data includes attribute data for each port P. The configuration data also includes a fail-safe function for the slave node 7, which will be described later.

[0077] The timer 75 has an oscillator that operates at a constant frequency, such as a crystal oscillator, and a counter that counts clocks from the oscillator. The timer 75 is used, for example, to measure the elapsed time after information is sent from the master node. The timer 75 is also used to measure the elapsed time after an operating device is turned on when it is necessary to turn on the operating device for a fixed period of time.

[0078] Next, an example of the operation of the vehicle control system will be described with reference to the flowchart shown in Fig. 6. Here, the process when the driver operates the turn switch 43 provided on the combination switch unit 4 to turn right after the initial configuration process in step S1 will be described.

[0079] When the vehicle control system 1 is powered on, an initial configuration process is executed in step S1.

[0080] In the initial configuration process, the master node 2 transmits initial configuration data to each slave node 7. Each slave node 7 stores the initial configuration data received from the master node 2 in its register 72. After storing the initial configuration data in its register 72, each slave node 7 replies that the configuration is complete. If the initial configuration data has already been stored in each slave node 7, nothing is done in step S1 and the process proceeds to the next step.

[0081] Next, in step S2, when the turn switch 43 is operated to the right turn side, an ON setting signal is input from the digital output port DOR of the turn switch 43 to the port P10 of the driver group 74.

[0082] Next, in step S3, the slave node 7 transmits an event notification to the master node 2. The event notification notifies the master node 2 of the change in the detection signal region.

[0083] In the next step S4, the master node 2 executes processing (also called "event processing") according to the content of the event notification. In the event processing, the above-mentioned recognition step, determination step, and operation step are executed.

[0084] In this example, the master node 2 performs information processing as a recognition step based on the difference data between the detection data received in step S1 and the detection data D4 received this time. Specifically, the master node 2 recognizes that the turn switch 43 has been operated to turn right based on the change in port P10 of the combination switch unit 4 and the connection data.

[0085] Next, the master node 2 goes through steps Pz1 to Pz4 of the determination process and determines the action "turn on the right turn lamp of the vehicle CA (including the right turn lamp of the right side mirror unit 5)" as the action to be executed by the vehicle CA.

[0086] Next, as an operation step, the master node 2 determines that the slave node 7 connected to the right turn lamp is the operation target, and determines the operation content to be to flash the right turn lamp. Then, the master node 2 generates an operation command signal to command the right turn lamp to flash, and transmits the operation command signal to the slave node 7 (including the right side mirror unit 5) connected to the right turn lamp.

[0087] Next, in step S6, the slave node 7 of the right side mirror unit 5 receives the operation command signal.

[0088] Next, in step S7, the slave node 7 of the right side mirror unit 5 outputs an operation signal based on the operation command signal from a port based on the operation command signal. Specifically, the slave node 7 of the right side mirror unit 5 outputs a digital operation signal instructing ON control from port P2 based on the operation command signal.

[0089] Next, in step S8, the master node 2 requests an acknowledgement from the slave node 7 that transmitted the operation command signal to confirm whether or not the output setting based on the operation command signal has been made. Then, in the next step S9, the slave node 7 that has received the acknowledgement request replies to the master node 2 with an acknowledgement indicating the status of the output setting based on the operation command signal.

[0090] (Fail-safe function of wiper unit) Next, the fail-safe function when a communication abnormality occurs, such as a disconnection of the communication line between the master node 2 and the slave node, will be described using the wiper unit 8 as an example.

[0091] FIG. 7 is a flowchart illustrating an example of the operation of the wiper 81. First, the master node 2 executes an initial configuration. At this time, the fail-safe function of the slave node 7 of the wiper unit 8 (hereinafter referred to as the wiper slave node 7a) is set. The wiper 81 does not need to be operated unless it is raining or snowing, but if it is raining or snowing, the wiper 81 must continue operating, otherwise driving will be hindered. For this reason, the wiper slave node 7a employs a function to continue the previous operation as its fail-safe function. That is, when a communication abnormality occurs between the wiper slave node 7a and the master node 2, if the wiper 81 was stopped immediately before, the wiper slave node 7a keeps the wiper 81 stopped, but if the wiper 81 was operating, the wiper slave node 7a continues operating the wiper 81 at the same speed.

