Control devices for in-vehicle devices

Abstract

To precisely adjust the position of a motor even when the control interval between a master node and a slave node is long.SOLUTION: A specific slave node for operating a motor has a timer function, and a master node sequentially transmits an operation command signal for moving the motor to the specific slave node. Furthermore, when an estimated position which is the position of the motor immediately after the control interval between the master node and the specific slave node is estimated as a position that has passed a predetermined position set in front of a target position, a first specific operation signal in which a time period for operating the motor is defined is transmitted to the specific slave node by the master node so that the motor stops after moving from the estimated position to the target position.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The technology disclosed herein belongs to the technical field of control devices for in-vehicle devices. [Background technology]

[0002] In recent years, the electrification of in-vehicle devices has become remarkable, and these devices are now controlled electronically.

[0003] For example, Patent Document 1 shows an example of an in-vehicle network configuration 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 Figure 1 of Patent Document 1).

[0004] Furthermore, Patent Document 2 discloses an electronic control device comprising a control device having a microcontroller and a plurality of control devices without a microcontroller, which are connected by the CXPI (Clock Extension Peripheral Interface) communication standard. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2017-212725 [Patent Document 2] Japanese Patent Publication No. 2016-155529 [Overview of the project] [Problems that the invention aims to solve]

[0006] Incidentally, in recent years, the electronification of in-vehicle devices has been remarkable, and not only power sources such as engines, but also side mirrors are now electronically controlled to operate motors and adjust their position. With this electronification of in-vehicle devices, a problem has arisen in that the number of wire harnesses for communication becomes enormous. To address this, for example, as described in Patent Document 2, a communication method called CXPI (Clock Extension Peripheral Interface) is being considered to reduce the number of wire harnesses by introducing a communication method that consists of a control device (master node) with a dedicated microcontroller and a general-purpose control circuit (slave node) that can communicate with each other.

[0007] In the CXPI method described above, if events occur simultaneously on multiple slave nodes, non-destructive arbitration is performed, and the slave node that wins the arbitration takes precedence. Therefore, if there are many slave nodes, the control interval between the master node and the slave nodes may become long. If the control interval becomes long, the accuracy of the position control of motors such as side mirrors and power seats deteriorates, making it impossible to position the side mirrors and seats to the occupant's desired position, causing inconvenience to the occupant.

[0008] The technology disclosed herein has been developed in view of these points, and its purpose is to enable the motor to be precisely positioned even when the control interval between the master node and the slave node is long. [Means for solving the problem]

[0009] To solve the aforementioned problems, the technology disclosed herein relates to a vehicle control system and comprises a master node and a plurality of slave nodes that operate an operating device based on an operation command signal from the master node, wherein the plurality of slave nodes include a specific slave node that operates a motor as the operating device, and the specific slave node This function operates the motor for an operating time specified by the aforementioned operation command signal, and then, after the operating time has elapsed, autonomously stops the application of voltage to the motor.The system has a timer function, and when operating the motor, it sequentially transmits a detection signal to the master node to detect the current position of the motor, the master node sequentially transmits an operation command signal to the specific slave node to move the motor, and the master node further determines the position of the motor immediately after the control interval from when the detection signal is transmitted from the specific slave node until the specific slave node receives the next operation command signal from the master node. This is based on the amount of movement of the motor per unit time and the time of the control interval. The estimated position is the target position. neighborhood When it is estimated that the motor has passed a predetermined position set, the motor moves from the estimated position toward the target position and then stops. To move from the estimated position to the target position, The motor is operated. The operation It is configured to transmit a first specific operation signal with a defined time to the specific slave node.

[0010] In this configuration, when the estimated position is near the target position after passing a predetermined position, a first specific operation signal is output, which defines the time for operating the motor, in addition to the normal operation command signal. Since the specific slave node has a timer function, if the time for operating the motor is defined, it can operate the motor for the defined time and then autonomously turn it off, even without an off signal (stop signal) from the master node. This allows the motor to be precisely positioned at the target position even when the control interval is long.

[0011] Furthermore, by using the timer function of a specific slave node to perform the final position adjustment, even with long control intervals, relatively fine position adjustments are possible, thus avoiding excessive time spent on motor position adjustments. This reduces the likelihood of causing discomfort to the occupants.

[0012] In the control device for the in-vehicle device, the estimated position may be the current position of the motor indicated by the detection signal transmitted immediately before from the specific slave node, plus the amount of movement of the motor during the control interval.

[0013] With this configuration, the motor position, which serves as the reference for calculating the estimated position, is updated sequentially, allowing for highly accurate estimation of the position. This enables more precise motor position adjustment even when the control interval is long.

[0014] In one embodiment of the control device for the in-vehicle device, the master node is configured to transmit an off signal to the specific slave node to stop the motor without transmitting the first specific operation signal, even if the estimated position is estimated to be a position that has passed the predetermined position, when the estimated position is within a predetermined range, and the predetermined range is The maximum value is greater than the target position and the minimum value is less than the target position, and the predetermined range is also the The absolute value of the difference between the maximum value and the target position and The aforementioned The absolute value of the difference between the minimum value and the target position is set to a range smaller than the absolute value of the difference between the predetermined position and the target position.

[0015] In other words, when the estimated position is only slightly off from the target position by an error margin, the motor can be stopped almost at the target position even if it is stopped immediately after the control interval has elapsed, without performing fine adjustments using the first specific operation signal. This allows for smoother alignment of the in-vehicle device via the motor, reducing the likelihood of causing discomfort to the occupants.

[0016] In the above embodiment, the master node is configured to transmit a second specific operation signal to the specific slave node such that, when the position of the motor after it has been moved by the first specific operation signal, or the position of the motor after it has been stopped by the off signal, is outside the predetermined range, a voltage is applied to the motor for the duration of the time it takes to move from that position to the target position.

[0017] That is, if the control interval varies, the actual position of the motor immediately after the control interval may deviate from the estimated position. If the actual position of the motor immediately after the control interval deviates from the estimated position, the position of the motor after fine adjustment by the first specific operation signal or the position of the motor after being stopped by the off signal will relatively largely deviate from the target position. For this reason, when the deviation from the target position is still relatively large even after fine adjustment by the first specific operation signal, fine adjustment is performed again by the second specific operation signal. Accordingly, even when the control interval is long, the position of the motor can be adjusted with higher accuracy to the target position.

[0018] Another aspect of the technology disclosed herein is directed to a vehicle control system, comprising a master node and a plurality of slave nodes that operate an operation device based on an operation command signal from the master node, the plurality of slave nodes include a specific slave node that operates a motor as the operation device, and the specific slave node: This function operates the motor for an operating time specified by the aforementioned operation command signal, and then, after the operating time has elapsed, autonomously stops the application of voltage to the motor. has a timer function, and when operating the motor, sequentially transmits detection signals obtained by detecting the current position of the motor to the master node; the master node sequentially transmits operation command signals for moving the motor to the specific slave node; and further, the master node is configured such that when the position of the motor indicated by the detection signal sent from the specific slave node is the target position In the vicinity of that is a position past a set predetermined position, the motor moves toward the target position from the position immediately after the control interval from when the detection signal is transmitted from the specific slave node to when the specific slave node receives a next operation command signal from the master node, and then stops, To move from the position immediately after the control interval to the target position, for operating the motor The operation is configured to transmit a specific operation signal with a defined time period to the specific slave node.

[0019] In this configuration, when the position detected by the specific slave node is a position near the target position that has passed a predetermined position, a specific operation signal defining the motor operation time is output separately from a normal operation command signal. Since the specific slave node has a timer function, as long as the motor operation time is defined, it can autonomously turn off the motor after operating the motor for the defined time even without an off signal from the master node. This allows the motor to be accurately positioned at the target position even when the control interval is long.

[0020] Further, in this configuration, since it is not necessary for the master node to sequentially estimate the motor position, the arithmetic processing load on the master node can be reduced. In addition, since the communication frequency between the master node for monitoring the motor position and the specific slave node can be decreased, the communication load can also be reduced.

