Vehicle Control System

Abstract

The present invention relates to a vehicle control system (1) in which a master node (2) and a plurality of slave nodes (7) are connected through a communication network. The master node (2) comprises a memory (25) that stores connection data indicating the connection relationship between each port of the slave nodes (7) and a device port of a vehicle-mounted device. The slave node (7) transmits output from a sensor to the master node (2) as a detection signal. The master node (2) executes a cognition step based on the detection signal, a determination step for determining the action of a vehicle, and an operation step for generating a command code. The slave node (7) outputs an output signal based on the command code from a port based on the command code.

Description

[Technical Field]

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

[0002] 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). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-212725 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in recent years, with the evolution of application technology, functional evolution and functional changes, particularly with regard to vehicle behavior, have been accelerating.

[0005] In conventional vehicle development, in response to functional evolution and changes in a vehicle, each in-vehicle device that realizes each function is individually built, and then installed in the vehicle after completion. For example, when adding an additional function related to door opening and closing operations, the in-vehicle device unit related to that new function (e.g., sensors, actuators, and the ECU that controls them) was built individually, and then installed in the vehicle or replaced with an existing in-vehicle device. By dividing functions as in the conventional configuration, it is easy to adopt only the evolved functions as add-ons to the vehicle, and the advantage is that development can be easily outsourced for each function. When vehicle functional evolution is gradual, this conventional configuration is very efficient.

[0006] However, as the speed at which vehicle behavior and end-of-vehicle functionality evolve increases, the amount of development required to accommodate them inevitably increases. In other words, the traditional development style faces the challenge of being unable to respond flexibly and quickly to the rapid evolution and changes in vehicle functionality.

[0007] For example, even if the vehicle's behavior evolves only slightly, it is necessary to renew all of the sensors, actuators, and ECUs. Furthermore, if the functions of the sensors and actuators evolve or change, everything, including the ECU, must also be renewed. Furthermore, if the actuator supplier is changed, everything, including the control software inside the ECU, must also be renewed.

[0008] The technology disclosed herein has been made in view of the above points, and aims to provide a vehicle control system that can flexibly and quickly respond to functional evolution and changes in vehicles. [Means for solving the problem]

[0009] 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 by a network line, and each of the plurality of slave nodes is provided with a plurality of ports to which one or more in-vehicle devices are connected, and each of the in-vehicle devices includes at least one of a sensor and an operation target, and the master node is provided with a memory in which connection data indicating a connection relationship between each of the ports of the slave node and a device port of the in-vehicle device is stored, and one or more of the slave nodes receive outputs of one or more of the sensors via the port and transmit them to the master node as a detection signal, and the master node stores the connection data in the memory. The system is configured to execute a recognition process that recognizes information acquired by one or more of the sensors based on the stored connection data and changes over time in the detection signal, a judgment process that determines vehicle behavior based on the information recognized in the recognition process, and an operation process that identifies one or more of the ports to which one or more of the operation targets in the vehicle behavior determined in the judgment process are connected based on the connection data, and transmits an instruction code that commands output from the identified one or more ports to one or more slave nodes in which the ports are provided, and the one or more slave nodes that receive the instruction code output an output signal based on the instruction code from a port based on the instruction code.

[0010] In this aspect, the master node is configured to aggregate the recognition process for recognizing information acquired by the sensor, the judgment process for determining the vehicle's behavior, and the operation process for identifying an operation target based on the determined behavior and transmitting a command code. In other words, each slave node does not execute the above recognition process, judgment process, and operation process, but transmits the sensor output as a detection signal to the master node via a network line, and / or outputs an output signal based on the command code from a port based on the command code when operating the operation target.

[0011] This allows functional changes to vehicle applications to be made without changing the configuration of the slave nodes, i.e., without affecting the slave nodes. In other words, the master node can absorb functional evolution of the application. This allows for flexible and rapid response to functional evolution and changes in vehicle applications.

