Electronic control device

Abstract

An electronic control device according to the present invention comprises: a first device and a second device which are capable of outputting respective synchronization signals; and a switch into which the respective synchronization signals that have been output from the first device and the second device are input and which transmits one of the synchronization signals to a plurality of sensors that each acquire information pertaining to an external environment. On the basis of a prescribed condition, the first device outputs, to the second device and the switch, a switching signal that requests switching of the transmission source of the synchronization signal. The switch, upon receiving the switching signal, switches the synchronization signal transmitted to the plurality of sensors to the synchronization signal that has been output from the second device.

Description

Electronic control unit

[0001] The present invention relates to an electronic control device.

[0002] Patent Literature 1 describes a video surveillance system equipped with multiple camera devices. This video surveillance system is configured so that a synchronization signal transmitted from a camera device operating as a master among the multiple camera devices is received by a camera device operating as a slave. This video surveillance system keeps the network bandwidth usage constant by shifting the timing of transmission of captured images from each camera device using the synchronization signal.

[0003] Japanese Patent Application Laid-Open No. 2007-201701

[0004] When controlling the operation timing of multiple sensors by transmitting synchronization signals to external sensors such as cameras, if the transmitting entity that transmits the synchronization signal becomes unable to transmit the synchronization signal due to a malfunction or other reason, the entire system may stop. Therefore, it is conceivable to make the system redundant by transmitting synchronization signals from multiple transmitting entities and selecting only one of the multiple synchronization signals using a switch to transmit it to multiple sensors. However, such a configuration has the problem that there is no means for detecting the switching state of the switch, which is necessary to determine the entity that synchronizes between sensors.

[0005] An object of the present invention is to provide an electronic control device that allows a transmitter that transmits a synchronization signal to detect the switching state of the synchronization signal by a switch.

[0006] An electronic control device according to one aspect of the present invention comprises a first device and a second device each capable of outputting a synchronization signal, and a switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of sensors that each acquire information about the outside world, wherein the first device outputs a switching signal to the second device and the switch based on predetermined conditions, requesting a switch in the entity that transmits the synchronization signal, and upon receiving the switching signal, the switch switches the synchronization signal to be transmitted to the plurality of sensors to the synchronization signal output from the second device. An electronic control device according to one aspect of the present invention comprises a first device and a second device each capable of outputting a synchronization signal, a switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of sensors that each acquire information about the outside world, and a third device that outputs a switching signal to the first device, the second device, and the switch based on predetermined conditions, requesting a switch in the transmitter of the synchronization signal; and when the switch receives the switching signal while transmitting the synchronization signal output from the first device to the plurality of sensors, it switches the synchronization signal to be transmitted to the plurality of sensors to the synchronization signal output from the second device.An electronic control device according to one aspect of the present invention comprises a first device and a second device each capable of outputting a synchronization signal, a first switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of first sensors, and a second switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of second sensors, wherein the first device outputs a switching signal to the second device, the first switch, and the second switch, requesting a switch in the transmitter of the synchronization signal, based on predetermined conditions, and upon receiving the switching signal, the first switch switches the synchronization signal to be transmitted to the plurality of first sensors to the synchronization signal output from the second device, and upon receiving the switching signal, the second switch switches the synchronization signal to be transmitted to the plurality of second sensors to the synchronization signal output from the second device.

[0007] According to the present invention, the transmitting entity that transmits the synchronization signal can detect the switching state of the synchronization signal by the switch.

[0008] FIG. 1 is a schematic diagram of a vehicle equipped with an electronic control unit according to a first embodiment. FIG. 2 is a schematic diagram showing the hardware configuration of the electronic control unit according to the first embodiment. FIG. 3 is a flowchart showing an example of a switching operation of a synchronization signal by a switching device. FIG. 4 is a schematic diagram showing the functional configuration of the electronic control unit according to the first embodiment. FIG. 5 is a schematic diagram showing an example of a synchronization signal. FIG. 6 is a flowchart of processing executed by a calculation unit of a first control device. FIG. 7 is a flowchart of processing executed by a calculation unit of a second control device. FIG. 8 is a schematic diagram showing the functional configuration of an electronic control unit according to a second embodiment. FIG. 9 is a schematic diagram showing the hardware configuration of an electronic control unit according to a first modification. FIG. 10 is a schematic diagram showing the hardware configuration of an electronic control unit according to a second modification. FIG. 11 is a schematic diagram showing the hardware configuration of an electronic control unit according to a third modification. FIG. 12 is a schematic diagram showing the hardware configuration of an electronic control system according to a fourth modification.