[0092] Next, when the wiper switch 41 is turned on, an event notification is sent from the combination switch unit 4 to the master node 2. The master node 2 processes the event according to the flow described above, and sends an operation command signal to the wiper slave node 7a to operate the wiper 81.

[0093] The wiper slave node 7a, which has received the operation command signal from the master node 2, operates the output circuit 743 to operate the wiper 81 at the speed indicated by the operation command signal. The wiper slave node 7a operates the output circuit 743 so that appropriate power is supplied to the wiper 81 (strictly speaking, to the motor that operates the wiper 81) in order to operate the wiper 81 at the speed indicated by the operation command signal.

[0094] Then, the master node 2 requests an acknowledgement from the wiper slave node 7a. This acknowledgement request is periodically sent to the wiper unit 8. If the communication between the master node 2 and the wiper slave node 7a is normal, as described above, the wiper slave node 7a will send a reply to the master node 2 in response to the acknowledgement request.

[0095] Here, as shown in FIG. 7, assume that a communication error occurs between the master node 2 and the wiper slave node 7a, causing the wiper unit 8 to fail to receive an acknowledgement request. If the wiper slave node 7a fails to receive an acknowledgement request for a preset time, it turns on the fail-safe function. In this case, since the wiper 81 is turned on (the motor is operating), the wiper slave node 7a operates the output circuit 743 so that the wiper 81 continues to operate at the same speed. Whether or not a predetermined time has elapsed is measured by the timer 75.

[0096] (Reduction of power depletion) As described above, in the vehicle control system 1 according to this embodiment, the operating device may be kept operating as a fail-safe function in the event of a communication abnormality between the master node 2 and the slave node 7. As described above, the slave node 7 does not have a microcomputer and therefore cannot autonomously turn off the operating device based on a signal from a sensor or the like. Therefore, a slave node (hereinafter referred to as a specific slave node) configured to keep the operating device on as a fail-safe function as described above continues to keep the operating device on even if the power unit of the vehicle CA, such as the engine or motor, is turned off after executing the fail-safe function to turn on the operating device. If the operating device is kept on, power from the battery BT (see FIG. 8) continues to be consumed, which may result in the power stored in the battery BT being depleted while the vehicle is not being driven.

[0097] Therefore, in this embodiment, in order to prevent the power of the battery BT from running out after the fail-safe function is executed, a relay unit 100 is provided to directly turn off a relay (hereinafter referred to as a specific relay 101) connected to a specific slave node and cut off the power supply to the operation device, as shown in Fig. 8. Note that Fig. 8 shows the slave node of the wiper unit 8 as the specific slave node.

[0098] The relay unit 100 does not have a microcomputer like the slave node 7 described above, and has the same circuit configuration as the slave node 7. The relay unit 100 is configured by the master node 2 to have the function of turning off the specific relay 101. In other words, the relay unit 100 functions like a slave node with the specific relay 101 as an operation device. The relay unit 100 turns off the specific relay 101 in response to an operation command signal from the master node 2. When the specific relay 101 is replaced with another relay, the relay unit 100 is reconfigured by the master node 2. As shown in FIG. 8, the relay unit 100 is always connected to a power source and can continue to operate even when the power unit is turned off.

[0099] The relay unit 100 is communicatively connected to the master node 2 via a communication line separate from the communication line between the master node 2 and the wiper unit 8 (strictly speaking, the slave node within the wiper unit 8). Here, for example, the wiper unit 8 is communicatively connected to the master node 2 via a communication line B1, while the relay unit 100 is communicatively connected to the master node 2 via a communication line B3. Although not shown in detail, the communication line B3 between the master node 2 and the relay unit 100 is set to be shorter or thicker than the communication line between the master node 2 and a specific slave node, and is designed to be less susceptible to disconnection. It is particularly preferable to provide a dedicated communication line B3 between the master node and the relay unit 100.