[0012] Furthermore, because the functions assigned to the slave nodes are very simple and independent of the vehicle's functions, a common, highly versatile slave node can be used regardless of the sensors or operation targets connected to the slave node. This makes it possible to significantly reduce development man-hours and cut costs by standardizing parts, even when the functions of vehicle applications evolve or change, or when the types and numbers of sensors and operation targets installed in the vehicle differ depending on the vehicle model or grade.

[0013] In the above aspect, the slave node that receives the output of the sensor may execute event processing that is triggered by a change in the output of the sensor and transmits the detection signal to the master node.

[0014] In this way, by adopting the event trigger method, the operation can be quickly and accurately reflected in response to the contents detected by the sensor.

[0015] In the above aspect, in the event processing, the slave node may transmit the detection signals for both the port where the sensor output has changed and the port where the sensor output has not changed together to the master node.

[0016] In the above aspect, the slave node that receives the output of the sensor and the slave node that receives the command code may be connected to the master node via different communication lines, or the slave node that receives the output of the sensor and the slave node that receives the command code may be the same slave node. [Effects of the Invention]

[0017] As described above, the technology disclosed herein allows the master node to absorb functional evolution of applications, making it possible to respond flexibly and quickly to functional evolution and changes in vehicle applications. [Brief explanation of the drawings]

[0018] [Figure 1] Block diagram showing an example of the configuration of a vehicle control system [Figure 2] Conceptual diagram showing an example of functional division between master node and slave node [Figure 3] Block diagram showing an example of a masternode configuration [Figure 4] Block diagram showing an example of a slave node configuration [Figure 5] A diagram showing an example of a slave configuration area [Figure 6] Figure showing another example of the slave configuration area [Figure 7] Circuit block diagram showing an example of the configuration of a driver unit [Figure 8] A diagram showing an example of the master configuration area [Figure 9] 1 is a flowchart showing an example of an operation of a vehicle control system. [Figure 10] FIG. 10 is a diagram showing an example of configuration data transmitted and received in the operation of FIG. 9; DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, exemplary embodiments will be described in detail with reference to the drawings. In the drawings, identical or corresponding parts will be designated by the same reference numerals, and repeated explanations may be omitted. In the following embodiments, the description will focus on configurations that are highly relevant to the contents of the present disclosure.

[0020] It should be noted that the following embodiments are merely illustrative, and there is no intention to limit the contents of the present disclosure by the presence or absence of descriptions or the exemplified numerical values, etc.

[0021] Additionally, regardless of whether the terms "system," "unit," "module," or "node" are used in this disclosure, some or all of a system / unit / module / node may be implemented with dedicated circuitry such as an application specific integrated circuit (ASIC) or a programmable logic array (PLA). Similarly, a system / unit / module / node may be implemented with processor circuitry that executes computer-readable instructions (e.g., a program) to perform predetermined processing steps to perform specific functions.

[0022] <Vehicle control system> FIG. 1 shows an example of the configuration of a vehicle control system according to an embodiment.

[0023] 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.

[0024] In the example of Figure 1, the multiple slave units are exemplified by 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) having a common configuration. For ease of explanation, the left and right side mirror units 5, door latch units 34, and seat heater units 33 will be described using the same reference numerals.

[0025] Specifically, the master node 2 and a plurality of slave units (in this example, the combination switch unit 4, steering switch unit 6, cluster switch unit 31, right side mirror unit 5, right seat heater unit 33, and right door latch unit 34) are bus-connected via a communication network B1. Also, the master node 2 and a plurality of other slave units (in this example, the overhead console unit 32, left side mirror unit 5, left seat heater unit 33, and left door latch unit 34) are bus-connected via a communication network B2.

[0026] The communication networks B1 and B2 are, for example, communication lines conforming to CXPI (Clock Extension Peripheral Interface). Note that the communication method is not limited to CXPI, and other communication methods (whether wired or wireless) may be used. Furthermore, the number of communication networks used in the communication network is not particularly limited. Furthermore, a communication relay HUB (not shown) or ECU (not shown) may be provided midway through the communication network B.