[0021] Still another aspect of the technology disclosed herein is directed to a vehicle control system, comprising: a master node; and a plurality of slave nodes that operate an operation device based on an operation command signal from the master node, wherein the plurality of slave nodes include a specific slave node that operates the motor as the operation device based on an operation command signal from the master node when a switch for actuating the motor is pressed, and the specific slave node is configured to: This function operates the motor for an operating time specified by the aforementioned operation command signal, and then, after the operating time has elapsed, autonomously stops the application of voltage to the motor. have a timer function, when the switch is turned on to actuate the motor, the master node sequentially transmits an operation command signal for moving the motor to the specific slave node, and further, when the master node is notified that the switch has been turned off, the master node transmits an operation command signal for causing the specific slave node to stop the motor of while transmitting the signal, the motor is operated so that the motor stops after returning from the position where it stopped in response to the operation command signal toward the position where the switch was turned off, To move from the aforementioned stopped position to the position when the switch is turned off, to actuate the motor The operationIt is configured to transmit a specific operation signal with a defined time to the specified slave node.

[0022] In other words, electric mirrors and power seats have a function where the motor operates while the switch is on, and the motor's target position is set when the switch is turned off. If the control interval is long, the motor will continue to operate during the control interval even after the switch is turned off, which may cause the motor to deviate from the position desired by the vehicle occupant. In contrast, the above configuration uses a specific operation signal to return the motor to a position that minimizes the amount it has moved during the control interval, and then stops it. This allows the motor to be precisely positioned to the occupant's desired position, even when the control interval is long. [Effects of the Invention]

[0023] As explained above, the technology disclosed herein allows for precise motor positioning even when the control interval between the master node and the slave node is long. [Brief explanation of the drawing]

[0024] [Figure 1] Figure 1 is a block diagram showing an example configuration of a vehicle control system. [Figure 2] Figure 2 is a conceptual diagram showing an example of the functional distribution between a master node and a slave node. [Figure 3] Figure 3 is a block diagram showing an example of a master node configuration. [Figure 4] Figure 4 is a block diagram showing an example configuration of a slave node. [Figure 5] Figure 5 is a circuit block diagram showing an example configuration of the driver group. [Figure 6] Figure 6 is a flowchart showing an example of the operation of a vehicle control system. [Figure 7]Figure 7 shows the relationship between communication between the master node and the slave node and the motor position when the mirror drive motor is operated, and illustrates the case where the position adjustment control according to Embodiment 1 is not performed. [Figure 8] Figure 8 shows the relationship between communication between the master node and the slave node and the motor position when the mirror drive motor is operated, and illustrates an example of the case when the position adjustment control according to Embodiment 1 is performed. [Figure 9] Figure 9 is a schematic diagram showing an example of a first specific operation signal transmitted from the master node to the slave node. [Figure 10] Figure 10 shows the relationship between communication between the master node and the slave node and the motor position when the mirror drive motor is operated, and illustrates the case where the estimated position is within the set range. [Figure 11] Figure 11 shows the relationship between communication between the master node and the slave node and the motor position when the mirror drive motor is operated, and illustrates the case where the motor position is readjusted by the second specific operation signal. [Figure 12] Figure 12 is a flowchart showing the processing operation of the master node when performing position adjustment control. [Figure 13] Figure 13 shows the relationship between communication between the master node and the slave node and the motor position when the mirror drive motor is operated, and illustrates an example of the case when position adjustment control according to Embodiment 2 is performed. [Figure 14] Figure 14 is a flowchart showing the processing operation of the master node when performing position adjustment control according to Embodiment 2. [Figure 15] Figure 15 shows the relationship between communication between the master node and the slave node and the motor position when the mirror drive motor is operated, and illustrates an example of the case when the position adjustment control according to Embodiment 3 is performed. [Figure 16] Figure 16 is a flowchart showing the processing operation of the master node when performing position adjustment control according to Embodiment 3. [Modes for carrying out the invention]

[0025] The following describes exemplary embodiments in detail with reference to the drawings.

[0026] <Embodiment 1> In this disclosure, the configurations referred to by the terms “system,” “unit,” “module,” and “node” may be partially or entirely implemented by dedicated circuits such as ASICs (Application Specific Integrated Circuits) or PLAs (Programmable Logic Arrays). Furthermore, some or all of these may be implemented by processor circuits that execute computer-readable instructions (e.g., programs) and perform specific functions by executing predetermined processing steps.

[0027] Furthermore, in the following explanation, "in-vehicle device" refers to a device mounted on a vehicle CA that has at least one of the following: a sensor and / or a device to be operated (such as a motor or LED). When referring specifically to an in-vehicle device that is to be operated, it may simply be called an operating device.

[0028] (Vehicle control system configuration) Figure 1 shows an example of the configuration of a vehicle control system according to an embodiment.

[0029] As shown in Figure 1, the vehicle control system 1 is mounted on the vehicle CA and consists of a master node 2 and multiple slave units connected via an in-vehicle communication network.

[0030] In the example shown in Figure 1, multiple slave units are exemplified, including 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 power seat units 33, and left and right door latch units 34. Each slave unit is equipped with a slave node 7 (see Figure 4) which has a common configuration. For convenience, the side mirror unit 5, door latch unit 34, and power seat unit 33 are each given the same reference numerals for the left and right sides.

[0031] Master node 2 and each of the slave nodes 7 are connected via communication line B, which conforms to CXPI (Clock Extension Peripheral Interface).

[0032] Specifically, the master node 2 and several 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 power seat unit 33, and the right door latch unit 34) are bus-connected via communication line B1. Furthermore, the master node 2 and several other slave units (in this example, the overhead console unit 32, the left side mirror unit 5, the left power seat unit 33, and the left door latch unit 34) are bus-connected via communication line B2. As will be described in more detail later, this embodiment includes multiple (two in Figure 1) communication lines to accommodate a fail-safe function. Note that communication lines B1 and B2 may be communicatively connected. Also, the number of communication lines may be three or more. The communication method is not limited to CXPI; other communication methods (wired or wireless) may be used.

[0033] Figure 2 is a conceptual diagram showing an example of the functional distribution between master node 2 and slave node 7 for the actions of vehicle CA. In Figure 2, the operation process of vehicle CA is divided into cognitive process Iz, judgment process Pz, and operation process Oz, and each process is further subdivided. Functions 20 distributed to master node 2 are enclosed by dashed lines, and functions 30 distributed to slave node 7 are enclosed by solid lines.

[0034] The following explanation describes the processes performed in the cognitive process Iz, the decision-making process Pz, and the operation process Oz in master node 2 and slave node 7, using an example of a change in weather from sunny to rainy (hereinafter simply referred to as "weather change").

[0035] [Cognitive process] In recognition process Iz, information acquired by sensors is recognized based on the output signals of sensors mounted on the in-vehicle devices. In this disclosure, the term "sensor" is used as a broad concept that includes not only sensors that measure and detect various physical quantities such as temperature, voltage, and current, but also switches that accept various operations, cameras that capture images inside and outside the vehicle, radar that recognizes targets outside the vehicle, and mechanical-electrical conversion signals of actuators. The sensors acquire vehicle behavior information, occupant operation information, occupant status information, and / or external environment information (hereinafter collectively referred to as "detection information").

[0036] The cognitive process Iz includes processes Iz2 and Iz3, which are performed on slave node 7, and processes Iz4 and Iz5, which are performed on master node 2.

[0037] First, in process Iz1, some kind of detection information is detected by sensors mounted on the in-vehicle device. For example, if there is a "change in weather" as mentioned above, detection information (e.g., the adhesion of raindrops, a change in the amount of light received) is detected by a raindrop sensor and a light receiving sensor (not shown).

[0038] Slave node 7 receives the sensor output via port P, which will be described later (step Iz2). This output includes, for example, the sensor's detection signal, physical quantities such as current, voltage, and temperature detected by the sensor, and the actuator's mechanical-electrical conversion signal.

[0039] In the next step Iz3, the slave node 7 performs signal conversion processing on the sensor output and sends it to the master node 2 as a detection signal. This signal conversion processing is, for example, protocol conversion to a signal compliant with CXPI.

[0040] In other words, in processes Iz2 and Iz3, the slave node 7 does not recognize or judge the specific content of the input information, but converts the input from the sensor into a predetermined signal format and transmits it to the master node 2 as a detection signal.