[0009] First Embodiment An electronic control device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG.

[0010] FIG. 1 is a schematic diagram of a vehicle 1 equipped with an electronic control unit 3 according to a first embodiment. The vehicle 1 is equipped with a first camera 2a, a second camera 2b, and an electronic control unit 3. In the following description, the first camera 2a and the second camera 2b are collectively referred to as camera 2. The first camera 2a and the second camera 2b function as a so-called stereo camera. The camera 2 captures images of the area ahead of the vehicle 1 and outputs the captured images to the electronic control unit 3 in the form of image signals. The first camera 2a and the second camera 2b are installed so that the positions of their optical axes in the vertical direction (perpendicular direction) are approximately equal. The optical axis 40a of the first camera 2a is located slightly left of the center of the vehicle 1 in the horizontal direction. The optical axis 40b of the second camera 2b is located slightly right of the center of the vehicle 1 in the horizontal direction. The first camera 2a captures an area 41a slightly left of the area ahead of the vehicle 1. The second camera 2b captures an area 41b slightly right of the area ahead of the vehicle 1. The camera 2 is a type of sensor that acquires information about the outside world, and outputs a captured image corresponding to the information about the outside world to the electronic control device 3 .

[0011] 2 is a schematic diagram showing the hardware configuration of the electronic control unit 3 according to the first embodiment. The camera 2 includes an image sensor, such as a complementary metal-oxide-semiconductor (CMOS) image sensor, and an imaging optical system.

[0012] The electronic control device 3 includes a first control device 4, a second control device 5, and a switching device 6. The first control device 4 is a semiconductor device including an arithmetic unit 11 such as a central processing unit (CPU), a microprocessing unit (MPU), or a digital signal processor (DSP), a non-volatile memory 12 such as a read-only memory (ROM) or flash memory, a volatile memory 13 known as a random access memory (RAM), an input / output interface 14, and other peripheral circuits. These hardware components work together to run software and realize multiple functions. The first control device 4 may be configured with a single semiconductor chip or multiple semiconductor chips. The arithmetic unit 11 may be an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like.

[0013] The nonvolatile memory 12 stores programs capable of executing various calculations. In other words, the nonvolatile memory 12 is a storage medium (storage device) from which the programs that realize the functions of this embodiment can be read. The volatile memory 13 is a storage medium (storage device) that temporarily stores the results of calculations performed by the calculation device 11 and signals input from the input / output interface 14. The calculation device 11 is a device that loads the programs stored in the nonvolatile memory 12 into the volatile memory 13 and executes calculations, and performs predetermined calculations on data taken in from the input / output interface 14, the nonvolatile memory 12, and the volatile memory 13 in accordance with the programs.

[0014] The input / output interface 14 is connected to the camera 2, the second control device 5, and the switching device 6. The input / output interface 14 converts signals input from various devices (such as the camera 2 and the switching device 6) into data that can be calculated by the arithmetic unit 11. The input / output interface 14 also generates an output signal according to the calculation result of the arithmetic unit 11, and outputs the signal to the various devices (such as the second control device 5 and the switching device 6).

[0015] The hardware configuration of the second control device 5 is omitted here because it is the same as that of the first control device 4. That is, the second control device 5 is also a semiconductor device including a computing unit 11, a non-volatile memory 12, a volatile memory 13, an input / output interface 14, and other peripheral circuits.

[0016] The switching device 6 transmits to the first camera 2 a and the second camera 2 b one of the synchronization signals transmitted from the first control device 4 and the second control device 5. In other words, two synchronization signals can be input to the switching device 6, but only one of the signals is output to the camera 2.