[0027] -Functional allocation between master node and slave node- This disclosure is characterized by the distribution of functions that aggregates and integrates the control of on-board devices related to the behavior of the vehicle CA in the master node 2, and by the aggregation and integration being carried out in a more in-depth manner.

[0028] 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.

[0029] 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").

[0030] [Cognitive process] In the recognition process Iz, information acquired by the sensor is recognized based on the output signal of the sensor mounted on the on-vehicle device. In this disclosure, the term "sensor" is used to broadly encompass devices that output mechanical-electrical conversion signals, including 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 inside and outside the vehicle, and radar that recognizes targets outside the vehicle. The sensors acquire vehicle behavior information, occupant operation information, information on the current flowing through and voltage applied to actuators, vehicle fault status information, occupant status information, and / or external environment information (hereinafter collectively referred to as "detection information").

[0031] 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. In this example, an example in which the in-vehicle device is implemented in the slave node 7 will be described, but the in-vehicle device may also be provided outside the slave node 7.

[0032] 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).

[0033] 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.

[0034] In the next step Iz3, the slave node 7 converts the sensor output into a signal and data, and transmits it to the master node 2 as a detection signal. The signal conversion process here means, for example, separating the information output from the sensor into meaningful information and meaningless information and extracting only the meaningful information. For example, a chatter filter is an example of the signal conversion process. The data conversion process is, for example, processing discretized information into information suitable for continuous processing. More specifically, when performing continuous processing such as PID control in subsequent information conversion processing or application processing, the discrete data is converted into a continuous signal by performing moving average processing. The signal conversion and data conversion only obtain information (such as physical quantities) such as the voltage of a rain sensor.

[0035] In other words, in steps Iz2 and Iz3, the slave node 7 converts the input from the sensor into a predetermined signal format and transmits it to the master node 2 as a detection signal, without recognizing or determining the specific content of the input information.

[0036] 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 informationization process obtains recognition information, for example, that the light intensity transmitted through the windshield has fallen below a predetermined value, making it dark outside the vehicle, and that it has started to rain. That is, in the informationization process, the voltage value of the rain sensor is transmitted to the master node 2 as detection data, and is converted into meaningful information such as reflectance or the amount of raindrops. In the following explanation, the information recognized in the recognition process will be referred to as "recognition information."

[0037] [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.

[0038] 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."

[0039] 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."

[0040] 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."

[0041] 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, a wiper unit (not shown), a headlight unit (not shown), and a taillight unit (not shown) are selected for the actions "turn on the wipers" and "turn on the vehicle's automatic light function."

[0042] [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.

[0043] 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 wiper and mirror drive motors, and power-related devices used for the engine, brakes, etc.

[0044] In the example of "weather change" mentioned above, for example, the operation of the wiper unit may determine whether to turn on the windshield wipers and the operation speed and interval of the wipers, and the operation of the headlight unit and taillight unit may determine whether to turn on the headlights and taillights and their illuminance.

[0045] In the next step Oz2, the master node 2 executes the following process: (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) transmits an operation instruction signal including the 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 instruction code that commands the output content of the operation port P to which the windshield wipers are connected to a wiper unit (not shown), transmits an instruction code indicating the output content of the operation port P to which the headlights are connected to a headlight unit (not shown), and transmits an instruction code indicating the output content of the operation port P to which the taillights are connected to a taillight unit (not shown).

[0046] 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 command code.

[0047] Specifically, each slave node 7 generates a signal to be output from the operation port P based on the instruction code after converting the protocol of the instruction code and / or referring to a specified register (step Oz3). Then, it outputs an operation signal from the operation port P specified by the instruction code to the operation device (step Oz4). As a result, (1) the wiper unit drives the wipers, (2) the headlight unit turns on the headlights, and (3) the taillight unit turns on the taillights.

[0048] 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.

[0049] -Slave unit- 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") among the slave units shown in FIG.

[0050] As shown in Fig. 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. The slave node 7 is realized, for example, by an IC (Integrated Circuit).