[0041] Master node 2 receives a detection signal from slave node 7 (step Iz4), and based on the time-dependent change in the detection signal and the connection data described later, recognizes the specific content of the detection information input from the sensor to slave node 7 (step Iz5). In the aforementioned example of "weather change," the information processing provides recognition information such as, 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 process will be referred to as "recognition information."

[0042] [Judgment process] In the decision-making process Pz, the actions and responses of the vehicle CA are determined based on the cognitive information recognized in the cognitive process. Processes Pz1 to Pz4, which are components of the decision-making process Pz, are executed on master node 2.

[0043] Specifically, in process Pz1, master node 2 determines the objective of the vehicle CA's actions based on the cognitive information recognized in cognitive process Iz. In the aforementioned example of "weather changes," for example, the objective is determined to "act in a manner appropriate to the situation when the external environment becomes dark and it starts to rain."

[0044] 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 means are enumerated, and for example, an action list is generated that lists the action plans. For example, among the action plans corresponding to the above-mentioned "behavior when the external environment is dark and it is raining," action plans such as "activate the wipers," "turn on the vehicle CA's automatic light function," and "limit the vehicle CA's maximum speed" are included.

[0045] In the next step, Pz3, the master node 2 decides which actions to actually execute from among the actions listed in the action plan. For example, it selects actions to be actually performed from the action list. In the aforementioned example of "weather change," for example, the actions "activate the wipers" and "turn on the vehicle's automatic headlight function" are selected as actions to be executed.

[0046] In the next step Pz4, the master node 2 selects the means (hereinafter also referred to as "response means") to realize the action determined in step Pz3. In the example of "weather change," for example, for the actions of "activate the wipers" and "turn on the vehicle's automatic light function," a wiper unit (not shown), a headlight unit (not shown), and a taillight unit (not shown) are selected.

[0047] [Operating process] The operation process Oz includes processes Oz1 and Oz2 performed on master node 2, and processes Oz3 to Oz5 performed on slave node 7.

[0048] In process Oz1, the master node 2 determines the objects to be manipulated and the amount of manipulation required to realize the actions or responses determined in the decision process Pz. Here, the objects to be manipulated broadly include the objects to be manipulated in order to realize the actions or responses, and include, for example, lighting devices and actuators. Lighting devices include various LEDs and light bulbs used in headlights, indicators, turn signals, etc. Actuators include body system devices such as motors for wipers and mirror drives, and power system devices used in engines, brakes, etc.

[0049] In the aforementioned example of "weather changes," for instance, the operation of the wiper unit determines whether to turn on the windshield wipers and set their operating speed and interval. Similarly, the operation of the headlight and taillight units determines whether to turn on the headlights and taillights and set their brightness.

[0050] In the next step Oz2, the master node 2 performs the following processes: (1) identify the port P to which the target to be operated is connected (hereinafter referred to as "operation port P") based on the connection data, (2) generate an instruction code that commands the output content of operation port P, and (3) transmit it to the slave node where operation port P is provided. In the aforementioned "weather change" example, for example, the master node 2 sends an operation command signal to the wiper unit that commands the output content of operation port P to which the wipers are connected, an operation command signal indicating the output content of operation port P to which the headlights are connected to the headlight unit, and an operation command signal indicating the output content of operation port P to which the taillights are connected to the taillight unit.

[0051] 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 the operation port P based on the operation command signal.

[0052] Specifically, each slave node 7 generates a signal to be output from the operation port P based on the operation command signal, after protocol conversion of the operation command signal and / or referencing a specified register (step Oz3). Then, it outputs the operation signal to the operation device from the operation port P specified by the operation command signal (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.

[0053] Next, we will describe in detail the configurations of Master Node 2 and Slave Node 7. Figure 3 is a block diagram showing an example of the configuration of Master Node 2, and Figure 4 is a block diagram showing an example of the configuration of Slave Node 7.

[0054] The master node 2 illustrated in Figure 3 comprises a communication module 21, a cognitive module 22, a decision module 23, an operation module 24, and a memory 25.

[0055] Master node 2 is comprised of, for example, one or more electronic control units (ECUs). An electronic control unit may be comprised of a single integrated circuit (IC) or multiple ICs. Furthermore, the IC may contain a single core or die, or multiple cooperating cores or dies.

[0056] The communication module 21 has the function of receiving received signals from each slave node 7 via the communication line B and transmitting signals to each slave node 7.

[0057] Memory 25 stores configuration data corresponding to each slave node 7, target positions for side mirrors and power seats, etc. Memory 25 may be an internal memory built into the IC constituting the ECU, or it may be an external memory attached to the IC. Furthermore, the memory may store, for example, a program for operating the CPU mounted on the IC, or information such as the processing results from the CPU.

[0058] The cognitive module 22 performs cognitive processing steps Iz4 and Iz5 of the aforementioned cognitive process Iz. Specifically, the cognitive module 22 performs cognitive processing to recognize detection information acquired by the detection device based on connection data stored in memory and the time-dependent changes in detection signals received from the slave node.

[0059] The cognitive module 22 includes a decoding module 221 that decodes the detection signal received from the slave node 7, and an information processing module 222 that performs the information processing described in step Iz5 above.

[0060] The decision module 23 executes the decision processes of the aforementioned decision steps Pz (Pz1 to Pz4). Specifically, the decision module 23 executes a decision process to determine the vehicle CA's actions based on the cognitive information recognized in the cognitive processing performed by the cognitive module 22.

[0061] The decision module 23 comprises a purpose determination module 231 that executes the aforementioned process Pz1, an action planning module 232 that executes the aforementioned process Pz2, an action decision module 233 that executes the aforementioned process Pz3, and a response decision module 234 that executes the aforementioned process Pz4.

[0062] The operation module 24 executes processes Oz1 and Oz2 of the operation process Oz. Specifically, it identifies the operation device corresponding to the vehicle action determined in the decision process, generates an operation command signal to command the operation of the identified operation device, and performs operation processing to send it to the slave node to which the operation device is connected.

[0063] The operation module 24 includes an operation decision module 241 that executes the aforementioned process Oz1, and an instruction generation module 242 that executes the aforementioned process Oz2.

[0064] Figure 4 shows an example configuration of the slave node 7 illustrated in Figure 1, specifically the combination switch unit 4, the right side mirror unit 5 (hereinafter referred to as the right side mirror unit 5), and the right power seat unit 33 (hereinafter referred to as the right power seat unit 33).

[0065] As shown in Figure 4, the combination switch unit 4, the right side mirror unit 5, and the right power seat unit 33 are each provided with a common slave node 7. Each slave node 7 is provided with a port P for connecting in-vehicle devices.

[0066] In this example, the combination switch unit 4 has the following connected to ports P1 to P4: a wiper switch 41 for operating the wipers, a light switch 42 for operating the lights, and a turn switch 43 for operating the turn signals, respectively. Port P12 is for reserve. The wiper switch 41, light switch 42, and turn switch 43 are examples of in-vehicle devices that include only sensors.

[0067] Similarly, the right side mirror unit 5 has LEDs 51 for turn signals (hereinafter referred to as "turn LEDs 51") connected to ports P1 and P2, LEDs 52 for indicators connected to ports P3 to P6, and a motor 53 for mirror retraction connected to ports P7 to P12. Here, the turn LEDs 51, LEDs 52, and motor 53 are examples of operating devices among in-vehicle devices. In particular, the motor 53 has a position sensor that detects the rotational position of the motor, and is an in-vehicle device that has both a sensor and an operating device.

[0068] The right power seat unit 33 has a seat switch 331 connected to port P1, and seat drive motors 332 for adjusting the seat angle connected to ports P2 to P6. The seat drive motors 332 have a position sensor that detects the rotational position of the motor, and are in-vehicle devices that have both a sensor and an operating device. Although some ports P are omitted in Figure 4, the right power seat unit 33 also has 12 ports P.

[0069] Each slave node 7 is equipped with a communication module 71, a register 72, a selector 73, a driver group 74, and a timer 75.