[0100] When a communication abnormality occurs between the master node 2 and the wiper unit 8 and a predetermined cutoff condition is satisfied, the master node 2 transmits an operation command signal to the relay unit 100 so that the power supply to the wiper 81 is cut off. The predetermined cutoff condition is a condition under which the driver is not inconvenienced even if the operating device (here, the wiper 81) operated by the wiper unit 8 is stopped, and under which it can be determined that the vehicle CA will not be driven for at least a certain period of time. Specifically, the predetermined cutoff condition includes a first cutoff condition that the vehicle CA is parked in a parking lot and the power unit is turned off (ignition off or power off), and a second cutoff condition that the vehicle CA is parked in a parking lot and the power unit is turned on and a predetermined time has passed.

[0101] In other words, if the vehicle CA is parked in a parking lot, it can be determined that the driver has little intention to drive the vehicle CA. Furthermore, if the vehicle is parked in a parking lot, stopping the operation of the wipers 81 is unlikely to interfere with the driver's actions. If the power unit is turned off as in the first cut-off condition, it is clear that the driver has no intention to drive the vehicle CA, so there is no problem in cutting off the power supply to the wiper unit 8. On the other hand, even if the power unit is on, once a predetermined time has passed, it can be assumed that the vehicle CA will not be driven for at least a certain period of time. Therefore, there is no problem in cutting off the power supply to the wiper unit 8 even if the second cut-off condition is met. The predetermined time is, for example, about one minute.

[0102] The master node 2 determines whether the vehicle CA is parked in a parking lot based on information from multiple sensors. Specifically, the master node 2 determines that the vehicle CA is parked when it receives a signal indicating that the vehicle speed is 0 from a vehicle speed sensor. The master node 2 also acquires the current location of the vehicle CA using a signal from a GPS (Global Positioning System) sensor and compares it with regularly updated map information to determine whether the current location is a parking lot. The master node 2 may further determine whether the current location is a parking lot based on information about the external environment captured by a camera. For example, the master node 2 can determine that the current location is a parking lot when a camera captures an image of white lines indicating the parked position of the vehicle CA lined up at regular intervals.

[0103] When either the first or second cut-off condition is satisfied while there is a communication abnormality between the master node 2 and the wiper unit 8, the master node 2 transmits an operation command signal to the relay unit 100 to turn off the specific relay 101 in order to cut off the power supply to the wiper unit 8. When the first and second cut-off conditions are no longer satisfied, for example, when the vehicle CA starts to move, the master node 2 transmits an operation command signal to the relay unit 100 to turn on the specific relay 101 in order to resume the supply of power to the wiper unit 8. When the power supply to the wiper unit 8 is cut off by the relay unit 100, the wiper unit 8 is unable to operate the wiper 81 due to the cut-off of the power supply. However, since the slave node 7 of the wiper unit 8 remains in a state in which the wiper 81 can be operated, the wiper 81 will be operated again when the power supply is resumed by the relay unit 100.

[0104] Next, with reference to FIG. 9, a processing operation of the master node 2 when the master node 2 cuts off the power supply to a specific slave node via the relay unit 100 will be described.

[0105] First, in step S101, the master node 2 determines whether or not a communication abnormality has occurred with a specific slave node (for example, the wiper unit 8 described above). When the master node 2 cannot receive a signal from the specific slave node, it determines that a communication abnormality has occurred with the specific slave node. If the answer is YES, which means that a communication abnormality has occurred with the specific slave node, the master node 2 proceeds to step S102. On the other hand, if the answer is NO, which means that a communication abnormality has not occurred with the specific slave node, the master node 2 returns.

[0106] In step S102, the master node 2 determines whether or not the vehicle CA is parked in a parking lot. As described above, the master node 2 determines whether or not the vehicle CA is parked in a parking lot based on information from multiple sensors. If the answer is YES, meaning that the vehicle CA is parked in a parking lot, the master node 2 proceeds to step S103. On the other hand, if the answer is NO, meaning that the vehicle CA is moving or is parked on the shoulder of the road, the master node 2 returns.