[0051] In this example, in the combination switch unit 4, a wiper switch 41 that accepts wiper operation is connected to ports P1 to P4, a light switch 42 that accepts light operation is connected to ports P5 to P9, and a turn switch 43 that accepts turn lamp operation is connected to ports P10 and P11. P12 is a reserve port P. The wiper switch 41, light switch 42, and turn switch 43 are examples of in-vehicle devices that include sensors.

[0052] Similarly, in the right side mirror unit 5, an LED 51 for a turn lamp (hereinafter referred to as "turn LED 51") is connected to ports P1 and P2, an LED 52 for an indicator is connected to ports P3 to P6, and a motor 53 for folding the mirror is connected to ports P7 to P12. Here, the turn LED 51, the LED 52, and the motor 53 are examples of in-vehicle devices including a sensor and an operation target. In other words, the turn LED 51, the LED 52, and the motor 53 are examples of slave nodes having a function of receiving sensor output and outputting a detection signal to the master node, and a function of outputting an operation signal based on a command code received from the master node from port P based on the command code.

[0053] [Slave node] Each slave node 7 includes a communication module 71, a register 72, a selector 73, and a group of drivers 74.

[0054] [Communication module] The communication module 71 is connected to a communication module 21 (described later) of the master node 2 via a communication network B, and is configured to enable two-way communication in accordance with CXPI with the communication module 21. The communication module 71 includes, for example, an input / output circuit connected to the communication network B, and an encoder and a decoder connected to the input / output circuit. Note that a conventionally known configuration can be applied to the specific circuit configuration of the communication module 71, and therefore a detailed description thereof will be omitted here.

[0055] [Drivers] The driver group 74 includes a plurality of driver units 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 units 740.

[0056] The driver unit 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 unit 740. Fig. 7 shows an example of the configuration of the driver unit 740.

[0057] 7 includes an output circuit 743 connected to a port P, and a driver circuit 741 that drives the output circuit 743 based on output setting data in an output register 742. The output setting data in the output register 742 can be rewritten by a setting signal input from the OUT terminal.

[0058] The driver unit 740 includes an input circuit 745 that receives an 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.

[0059] The driver unit 740 can change the settings of each component based on a configuration signal that is based on an instruction code. For example, the filter constant of the digital filter of the receiver circuit 746 can be changed based on the configuration signal.

[0060] 〔selector〕 The selector 73 has the function of selecting which of the terminals (OUT terminal, AI terminal, DI terminal) of each driver unit 740 to enable based on the attribute data of each port P set in the slave configuration area 77 described later.

[0061] 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 the input circuit 745 and AD converter 747, output from the AI ​​terminal, and written into the detection signal area of ​​the register 72 via the selector 73. In Figures 5 and 6 described below, the column labeled "detection signal" corresponds to the detection signal area. The detection signal area may or may not be included in the slave configuration area 77.

[0062] 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 into the detection signal area of ​​the register 72 via the selector 73.

[0063] When the OUT terminal is enabled, output setting data based on the instruction code is reflected in the output register 742 of the driver circuit 741. The driver circuit 741 drives the output circuit 743 to output an operation signal (either a digital signal, an analog signal, or a PWM signal) based on the output setting data of the output register 742 from the port P.

[0064] Here, the output setting data is generated, for example, based on a command code received from the master node 2, using a logic circuit (not shown) in the selector 73 or the value of the register 72. In other words, an output setting based on the command code is made in the output register 742 of the driver circuit 741 connected to the port P based on the command code. Then, based on the output setting data, the output circuit 743 outputs an operation signal based on the command code via the port P. The command code is, for example, a code including identification data of the port P to which the operation target is connected and the output setting of each port P linked to the identification data.

[0065] 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.

[0066] [Register] The register 72 is provided with a slave configuration area 77 in which configuration data set for each slave node 7 (hereinafter referred to as "slave configuration data") is stored.