[0070] The communication module 71 is connected to the communication module 21 of the master node 2, which will be described later, via communication line B, and is configured to enable bidirectional communication compliant with CXPI. The communication module 71 includes, for example, an input / output circuit connected to communication line B, an encoder that generates signals to be output from the input / output circuit, and a decoder that converts signals to be output from the input / output circuit. As a conventionally known configuration can be applied to the specific circuit configuration of the communication module 71, a detailed explanation is omitted here.

[0071] The driver group 74 comprises multiple driver groups 740, each connected one-to-one to a port P. For example, if the slave node 7 has 12 ports P, the driver group 74 will have 12 driver groups 740.

[0072] The driver group 740 is an I / O 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 configuration of the driver group 740.

[0073] The driver group 740 illustrated in Figure 5 comprises an output circuit 743 connected to port P and a driver circuit 741 that drives the output circuit 743 based on the setting value of the output register 742. The setting value of the output register 742 can be rewritten by a setting signal input from the OUT terminal.

[0074] 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. The AD converter 747 converts the input to port P from analog to digital and outputs it from the AI ​​terminal when the attribute of port P is analog input. The comparator 748 outputs the input to port P as a digital signal from the DI terminal when the attribute of port P is digital input.

[0075] The driver group 740 allows the settings of each component to be changed based on the configuration signal. For example, the filter multiplier of the digital filter in the receiver circuit 746 can be changed based on the configuration signal.

[0076] The selector 73 has the function of selecting which terminals (OUT terminal, AI terminal, DI terminal) of each driver group 740 to enable based on the attribute information of each port P recorded in register 72.

[0077] When the AI ​​terminal is enabled, an analog input signal is input from port P. In this case, the analog input signal is converted to a digital signal by the input circuit 745 and the AD converter 747, output from the AI ​​terminal, and written to register 72 via selector 73.

[0078] When the DI terminal is enabled, a digital input signal is input from port P. In this case, the digital input signal is output from the DI terminal via input circuit 745 and comparator 748, and written to register 72 via selector 73.

[0079] 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. Based on the setting information in the output register 742, the driver circuit 741 outputs either a digital signal, an analog signal, or a PWM signal from port P via the output circuit 743.

[0080] Regarding the specific circuit configuration of the selector, conventionally known configurations can be used, so a detailed explanation will be omitted here.

[0081] Register 72 stores the configuration data set for each slave node 7. This configuration data includes attribute data for each port P. Furthermore, this configuration data includes the fail-safe function for slave node 7, which will be described later.

[0082] Timer 75 includes an oscillator that operates at a constant frequency, such as a crystal oscillator, and a counter that counts the clock from the oscillator. Timer 75 is used, for example, to measure the elapsed time since information was sent from a master node. Timer 75 is also used to measure the elapsed time since an operating device was turned on, when it is necessary to turn on an operating device for a fixed period of time.

[0083] Next, an example of the operation of the vehicle control system will be explained with reference to the flowchart shown in Figure 6. Here, we will explain the process when the driver operates the turn switch 43 provided on the combination switch unit 4 to the right turn side after the initial configuration process in step S1.

[0084] In the vehicle control system 1, when power is turned on, the initial configuration process of step S1 is executed.

[0085] During the initial configuration process, initial configuration data is sent from master node 2 to each slave node 7. Each slave node 7 stores the initial configuration data received from master node 2 in register 72. After storing the initial configuration data in register 72, each slave node 7 sends a reply indicating that the configuration is complete. If the initial configuration data is already stored in each slave node 7, no action is taken in step S1 and the system proceeds to the next step.

[0086] Next, in step S2, when the turn switch 43 is operated to the right turn position, 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.

[0087] Next, in step S3, the slave node 7 sends an event notification to the master node 2. The event notification informs the master node 2 of the changes in the detected signal area.

[0088] In the next step, S4, the master node 2 performs processing (also called "event processing") according to the content of the event notification. In event processing, the processing of the aforementioned recognition process, decision process, and operation process is performed.

[0089] In this example, the master node 2 performs an information processing step as a recognition process, based on the difference data between the detection data received in step S1 and the detection data D4 received in the current step. Specifically, the master node 2 recognizes that the turn switch 43 has been operated to the right turn side based on the change in port P10 of the combi switch unit 4 and the connection data.

[0090] Next, the master node 2, after going through steps Pz1 to Pz4 of the decision process, determines that the action to be performed by vehicle CA is to "turn on the right turn lamp of vehicle CA (including the right turn lamp of the right side mirror unit 5)".

[0091] Next, the master node 2 decides that the slave node 7 to which the right turn signal is connected will be the target of the operation, and that the operation will be to make the right turn signal blink. The master node 2 then generates an operation command signal to instruct the right turn signal to blink and transmits this operation command signal to the slave node 7 (including the right side mirror unit 5) to which the right turn signal is connected.

[0092] Next, in step S6, the slave node 7 of the right side mirror unit 5 receives an operation command signal.

[0093] 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 the port based on the operation command signal. Specifically, the slave node 7 of the right side mirror unit 5 outputs a digital operation signal from port P2 that instructs ON control based on the operation command signal.

[0094] Next, in step S8, the master node 2 requests an acknowledgment from the slave node 7 that sent the operation command signal to confirm whether the output settings based on the operation command signal have been made. Then, in the next step S9, the slave node 7, having received the acknowledgment request, sends back an acknowledgment to the master node 2 indicating the status of the output settings based on the operation command signal.

[0095] (Motor position adjustment control) Here, the in-vehicle devices being operated include mirror drive motors 53 (see Figure 4) and seat drive motors 332 (see Figure 4), which adjust the position (angle) of the side mirrors and the angle of the seats by adjusting the motor position (angle). Such in-vehicle devices have a function that automatically operates the motor so that its motor position becomes the target position when the car's ignition is turned on or the power is turned on. When executing such an automatic position adjustment function, the master node 2 successively transmits an ON signal to the slave node that operates the motor of the in-vehicle device (hereinafter referred to as the specific slave node) to turn on the motor. The master node receives a detection signal from the specific slave node that detects the current position of the motor and determines the current position of the motor. Then, when the master node 2 determines that the motor has reached the target position based on the detection signal, it transmits an OFF signal to the specific slave node to stop the motor.

[0096] When motor alignment is performed using feedback control in this manner, it is preferable to set the control interval, which is the period from when a specific slave node outputs a detection signal to the master node 2 until the specific slave node receives the next operation command signal from the master node 2, to about 5 to 10 msec. However, event-type communication methods such as the aforementioned CXPI tend to have slow communication speeds, and the control interval may exceed 50 msec. In particular, with the CXPI communication method, if multiple events occur simultaneously, non-destructive arbitration is performed, and the slave node that wins the arbitration is given priority. For this reason, as in this embodiment 1, when there are many slave nodes, communication between the master node 2 and the slave nodes can take a long time. This tends to result in a longer control interval. If the control interval between a specific slave node and the master node 2 becomes long, it may become impossible to accurately adjust the position of the motor.

[0097] This point will be explained with reference to Figure 7. Here, for example, we assume an automatic position adjustment function for the right side mirror, where the target position is a position pre-set by the occupant and stored in memory 25. In the figure, "motor position" refers to the position (angle) of the mirror drive motor 53. The slave node 7 of the right side mirror unit 5 can be a specific slave node for operating the mirror drive motor 53. Hereinafter, the slave node 7 of the right side mirror unit 5 will be referred to as the mirror slave node 7a. Note that if the mirror slave node 7a has memory, the target position may be stored in the memory of the mirror slave node 7a.

[0098] As shown in Figure 7, the master node 2 sequentially transmits ON signals to the mirror slave node 7a. The mirror slave node 7a applies a predetermined voltage to the mirror drive motor 53 according to the ON signals. The mirror slave node 7a receives a signal indicating the motor position from a sensor provided on the mirror drive motor 53. The mirror slave node 7a transmits a detection signal to the master node 2. If the motor position based on the detection signal has not reached the target position, the master node 2 transmits another ON signal to the mirror slave node 7a. During this time, the mirror drive motor 53 is ON, so the mirror drive motor 53 displaces (rotates) to approach the target position. This is repeated, and the position of the mirror drive motor 53 gradually approaches the target position.