[0107] In step S103, the master node 2 determines whether the power unit is turned off. If the result is YES, meaning that the power unit is turned off, the master node 2 proceeds to step S105. On the other hand, if the result is NO, meaning that the power unit is turned on, the master node 2 proceeds to step S104.

[0108] In step S104, the master node 2 determines whether or not a predetermined time has elapsed. If the result is YES, that is, the predetermined time has elapsed, the master node 2 proceeds to step S105. On the other hand, if the result is NO, that is, that the predetermined time has not elapsed, the master node 2 returns.

[0109] In step S105, the master node 2 turns off the specific relay 101 and transmits an operation command signal to the relay unit 100 to cut off the power supply to the specific slave node. After step S105, the master node returns.

[0110] (Variation) FIG. 10 shows a modified example of this embodiment, in which the relay unit 100 is not provided, and another slave node serves as the power operation unit. This other slave node (hereinafter referred to as the dual-purpose slave node 300) is a slave node connected to the specific relay 101 and connected to the master node 2 via a communication line separate from that of the specific slave node (the wiper unit 8 in FIG. 10). In the modified example shown in FIG. 10, the dual-purpose slave node 300 is configured to supply power from the battery BT to the operation device via the specific relay 101. Note that the dual-purpose slave node 300 only needs to be communicatively connected to the specific relay 101, and may be configured to supply power from the battery BT to the operation device via a relay separate from the specific relay 101. Furthermore, it is preferable that the dual-purpose slave node 300 be configured as a slave node 7 arranged near the master node 2, as this reduces the possibility of a disconnection.

[0111] The dual-purpose slave node 300 is configured by the master node 2 at the time of initial configuration so as to have the function of a slave node that operates the specific relay 101. When the specific relay 101 is replaced with another relay, the dual-purpose slave node 300 is reconfigured by the master node 2.

[0112] When either the first cut-off condition or the second cut-off condition is satisfied in a state where there is a communication abnormality between the master node 2 and the wiper unit 8, the master node 2 transmits an operation command signal to the dual-purpose slave node 300 to turn off the specific relay 101 in order to cut off the supply of power to the wiper 81. The dual-purpose slave node 300 that has received the operation command signal from the master node 2 turns off the specific relay 101 so that power is not supplied to the wiper 81. When the first cut-off condition and the second cut-off condition are no longer satisfied, for example, when the vehicle CA starts to move, the master node 2 transmits an operation command signal to the dual-purpose slave node 300 to turn on the specific relay 101 in order to supply power to the wiper 81 again.

[0113] In this modification, the power supply to the wiper 81 is cut off from the dual-purpose slave node 300. This stops the wiper 81, and the operation device no longer consumes power from the battery BT. As a result, it is possible to appropriately prevent the battery BT from running out of power. Furthermore, as long as the slave node is connected to a communication line different from the communication line between the master node 2 and the specific slave node and is connected to the specific relay 101, it can be configured by the master node 2 to be the dual-purpose slave node 300. This makes it possible to maximize redundancy.

[0114] (summary) Therefore, in this embodiment, the system includes a master node 2, a plurality of slave nodes 7 that are communicatively connected to the master node 2 and each operate an operating device based on information transmitted from the master node 2, a battery BT that stores power to be supplied to the operating device, a specific relay 101 that distributes the power from the battery BT to the operating device, and a power operation unit (relay unit 100, dual-purpose slave node 300) that is network-connected to the master node 2 and can operate the specific relay 101 based on information transmitted from the master node 2, and the slave node 7 includes a specific slave node configured by the master node 2 so that the connected operating device may continue to operate when a communication abnormality occurs between the master node 2 and the specific slave node, the specific slave node does not have a microcomputer, and the power operation unit is connected to the master node 2 by a communication line separate from the communication line between the master node 2 and the specific slave node, and when a communication abnormality occurs between the master node 2 and the specific slave node and a predetermined cut-off condition is satisfied, the master node 2 transmits an operation command signal to the power operation unit so that the power supply to the operating device connected to the specific slave node is cut off. As a result, the power control unit cuts off the power supply to the operation device, shutting down the operation device and preventing the operation device from consuming battery power. As a result, depletion of the battery BT can be appropriately suppressed. Furthermore, because the specific slave node does not have a microcomputer, when the function of the operation device changes, it is not necessary to replace the specific slave node with the operation device. This allows for flexible and rapid response to functional evolution and changes in the vehicle. Furthermore, in this embodiment, the relay unit 100 and the dual-purpose slave node 300 constituting the power control unit also do not have microcomputers. Therefore, even when the specific relay 101 is replaced, it is not necessary to also replace the power control unit, and the relay can be reused as is. The master node 2 can set the operation of the power control unit for the new specific relay 101 through configuration. From this perspective, this embodiment also allows for flexible and rapid response to functional evolution and changes in the vehicle.