[0067] The slave configuration data includes, for example, (1) attribute data of each port P, (2) filter constants of ports P whose attribute is input (hereinafter simply referred to as "input port P"), (3) WakeUp setting data based on the input signal to the input port P, and (4) output setting data of ports P whose attribute is output (hereinafter simply referred to as "output port P").

[0068] In this disclosure, the initial setting information of the slave configuration data is referred to as “initial configuration data.” The initial configuration data may be transmitted from the master node 2 at a predetermined timing (for example, when the power is turned on), or may be set in each slave node 7 in advance.

[0069] In addition to the slave configuration data, the slave configuration area 77 stores detection signals based on inputs from each input port P. The detection signals may be stored in a storage area other than the slave configuration area 77.

[0070] Fig. 5 shows an example of the slave configuration area 77 of the slave node 7 connected to the combination switch unit 4. Fig. 6 shows an example of the slave configuration area 77 of the slave node 7 of the right side mirror unit 5. In the following explanation, for convenience, the slave configuration area 77 in Fig. 5 may be referred to as a combination configuration area 771, and the slave configuration area 77 in Fig. 6 may be referred to as a side configuration area 772.

[0071] 5 and 6, the attribute data of each port P is listed in the I / O attribute column. DI indicates that the port P is a digital input. DO indicates that the port P is a digital output, AI indicates that the port P is an analog input, AO indicates that the port P is an analog output (not shown), and PWM indicates that the port P is a PWM output.

[0072] For example, in the initial configuration data (t=T11) of the combination configuration area 771 shown in Fig. 5, the ports P1 to P11 are digital inputs. Also, the filter constants of the ports P1 to P11 are Qs1 to Qs11, respectively.

[0073] Then, in the combination switch unit 4, the value of the digital filter of the driver unit 740 connected to the port P1 is set to Qs1 by the configuration signal. The same applies to the ports P2 to P11.

[0074] Furthermore, the selector 73 of the combination switch unit 4 enables the DI terminals of the driver units 740 connected to the respective ports P1 to P11. As a result, as described above, the digital input signals from the ports P1 to P11 are written into the detection signal areas of the register 72 via the selector 73.

[0075] -Masternode- 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.

[0076] 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.

[0077] [Communication module] The communication module 21 has the function of receiving a signal from each slave node 7 via the communication network B and transmitting a signal to each slave node 7 .

[0078] [Memory] The memory 25 includes a master configuration area 27 in which configuration data corresponding to each slave node 7 (hereinafter referred to as "master configuration data") is stored.

[0079] The master configuration data includes connection data and initial configuration data that is set in each slave node 7. In other words, the master node 2 holds the initial configuration data that is set in each slave node 7.

[0080] The connection data is data that indicates the connection relationship between each port P of the slave node 7 and the device port of the in-vehicle device. In other words, the connection data is data that indicates what function the device port of the in-vehicle device is connected to each port P of the slave node 7.

[0081] Figure 8 shows examples of the master configuration data, including the master configuration data of the combination switch unit 4 (upper part of Figure 8: also referred to as "first master configuration data") and the master configuration data of the side mirror unit 5 (lower part of Figure 8: also referred to as "second master configuration data").

[0082] The first master configuration data includes (1) connection data indicating the connection relationships between each port P1 to P12 of the combination switch unit 4 and each device port of the wiper switch 41, the light switch 42, and the turn switch 43, and (2) initial configuration data of the combination switch unit 4. In Fig. 8, the initial configuration data of the first master configuration data is marked with SC1, and the initial configuration data of the second master configuration data is marked with SC2.

[0083] More specifically, port P1 of the combination switch unit 4 is connected to a device port that outputs an ON / OFF operation signal for the wiper switch 41, and the connection relationship is saved as connection data in the first master configuration data.

[0084] Similarly, ports P2 to P4 of the combination switch unit 4 are connected to device ports that output a speed setting signal for the wiper switch 41, and port P5 is connected to a device port that outputs a light OFF setting signal for the light switch 42, so the respective connection relationships are saved as connection data in the first master configuration data. The same applies to the other ports P5 to P12 and the ports P1 to 12 of the right side mirror unit 5.