[0099] Suppose that when the mirror drive motor 53 reaches the target position, the mirror slave node 7a detects the current position of the mirror drive motor 53. At this stage, the mirror slave node 7a has not received an off signal, so it does not stop the mirror drive motor 53. Therefore, the mirror drive motor 53 passes the target position and continues to move. When the master node 2 receives a detection signal from the mirror slave node 7a, it recognizes for the first time that the mirror drive motor 53 has reached the target position and sends an off signal to the mirror slave node 7a. Subsequently, the mirror slave node 7a, having received the off signal, turns off and stops the mirror drive motor 53.

[0100] If the control interval between a specific slave node and master node 2 is short, around 5-10 msec, the amount of displacement (rotation) of the motor during the control interval is small, allowing the motor to be stopped immediately once it reaches the target position. However, as in the example of the right side mirror mentioned above, when the control interval is long, the motor is displaced significantly during the control interval, causing a large discrepancy between the motor's stopping position and the target position.

[0101] Increasing the communication frequency between a specific slave node and master node 2 could potentially improve the situation. However, increasing the communication frequency between a specific slave node and master node 2 would increase the communication bandwidth between that slave node and master node 2, making it almost impossible for other slave nodes to communicate with master node 2.

[0102] In contrast, in this embodiment 1, the master node 2 estimates the motor position immediately after the control interval. When the master node 2 estimates that the estimated position is a position that has passed a first predetermined position set to be in front of the target position, it is configured to transmit a first specific operation signal to a specific slave node such that a voltage is applied to the motor 2 for the duration of the time it takes for the motor 2 to move from the estimated position to the target position.

[0103] The position adjustment control by this master node 2 will be explained using the mirror drive unit 53 of the right side mirror unit 5 as an example, as described above.

[0104] As shown in Figure 8, each time the master node 2 receives a detection signal from the mirror slave node 7a, it calculates the estimated position, which is the motor position (angle) immediately after the control interval. The estimated position is the current position of the mirror drive motor 53 indicated by the detection signal transmitted immediately before from the mirror slave node 7a, plus a specific amount of movement, which is the amount of movement of the mirror drive motor 53 during the control interval. In other words, the estimated position is given by the following formula. Estimated position = Motor's current position + Specific displacement The current position of the mirror drive motor 53, which serves as the basis for calculating the estimated position, is updated sequentially. The specific amount of movement can be determined by the product of the amount of movement of the mirror drive motor 53 per unit time and the control interval time. Since the voltage applied to the mirror drive motor 53 is approximately constant, the amount of movement of the mirror drive motor 53 per unit time can be considered to be a constant value. The control interval time varies depending on the number of events that occur. For example, the master node 2 may send an inspection signal to the mirror slave node 7a at the same time as the ON signal, and receive a reply from the mirror slave node 7a to the inspection signal, and consider the time taken from the output of the inspection signal to the reply as the control interval time. In other words, the master node 2 may be configured to estimate the position by assuming that a control interval of the same length as the time taken for the most recent communication occurs.

[0105] When the master node 2 estimates that the estimated position is a position that has passed the first predetermined position, it outputs a first specific operation signal to the mirror slave node 7a. The first specific operation signal is the time t for which voltage is applied to the mirror drive motor 53, as shown in Figure 9. on (Hereinafter, the operating time t on This is a defined signal. Operating time t on For example, it can be calculated using the following formula. Operating time = |Target position - Estimated position| / Distance moved per unit time The first specific operation signal is a signal to rotate the mirror drive motor 53 in the forward direction if the estimated position is before the target position, and a signal to rotate the mirror drive motor 53 in the reverse direction if the estimated position has passed the target position (see Figure 8). The first predetermined position may be set according to the angle between the initial position of the mirror drive motor 53 and the target position. For example, the first predetermined position may be set to the 80% position between the initial position and the target position, specifically, to the 8° position when the angle between the initial position and the target position is 10°.

[0106] Upon receiving the first specific operation signal, the mirror slave node 7a operates according to the first specific operation signal for the operation time t on After operating the mirror drive motor 53 for a short time, the voltage application to the mirror drive motor 53 is stopped. As mentioned above, since the mirror slave node 7a has a timer 75, even if there is no off signal from the master node 2, the operating time t on After the specified time has elapsed, the application of voltage to the mirror drive motor 53 can be autonomously stopped. As a result, the motor position is adjusted, and the mirror drive motor 53 can be stopped at the target position, as shown in Figure 8. Although not shown in the figure, a specific slave node such as the mirror slave node 7a notifies the master node 2 that the motor movement dictated by the first specific operation signal is complete, and also detects the motor position after the movement dictated by the first specific operation signal and sends a detection signal to the master node 2.

[0107] In this embodiment 1, as shown in Figure 10, when the estimated position is within a predetermined range, the master node 2 transmits an off signal to the mirror slave node 7a to stop the mirror drive motor 53 without transmitting a first specific operation signal, even if the estimated position is estimated to have passed the first predetermined position. The predetermined range is set to a range where the angle between its maximum value and the target position, and the angle between its minimum value and the target position, are smaller than the angle between the first predetermined position and the target position. More specifically, the predetermined range is a range that takes accuracy error into account with respect to the target position, and is set to, for example, a range of ±0.5° centered on the target position. Note that the predetermined range includes the maximum and minimum values ​​of the predetermined range.

[0108] Thus, when the estimated position of the master node 2 is only slightly off from the target position by an accuracy error, even if fine adjustments are not made using the first specific operation signal, and even if the mirror drive motor 53 is stopped immediately after the control interval has elapsed, the mirror drive motor 53 can be stopped almost at the target position. For this reason, stopping the mirror drive motor 53 results in a smoother alignment than fine adjustments are made using the first specific operation signal, thus reducing the likelihood of causing discomfort to the occupants.

[0109] As mentioned earlier, the control interval fluctuates depending on the number of events. Specifically, a large number of events increases the likelihood of losing the arbitration and tends to result in a longer control interval. Conversely, a small number of events increases the likelihood of winning the arbitration and tends to result in a shorter control interval. If the control interval fluctuates significantly, the estimated position will deviate from the actual motor position, as shown in Figure 11. Since the first specific operation signal is generated based on the estimated position, even if the position is adjusted using the first specific operation signal, the motor position may still deviate relatively significantly from the target position. This can also occur if master node 2 sends an off signal to the specific slave node instead of the first specific operation signal, as described above.

[0110] Therefore, in this embodiment 1, if the motor position after moving the motor with a first specific operation signal, or the motor position after stopping it with an off signal, is outside a predetermined range, the master node 2 transmits a second specific operation signal to a specific slave node such that a voltage is applied to the motor for the duration it takes to move from that position to the target position. The second specific operation signal is a signal that defines the duration for which a voltage is applied to the motor, similar to the first specific operation signal.

[0111] Figure 11 illustrates the case in which the mirror drive motor 53 of the right side mirror unit 5 is moved by a first specific operation signal. The first specific operation signal is the operating time t of the mirror drive motor 53. onBecause this is defined, as shown in Figure 11, after the mirror drive motor 53 moves due to the first specific operation signal, the mirror drive motor 53 is turned off and the motor position remains constant. When the movement of the mirror drive motor 53 due to the first specific operation signal is completed, the mirror slave node 7a notifies the master node 2 that the movement is complete and detects the motor position after the movement due to the first specific operation signal and sends a detection signal to the master node 2. Based on the detection signal from the mirror slave node 7a, the master node 2 sends a second specific operation signal to the mirror slave node 7a such that a voltage is applied to the mirror drive motor 53 for the amount of time it takes to move from the current motor position to the target position.

[0112] In this way, by fine-tuning the motor position again with the second specific operation signal, as shown in Figure 11, even if the estimated position deviates from the actual motor position after the control interval, and the motor position after fine-tuning with the first specific operation signal or after stopping the mirror drive motor 53 with the off signal deviates relatively significantly from the target position, the motor position can be ultimately adjusted to the target position. Although not shown in the figure, a specific slave node such as the mirror slave node 7a notifies the master node 2 that the motor movement by the second specific operation signal is complete, and also detects the motor position after the movement by the second specific operation signal and sends a detection signal to the master node 2.