[0115] In this embodiment, the shut-off conditions include a first shut-off condition that the vehicle CA is parked in a parking lot and the power unit of the vehicle CA is turned off, and a second shut-off condition that the vehicle CA is parked in a parking lot and the power unit has been on for a predetermined time, thereby enabling the operation device to be shut off at an appropriate timing that does not cause any inconvenience to the driver.

[0116] (Other embodiments) The technology disclosed herein is not limited to the above-described embodiments, and can be substituted within the scope of the claims.

[0117] For example, in the above-described embodiment, the wiper slave node 7a was exemplified as a specific slave node. However, a slave node that operates a headlight unit (not shown) can also be a specific slave node. Since it is preferable for the headlight to be always on when a communication abnormality occurs, there is a risk that the battery will run out unless the power supply to the headlight can be cut off. For this reason, it is also preferable that the relay connected to the headlight unit can be configured to cut off the power supply to the headlight using the relay unit 100 or dual-purpose slave node 300 as described above.

[0118] In the above-described embodiment, the relay unit 100 does not have a microcomputer, but has a function of turning off the specific relay 101 through configuration by the master node 2. However, the relay unit 100 may have a microcomputer.

[0119] The above-described embodiments are merely examples and should not be construed as limiting the scope of the present disclosure. The scope of the present disclosure is defined by the claims, and all modifications and variations that fall within the scope of the claims equivalents are within the scope of the present disclosure. [Industrial Applicability]

[0120] The technology disclosed herein is useful as a vehicle control system in which a master node and multiple slave nodes are connected via a network, and each slave node operates an operating device that is the target of operation based on information transmitted from the master node. [Explanation of symbols]

[0121] 1. Vehicle control system 2 Masternodes 3 Slave nodes 7a Wiper slave node (specific slave node) 81 Wiper (operating device) 100 Relay node (power control unit) 101 Specific Relay 300 Dual-purpose slave node (power control unit) BT Battery CA vehicle

Claims

1. A vehicle control system in which a master node and a plurality of slave nodes are connected via a network, and each of the slave nodes operates an operation device that is an operation target based on information transmitted from the master node, a battery storing power to be supplied to the operation device; a relay for distributing power from the battery to the operation device; a power operation unit that is network-connected to the master node and is capable of operating the relay based on information transmitted from the master node; The slave node includes a specific slave node configured by the master node so as to continue to operate the connected operation device when a communication abnormality occurs between the slave node and the master node; The specific slave node does not have a microcomputer, the power operation unit is connected to the master node by a communication line separate from a communication line between the master node and the specific slave node, a master node that transmits information to the power operation unit so that, when a communication abnormality occurs between the master node and the specific slave node and a predetermined cut-off condition is satisfied, the power supply to the operation device connected to the specific slave node is cut off.

2. 2. The vehicle control system according to claim 1, a power operation unit that is connected to the relay and is a slave node other than the specific slave node, and that is configured by the master node to be able to turn off the relay.

3. 3. The vehicle control system according to claim 1, The vehicle control system is characterized in that the shut-off conditions include a condition that the vehicle is parked in a parking lot and the power unit of the vehicle is turned off.

4. 4. The vehicle control system according to claim 3, The vehicle control system is characterized in that the shut-off condition includes a condition that the vehicle is parked in a parking lot and a predetermined time has elapsed with the power unit in an on state.

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