[0085] 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 store, for example, a program for operating a CPU mounted on the IC, or information such as the processing results of the CPU.

[0086] [Cognitive Module] 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 sensor as recognition information based on the connection data stored in the memory and the change over time of the detection signal received from the slave node.

[0087] 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.

[0088] [Judgment module] 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.

[0089] 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.

[0090] [Operation module] 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.

[0091] 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.

[0092] -Vehicle control system operation- FIG. 9 is a flowchart showing an example of the operation of the vehicle control system.

[0093] [Step S1] When the vehicle control system 1 is powered on, an initial configuration process is executed in step S1.

[0094] In the initial configuration process, initial configuration data is transmitted from the master node 2 to each slave node 7. Each slave node 7 stores the initial configuration data received from the master node 2 in its slave configuration area 77. After storing the initial configuration data in its slave configuration area 77, each slave node 7 receives a request from the master node 2 and then replies with the detection data in the initial state stored in the detection signal area.

[0095] In the example of FIG. 9, the master node 2 transmits initial configuration data SC1 (see FIG. 8) to the combination switch unit 4. The combination switch unit 4 stores the initial configuration data SC1 received from the master node 2 in the combination configuration area 771 (see the upper part of FIG. 5). After storing the initial configuration data SC1 in the combination configuration area 771, the combination switch unit 4 receives a request from the master node 2 and returns the detection data in the initial state stored in the detection signal area to the master node 2. The master node 2 stores the detection data received from the combination switch unit 4 in memory 25 (see the "S1 (receive)" column in the upper part of FIG. 10).

[0096] Similarly, the master node 2 transmits the initial configuration data SC2 (see FIG. 8) to the right side mirror unit 5. The slave node 7 of the right side mirror unit 5 stores the initial configuration data SC2 received from the master node 2 in the side configuration area 772 (see the upper part of FIG. 6). After storing the initial configuration data SC2 in the side configuration area 772, the right side mirror unit 5 receives a request from the master node 2 and returns the detection data in the initial state stored in the detection signal area to the master node 2 as a detection signal. The master node 2 stores the detection data received from the right side mirror unit 5 in memory 25 (see the "S1 (receive)" column in the lower part of FIG. 10).

[0097] If the initial configuration data has been stored in each slave node 7 in advance, nothing is done in step S1 and the process proceeds to the next step.

[0098] [Step S2] In this example, we will explain the processing that occurs when the driver operates the turn switch 43 provided on the combination switch unit 4 to the right turn side at time t=T12 (T12>T11) after the initial configuration processing in step S1.

[0099] 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 port P10 of the driver group 74. For example, a digital signal that changes from "0" to "1" is input to port P10. This change in digital signal is written to the detection signal area of ​​the combination configuration area 771 via the driver group 74 and the selector 73. The digital output port DOR is an example of a device port.

[0100] [Step S3] When the slave node 7 detects a change in the detection signal area, it transmits an event notification to the master node 2. The event notification notifies the master node 2 of the change in the detection signal area.

[0101] In this example, the value of port P10 in the detection signal region changes from "0" to "1" due to the operation of the turn switch 43 described above, and the combination switch unit 4 notifies the master node 2 of the change in the value of the detection signal region. Specifically, for example, the combination switch unit 4 transmits detection data D4 of the entire detection signal region, in which the change in port P10 is reflected, to the master node 2 as a detection signal. In this way, the detection data D4 of the entire detection signal region may be transmitted to the master node 2, or only the detection data of port P, in which a value change has occurred, may be transmitted to the master node 2.

[0102] [Steps S4 and S5] 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.

[0103] 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.

[0104] 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.

[0105] Next, as an operation step, the master node 2 determines that the slave node 7 connected to the right turn lamp is to be operated, and determines the operation content to be to flash the right turn lamp. Then, the master node 2 generates a command code to command the right turn lamp to flash, and transmits a command signal including the command code C5 to the slave node 7 (including the right side mirror unit 5) connected to the right turn lamp (step S5). Here, the command code C5 is, for example, a code indicating that port P2 is to be turned on (flashed).