[0113] When the position of the mirror drive motor 53 after moving it in response to the first specific operation signal is within a predetermined range, the master node 2 terminates the position adjustment of the mirror drive motor 53 without generating a second specific operation signal.

[0114] Next, referring to Figure 12, the processing operation of the master node 2 when performing motor position adjustment control will be explained. Figure 12 is a flowchart showing what happens after the master node 2 receives a request to operate the motor.

[0115] First, in step S101, the master node 2 outputs an ON signal to a specific slave node.

[0116] Next, in step S102, the master node 2 receives a detection signal from a specific slave node indicating the current position of the motor.

[0117] Next, in step S103, the master node 2 estimates the control interval. The control interval is the time from when the specific slave node outputs the detection signal received by the master node 2 in step S102 until the specific slave node receives the next operation command signal.

[0118] Next, in step S104, the master node 2 calculates the estimated position, which is the motor position after the control interval has elapsed, based on the control interval estimated in step S103.

[0119] Next, in step S105, the master node 2 determines whether the estimated position calculated in step S104 is beyond the first predetermined position. If the master node 2 determines that the estimated position is beyond the first predetermined position (YES), it proceeds to step S106. On the other hand, if the master node 2 determines that the estimated position is before the first predetermined position (NO), it returns to step S101 and outputs an ON signal to the specific slave node again.

[0120] In step S106, the master node 2 determines whether the estimated position calculated in step S104 is within a predetermined range. If the master node 2 determines that the estimated position is within the predetermined range (YES), it proceeds to step S107. On the other hand, if the master node 2 determines that the estimated position is outside the predetermined range (NO), it proceeds to step S108.

[0121] In step S107, the master node 2 outputs an off signal to a specific slave node to stop the motor. After step S107, the master node 2 proceeds to step S109.

[0122] In step S108, the master node 2 transmits a first specific operation signal to a specific slave node. As a result, the motor moves toward the target position (forward or reverse rotation) and then stops.

[0123] In step S109, the master node 2 receives a motor position detection signal from a specific slave node. The motor position indicated by this detection signal is the motor position after the specific slave node has activated the motor in response to the first specific operation signal transmitted to the specific slave node in step S108.

[0124] Next, in step S110, the master node 2 determines whether the motor position indicated by the detection signal received in step S109 is within a predetermined range. If the master node 2 determines that the motor position is within the predetermined range (YES), it terminates the motor position adjustment control. On the other hand, if the master node 2 determines that the motor position is outside the predetermined range (NO), it proceeds to step S111.

[0125] In step S111, the master node 2 outputs a second specific operation signal to a specific slave node. As a result, the motor moves toward the target position and then stops.

[0126] After step S111, the process returns to step S109, where the master node 2 receives a motor position detection signal from the specific slave node. The motor position indicated by this detection signal is the motor position after the specific slave node has activated the motor in response to the second specific operation signal transmitted to the specific slave node in step S111. Then, the process moves to step S110, where the master node 2 determines whether the motor position indicated by the detection signal received in step S9 is within a predetermined range. If the master node 2 determines that the motor position is within the predetermined range (YES), it terminates the motor position adjustment control. On the other hand, if the master node 2 determines that the motor position is outside the predetermined range (NO), it returns to step S111 and transmits a second specific operation signal to the specific slave node such that a voltage is applied to the motor for the duration of the motor movement from the motor position indicated by the detection signal received in step S9 to the target position.

[0127] As described above, the motor position is adjusted by the master node 2 and the specific slave node. This allows for precise motor position adjustment even with communication methods like CXPI, where the control interval between the master node 2 and the slave node 7 tends to be long.

[0128] Accordingly, in this embodiment 1, the system comprises a master node 2 and a plurality of slave nodes 7 that operate operating devices based on operation command signals from the master node 2. The plurality of slave nodes 7 include specific slave nodes (mirror slave node 7a, slave node 7 of the power seat unit 33, etc.) that operate motors (mirror drive motor 53, seat drive motor 332, etc.) as operating devices. Each specific slave node has a timer 75 and sequentially transmits a detection signal to the master node 2 that detects the current position of the motor. The master node 2 sequentially transmits operation command signals to the specific slave node to move the motor. Furthermore, the master node 2 estimates the motor position immediately after the control interval from when the detection signal is transmitted from the specific slave node until the specific slave node receives the next operation command signal from the master node 2. If the estimated position is estimated to be a position that has passed a predetermined position set to be in front of the target position, the master node 2 is configured to transmit a first specific operation signal to the specific slave node that defines the time for operating the motor so that the motor moves from the estimated position toward the target position and then stops. As a result, when the estimated position is near the target position after passing a predetermined position, a first specific operation signal is output, which defines the time for operating the motor, in addition to the normal operation command signal. Since the specific slave node has a timer 75, if the motor operation time is defined, it can operate the motor for the defined time and then autonomously turn it off, even without an off signal from the master node. This allows the motor to be precisely positioned at the target position even when the control interval is long. Furthermore, by performing the final position adjustment using the timer 75 of the specific slave node, a certain degree of fine position adjustment is possible even when the control interval is long, so that the motor position adjustment does not take up excessive time. This reduces the likelihood of causing discomfort to the occupants.

[0129] Furthermore, in Embodiment 1, the estimated position is the current position of the motor indicated by the detection signal immediately transmitted from a specific slave node, plus the amount of motor movement during the control interval. As a result, the motor position used as the reference for calculating the estimated position is updated sequentially, allowing for accurate estimation of the position. This enables more precise motor position adjustment even when the control interval is long.

[0130] Furthermore, in this embodiment 1, the master node 2 is configured to transmit an off signal to a specific slave node to stop the motor without transmitting a first specific operation signal, even if the estimated position is estimated to have passed the predetermined position, when the estimated position is within a predetermined range. The predetermined range is set so that the angle between its maximum value and the target position, and the angle between its minimum value and the target position, are smaller than the angle between the predetermined position and the target position. As a result, when the estimated position is only slightly off from the target position by an accuracy error, the motor can be stopped almost at the target position without fine-tuning using the first specific operation signal. This makes the motor alignment smoother and less likely to cause discomfort to the occupants.

[0131] In particular, in this second embodiment, the master node 2 is configured to transmit a second specific operation signal to a specific slave node such that, if the motor position after moving the motor with the first specific operation signal, or the motor position after stopping the motor with the off signal, is outside a predetermined range, a voltage is applied to the motor for the duration of the time it takes to move from that position to the target position. As a result, even if the actual motor position immediately after the control interval deviates from the estimated position, and the motor position after fine-tuning with the first specific operation signal, or the motor position after stopping with the off signal, deviates relatively significantly from the target position, the second specific operation signal will perform fine-tuning again. As a result, even with a long control interval, the motor can be positioned more accurately to the target position.

[0132] [Embodiment 2] Embodiment 2 will now be described in detail with reference to the drawings. In the following description, parts common to Embodiment 1 will be denoted by the same reference numerals, and their detailed descriptions will be omitted.

[0133] In this second embodiment, the master node 2 does not sequentially estimate the motor position after the control interval. As shown in Figure 13, when the motor position indicated by the detection signal sent from a specific slave node (a mirror slave node 7a is exemplified in Figure 13), which detects the current position of the motor (a mirror drive motor 53 is exemplified in Figure 13), is a position that has passed a second predetermined position set to be in front of the target position, the master node 2 sends an off signal to the specific slave node to stop the motor. Subsequently, the master node 2 sends a third specific operation signal to the specific slave node such that a voltage is applied to the motor so that the motor moves from the stopping position toward the target position and then stops.

[0134] Master node 2 generates a third specific operation signal based on the control interval. Specifically, master node 2 estimates the control interval and then estimates the motor's stopping position from the estimated control interval. The master node determines that the stopping position is the current position of the motor indicated by the detection signal immediately transmitted from the specific slave node, plus a specific amount of motor movement. In other words, the estimated stopping position is given by the following formula. Stopping position = Motor's current position + Specific movement amount

[0135] Then, a third specific operation signal is generated such that voltage is applied to the motor for the duration of the movement from the estimated stopping position to the target position. Similar to the first and second specific operation signals mentioned above, the third specific operation signal operates the motor for an operating time t. on This is the defined signal. Operating time t on It can be calculated using the following formula. Operating time = |Target position - Stopping position| / Distance moved per unit time Furthermore, similar to Embodiment 1 described above, the master node 2 may, for example, send an inspection signal to a specific slave node simultaneously with an ON signal, and receive a reply from the specific slave node to the inspection signal, and consider the time taken from the output of the inspection signal to the reply as the control interval time. In other words, the master node 2 may be configured to estimate the stop position by assuming that a control interval of the same length as the time taken for the most recent communication occurs.