[0106] [Steps S6 and S7] The slave node 7 of the right side mirror unit 5 receives the command signal (step S6) and outputs an operation signal based on the command code C5 from a port based on the command code C5. 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 command code C5 (step S7).

[0107] [Steps S8 and S9] In step S8, the master node 2 requests an acknowledgement from the slave node 7 that transmitted the command signal to confirm whether the output setting based on the command code C5 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 command code.

[0108] In this example, an acknowledgement is transmitted and received between the master node 2 and the slave node 7 of the right side mirror unit 5.

[0109] As described above, in this embodiment, the master node 2 is configured to include a memory 25 that stores connection data indicating the connection relationship between each port of the slave node 7 and the device port of the on-board device, and functions are distributed to aggregate and integrate the control of the on-board devices related to the behavior of the vehicle CA in the master node 2. Specifically, the configuration is as follows: (1) the slave node 7 receives output from the sensor and transmits it as a detection signal to the master node 2; (2) the master node 2 executes a recognition process based on the detection signal, a judgment process that determines the behavior of the vehicle, and an operation process that generates a command code; and (3) the slave node 7 outputs an output signal based on the command code from a port based on the command code.

[0110] This allows functional changes to be made to the vehicle CA's applications without changing the configuration of the slave node 7, i.e., without affecting the slave node 7. In other words, functional evolution of the application can be absorbed by the master node 2. This allows for flexible and rapid response to functional evolution and changes in the vehicle CA's applications.

[0111] Furthermore, because the functions assigned to the slave nodes 7 are very simple, it is possible to use a common, highly versatile slave node 7 regardless of the sensors or operation targets connected to the slave nodes 7. This makes it possible to significantly reduce development man-hours and costs even when the functions of the vehicle CA application evolve or change, or when the sensors or operation targets are made different for each vehicle model. [Industrial Applicability]

[0112] The vehicle control system disclosed herein is useful because it can flexibly and quickly respond to functional evolution and changes in the vehicle. [Explanation of symbols]

[0113] 1. Vehicle control system 2 Masternodes 25 memory 7 Slave Nodes C5 instruction code P port

Claims

1. A vehicle control system in which a master node and a plurality of slave nodes are connected via a communication network, Each of the plurality of slave nodes is provided with a plurality of ports to which one or a plurality of in-vehicle devices are connected, Each of the in-vehicle devices includes at least one of a sensor and an operation target, the master node includes a memory that stores connection data indicating a connection relationship between each port of the slave node and a device port of the in-vehicle device; One or more of the slave nodes receive outputs of one or more of the sensors via the port and transmit the outputs as detection signals to the master node; The master node: a recognition process for recognizing information acquired by one or more of the sensors based on the connection data stored in the memory and changes over time in the detection signals; a determination process for determining the behavior of the vehicle based on the information recognized in the recognition process; and executing an operation process of identifying one or more ports to which one or more operation targets in the vehicle behavior determined in the determination process are connected based on the connection data, generating an instruction code for instructing output contents of the identified one or more ports, and transmitting the instruction code to one or more slave nodes provided with the ports; A vehicle control system in which one or more of the slave nodes that receive the command code outputs an operation signal based on the command code from a port based on the command code.

2. 2. The vehicle control system according to claim 1, wherein the slave node receiving the output of the sensor executes event processing that is triggered by a change in the output of the sensor and transmits the detection signal to the master node.

3. 3. The vehicle control system according to claim 2, wherein in the event processing, the slave node transmits the detection signals for both the port where the sensor output has changed and the port where the sensor output has not changed together to the master node.

4. 4. The vehicle control system according to claim 1, wherein the slave node that receives the output of the sensor and the slave node that receives the instruction code are connected to the master node via different communication lines.

5. 4. The vehicle control system according to claim 1, wherein the slave node that receives the output of the sensor and the slave node that receives the instruction code are the same slave node.

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