[0136] In this second embodiment, the second predetermined position is set to a position further forward than the first predetermined position in the first embodiment described above. The second predetermined position is set, for example, to a position 5° forward of the target position. Alternatively, the second predetermined position may be set according to the angle between the initial position of the motor and the target position. For example, the second predetermined position may be set to the 70% position between the initial position and the target position, specifically, to the 7° position when the angle between the initial position and the target position is 10°.

[0137] Since the motor is stopped when it passes the second predetermined position, the motor's stopping position will be slightly off from the target position, but still relatively close. Then, by making fine adjustments with the third specific operation signal, the motor position can be ultimately adjusted to the target position, as shown in Figure 13.

[0138] Next, referring to Figure 14, we will explain the processing operation of the master node when performing motor position adjustment control. Figure 14 is a flowchart showing what happens when master node 2 receives a request to operate the motor.

[0139] First, in step S201, the master node 2 receives a detection signal from a specific slave node indicating the current position of the motor that has been switched on.

[0140] Next, in step S202, the master node 2 outputs an ON signal to a specific slave node.

[0141] Next, in step S203, the master node 2 determines whether the motor position indicated by the detection signal in step S202 is beyond the second predetermined position. If the master node 2 determines that the motor position is beyond the second predetermined position (YES), it proceeds to step S204. On the other hand, if the master node 2 determines that the motor position is before the second predetermined position (NO), it returns to step S201 and outputs an ON signal to the specific slave node again.

[0142] In step S204, the master node 2 outputs an off signal to a specific slave node to stop the motor.

[0143] Next, in step S205, the master node 2 estimates the stopping position of the motor.

[0144] Next, in step S206, the master node 2 determines whether the stop position estimated in step S205 is within a predetermined range. If the master node 2 determines that the stop position is within the predetermined range (YES), it proceeds to step S207. On the other hand, if the master node 2 determines that the motor position is outside the predetermined range (NO), it proceeds to step S209. The predetermined range is set to, for example, a range of ±0.5° centered on the target position, similar to Embodiment 1.

[0145] In step S207, the master node 2 receives a motor position detection signal from a specific slave node. The motor position indicated by this detection signal is the actual stopping position of the motor.

[0146] Next, in step S208, the master node 2 determines whether the motor position indicated by the detection signal received in step S207 is within a predetermined range. If the master node 2 determines that the motor position is within the predetermined range (YES), it terminates the motor position adjustment control. On the other hand, if the master node 2 determines that the motor position is outside the predetermined range (NO), it proceeds to step S210.

[0147] In step 209, the master node 2 transmits a third specific operation signal to a specific slave node. This causes the motor to move toward the target position (forward or reverse rotation) and then stop.

[0148] After step S209, the process returns to step S207, where the master node 2 receives a motor position detection signal from the specified slave node. The motor position indicated by this detection signal is the motor position after the specified slave node operates the motor in response to the third specific operation signal transmitted to the specified slave node in step S209. Then, the process moves to step S208, where the master node 2 determines whether the motor position indicated by the detection signal received in step S207 is within a predetermined range. If the master node 2 determines that the motor position is within the predetermined range (YES), it terminates the motor position adjustment control. On the other hand, if the master node 2 determines that the motor position is outside the predetermined range (NO), it proceeds to step S210.

[0149] In step 210, the master node 2 transmits a fourth specific operation signal to a specific slave node. This fourth specific operation signal is an operation command signal corresponding to the second specific operation signal in the embodiment 1 described above, and is an operation command signal that applies voltage to the motor for the duration of the time it takes to move from the current motor position to the target position, based on the detection signal of the specific slave node. As a result, the motor moves toward the target position and then stops.

[0150] After step S210, the process returns to step S207, where the master node 2 receives a motor position detection signal from the specific slave node. The motor position indicated by this detection signal is the motor position after the specific slave node has activated the motor in response to the fourth specific operation signal transmitted to the specific slave node in step S210. Then, proceeding to step S208, the master node 2 determines whether the motor position indicated by the detection signal received in step S207 is within a predetermined range. If the master node 2 determines that the motor position is within the predetermined range (YES), it terminates the motor position adjustment control. On the other hand, if the master node 2 determines that the motor position is outside the predetermined range (NO), it returns to step S210 and transmits a second specific operation signal to the specific slave node such that a voltage is applied to the motor for the duration of the motor movement from the motor position indicated by the detection signal received in step S207 to the target position.

[0151] As described above, in this second embodiment, the master node 2 is configured to send an off signal to a specific slave node (such as the mirror slave node 7a or the slave node 7 of the power seat unit 33) to stop the motor when the position of the motor (such as the mirror drive motor 53 or the seat drive motor 332) indicated by the detection signal sent from that specific slave node has passed a predetermined position set to be in front of the target position. At the same time, it is configured to send a third specific operation signal to the specific slave node that defines the time for operating the motor so that the motor moves from the motor position immediately after the control interval (in this case, the stop position) toward the target position and then stops. With this configuration as well, the motor position can be accurately adjusted to the target position. In particular, in this second embodiment, the master node 2 does not need to sequentially estimate the motor position, so the computational load on the master node 2 can be reduced.

[0152] [Embodiment 3] Embodiment 3 will now be described in detail with reference to the drawings. In the following description, parts common to Embodiments 1 and 2 will be denoted by the same reference numerals, and their detailed descriptions will be omitted.

[0153] In this third embodiment, we assume a case where the motor position is adjusted by turning a switch on or off. The on / off state of the switch is transmitted to the master node 2 via the slave node 7. The slave node that transmits the on / off state of the switch to the master node 2 may be a specific slave node that operates the motor that operates in response to the switch, or it may be a slave node other than the specific slave node.

[0154] Master node 2 sends an ON signal to a specific slave node when it is notified that the switch has been turned ON. Master node 2 continues to send ON signals to the specific slave node while the switch is ON. When master node 2 receives an OFF signal from a specific slave node, it sends an OFF signal to that slave node to stop the motor.

[0155] In such scenarios, the motor's target position is set not to a pre-set position, but to the motor's position when the switch is turned off. If the control interval between master node 2 and a specific slave node becomes long, the motor will continue to operate even if the occupant turns off the switch, causing the position of the side mirrors, etc., to shift from the position desired by the occupant.

[0156] Therefore, in this embodiment 3, as shown in Figure 15, when the master node 2 is notified that the switch has been turned off, it sends an off signal to a specific slave node (in Figure 15, the mirror slave node 7a is exemplified) to stop the motor (in Figure 15, the mirror drive motor 53 is exemplified). Subsequently, the master node 2 sends a fifth specific operation signal to the specific slave node such that a voltage is applied to the motor so that the motor moves from the stopping position toward the target position and then stops.

[0157] The master node 2 generates the fifth specific operation signal based on the control interval. Specifically, the master node 2 estimates the control interval and generates the fifth specific operation signal that causes a voltage to be applied to the motor only during the estimated control interval. The fifth specific operation signal is a signal that applies a voltage to reversely rotate the motor. Similarly to the aforementioned first to fourth specific operation signals, the fifth specific operation signal is a signal in which the time t for applying voltage to the motor is defined on . Similarly to the above-described first and second embodiments, for example, the master node 2 may send a test signal to a specific slave node simultaneously with an ON signal, receive a reply to the test signal from the specific slave node, and regard the time taken from outputting the test signal to receiving the reply as the time of the control interval. That is, the master node 2 may be configured to estimate the stop position on the assumption that a control interval having the same length as the time taken for the most recent communication will occur.

[0158] Next, the processing operation of the master node 2 when performing motor position adjustment control will be described with reference to FIG. 16. FIG. 16 is a flowchart after the master node 2 receives a request to operate the motor from a specific slave node.

[0159] First, in step S301, the master node 2 receives a notification that the switch has been turned on.

[0160] Next, in step S302, the master node 2 transmits an ON signal for turning on the motor to a specific slave node.

[0161] Next, in step S303, the master node 2 determines whether or not there has been a notification that the switch has been turned off. If the determination is YES, that is, there is a notification of switch off, the master node 2 proceeds to step S304. On the other hand, if the determination is NO, that is, there is no notification of switch off, the master node 2 returns to step S302 and outputs an ON signal to the specific slave node again.

[0162] In step S304, the master node 2 outputs an off signal to a specific slave node to stop the motor.

[0163] Next, in step S305, the master node 2 estimates the previous control interval.

[0164] Next, in step S306, the master node 2 generates a fifth specific operation signal based on the control interval estimated in step S305 and transmits the generated fifth specific operation signal to the specific slave node. As a result, the motor returns to the position it was in when the switch was turned off and then stops.

[0165] Thus, in this embodiment 3, when the master node 2 is notified that the switch has been turned off, it is configured to send an operation command signal to a specific slave node (mirror slave node 7a, slave node 7 of the power seat unit 33, etc.) to stop the motor (mirror drive motor 53, seat drive motor 332, etc.), and also to send a specific operation signal to the specific slave node that defines the time for which the motor should operate so that it returns from the position where it stopped due to the operation command signal towards the position where it was when the switch was turned off, and then stops. As a result, even if the control interval becomes long in a communication method such as CXPI, the motor position can be accurately adjusted to the target position when the target position of the motor is determined when the switch is turned off.

[0166] (Other embodiments) The technologies disclosed herein are not limited to the embodiments described above and may be substituted insofar as they do not depart from the spirit of the claims.

[0167] For example, in the above-described embodiment 1, the master node 2 moved the motor in response to a first specific operation signal, then the specific slave node detected the motor's position after the movement, received a detection signal indicating the motor's position from the specific slave node, and then generated a second specific operation signal based on the detection signal. However, the master node 2 may be configured to generate an operation command signal for fine-tuning the motor's position based on the difference between the motor's position when the specific slave node received the first specific operation signal (i.e., the motor's position immediately after the control interval) and the estimated position at that time, after transmitting the first specific operation signal. This eliminates the need to wait for the specific slave node to detect the motor's position after it has been moved by the first specific operation signal, allowing the in-vehicle device to operate as continuously as possible. As a result, discomfort to the occupants of the vehicle can be minimized.

[0168] Furthermore, in the aforementioned embodiment 2, the master node generated a third specific operation signal after estimating the motor's stopping position following the transmission of an off signal to a specific slave node. However, the master node may be configured to transmit a third specific operation signal without transmitting an off signal if the motor's position indicated by the detection signal sent from the specific slave node is a position that has passed a predetermined position set to be in front of the target position, by estimating the motor's position immediately after the control interval has elapsed. This allows the in-vehicle device to be operated as continuously as possible without interrupting the motor's stopping, thereby minimizing any discomfort felt by the vehicle's occupants.

[0169] Furthermore, in the aforementioned embodiment 2, the master node 2 estimated the motor's stopping position considering the control interval and then generated a third specific operation signal. However, the master node 2 may also generate a third specific operation signal based on the motor's stopping position indicated by the detection signal after receiving a detection signal from a specific slave node that detects the motor's stopping position. In this case, the master node 2 does not need to estimate the control interval. Therefore, the load on the master node 2 can be reduced.

[0170] The embodiments described above are merely illustrative and should not be interpreted as limiting the scope of this disclosure. The scope of this disclosure is defined by the claims, and any variations or modifications within the equivalent scope of the claims are all within the scope of this disclosure. [Industrial applicability]

[0171] The technology disclosed herein is useful in vehicle control systems for precisely adjusting the position of a motor, even when the control interval is long, when the motor is the object being controlled. [Explanation of Symbols]

[0172] 1. Vehicle control system 2 Master Nodes 7 slave nodes 53 Mirror drive motor 332 Seat drive motor CA Vehicles

Claims

1. A vehicle control system, Master node and The system comprises a plurality of slave nodes that operate an operating device based on an operation command signal from the master node, The plurality of slave nodes include a specific slave node that operates the motor as the operating device, The specified slave node has a timer function that operates the motor for an operating time defined by the operation command signal and then autonomously stops applying voltage to the motor after the operating time has elapsed, and when operating the motor, it sequentially transmits a detection signal to the master node that detects the current position of the motor. The master node sequentially transmits operation command signals for moving the motor to the specified slave node. Furthermore, the vehicle control system is characterized in that the master node estimates the position of the motor immediately after the control interval from when the detection signal is transmitted from the specific slave node until the specific slave node receives the next operation command signal from the master node, based on the amount of movement of the motor per unit time and the duration of the control interval, and when it is estimated that the estimated position is a position that has passed a predetermined position set in the vicinity of the target position, it transmits to the specific slave node a first specific operation signal that defines the operating time required to operate the motor in order to move the motor from the estimated position to the target position and then stop.

2. In the vehicle control system according to claim 1, The vehicle control system is characterized in that the estimated position is the current position of the motor indicated by the detection signal transmitted immediately before from the specific slave node, plus the amount of movement of the motor during the control interval.

3. In the vehicle control system according to claim 1, The master node is configured to transmit an off signal to the specific slave node to stop the motor without transmitting the first specific operation signal, even if the estimated position is estimated to be a position that has passed the predetermined position, when the estimated position is within a predetermined range. The predetermined range is such that its maximum value is greater than the target position and its minimum value is less than the target position. The vehicle control system is characterized in that the predetermined range is set such that the absolute value of the difference between the maximum value and the target position and the absolute value of the difference between the minimum value and the target position are smaller than the absolute value of the difference between the predetermined position and the target position.

4. In the vehicle control system according to claim 3, A vehicle control system characterized in that the master node is configured to transmit a second specific operation signal to the specific slave node such that, when the position of the motor after it has been moved by the first specific operation signal, or the position of the motor after it has been stopped by the off signal, is outside the predetermined range, a voltage is applied to the motor for the duration of the time it takes to move it from that position to the target position.

5. A vehicle control system, Master node and The system comprises a plurality of slave nodes that operate an operating device based on an operation command signal from the master node, The plurality of slave nodes include a specific slave node that operates the motor as the operating device, The specified slave node has a timer function that operates the motor for an operating time defined by the operation command signal and then autonomously stops applying voltage to the motor after the operating time has elapsed, and when operating the motor, it sequentially transmits a detection signal to the master node that detects the current position of the motor. The master node sequentially transmits operation command signals for moving the motor to the specified slave node. A vehicle control system characterized in that the master node is configured to transmit a specific operation signal to the specific slave node, which defines the operating time required to operate the motor to move it from the position immediately after the control interval from when the detection signal is transmitted from the specific slave node until the specific slave node receives the next operation command signal from the master node, so that when the position of the motor indicated by the detection signal sent from the specific slave node is a position that has passed a predetermined position set in the vicinity of the target position, the motor moves toward the target position from the position immediately after the control interval from when the detection signal is transmitted from the specific slave node until the specific slave node receives the next operation command signal from the master node, and then stops.

6. A vehicle control system, Master node and The system comprises a plurality of slave nodes that operate an operating device based on an operation command signal from the master node, The plurality of slave nodes include a specific slave node that operates the motor based on an operation command signal from the master node when a switch that operates the motor as an operating device is pressed. The specified slave node has a timer function that operates the motor for an operating time defined by the operation command signal and then autonomously stops applying voltage to the motor after the operating time has elapsed. When the switch is turned on and the motor is activated, the master node sequentially transmits operation command signals to the specified slave node to move the motor. Furthermore, the master node is configured to transmit an operation command signal to a specific slave node to stop the motor when it is notified that the switch has been turned off, and to transmit a specific operation signal to the specific slave node that defines the operating time for operating the motor so that the motor returns from the position where it was stopped by the operation command signal towards the position where the switch was turned off, and then stops. A vehicle control system characterized in that the specified operation signal is a signal defined as the operating time, which is the duration of one control interval, which is the communication period between the master node and the specified slave node.

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