[0017] The synchronization signal is a signal for controlling the imaging timing of the camera 2. The first camera 2a and the second camera 2b capture images at the timing instructed by the synchronization signal and output the imaging signals to the first control device 4 and the second control device 5. By using the synchronization signal, it is possible to reliably synchronize the imaging results of the first camera 2a and the second camera 2b. In other words, since the first camera 2a and the second camera 2b always capture images at the same timing, the first control device 4 and the second control device 5 can always use synchronized imaging frames.

[0018] Immediately after the electronic control device 3 is powered on, the switching device 6 is in a state in which it transmits the synchronization signal transmitted from the first control device 4 to the camera 2. The first control device 4 is configured to be able to transmit a switching signal for switching the synchronization signal to be output to the camera 2. In other words, the switching signal is a signal requesting a switch in the entity that transmits the synchronization signal. The first control device 4 transmits this switching signal to the second control device 5 and the switching device 6. Upon receiving this switching signal, the switching device 6 switches the synchronization signal to be output to the camera 2 to the synchronization signal transmitted from the second control device 5. This switching is performed electronically or mechanically within the switching device 6.

[0019] A logic circuit or other device may be provided on the signal line for transmitting and receiving the switching signal between the first control device 4 and the switching device 6. Even in this case, the switching signal received by the second control device 5 is the same as the switching signal received by the switching device 6.

[0020] By having the switching device 6 switch the synchronization signal as needed, even if an abnormality occurs in the first control device 4, it is possible to continue to supply a normal synchronization signal to the camera 2. Furthermore, since the synchronization signal is sent not only to the switching device 6 but also to the second control device 5, the second control device 5 can detect that the synchronization signal has been switched.

[0021] The first control device 4 executes predetermined control processing using the image capture signals transmitted from the first camera 2a and the second camera 2b. For example, it may execute a well-known stereo matching process to calculate the distance to the subject, or a well-known object detection process to detect the position and type of the subject. The second control device 5 is also configured to execute the same control processing as the first control device 4, and executes the above control processing instead of the first control device 4 when it detects that the synchronization signal has switched.

[0022] FIG. 3 is a flowchart showing an example of the synchronization signal switching operation by the switching device 6. In step S100, the first control device 4 executes the control process described above. Furthermore, in step S100, the first control device 4 executes a synchronization determination process, i.e., a process for determining whether the first control device 4 can normally transmit a synchronization signal. If this synchronization determination process determines that the first control device 4 cannot normally transmit a synchronization signal, for example, because the first control device 4 is not operating normally, a switching signal is transmitted from the first control device 4 to the second control device 5 and the switching device 6 in step S110. In step S120, the switching device 6 receives the switching signal, and in step S130, the switching device 6 switches the synchronization signal transmitted to the camera 2 from that of the first control device 4 to that of the second control device 5. In parallel with steps S120 and S130, the second control device 5 receives the switching signal in step S140. As a result, in step S150, the second control device 5, rather than the first control device 4, executes the control process described above.

[0023] 4 is a schematic diagram showing the functional configuration of the electronic control unit 3 according to the first embodiment. The first control device 4 includes a device diagnostic unit 21, a collection unit 22, a synchronization determination unit 23, a synchronization signal generation unit 24, a synchronization diagnosis unit 25, a synchronization signal transmission unit 26, and a switching signal transmission unit 27. These functional units are functionally realized by the arithmetic unit 11 of the first control device 4 executing the above-mentioned programs.

[0024] The device diagnostic unit 21 diagnoses abnormalities in the first control device 4 and sends information representing the diagnosis results to the information collection unit 22. For example, the device diagnostic unit 21 acquires the voltage values, current values, and temperature values ​​of each part measured by sensors (not shown) provided inside the first control device 4, and checks whether these values ​​are within a predetermined normal range.

[0025] The collection unit 22 stores the information sent from the device diagnosis unit 21 as diagnostic information 30 in a storage device such as the volatile memory 13. The collection unit 22 also stores information sent from a synchronization diagnosis unit 25 (described later) in the storage device as diagnostic information 30. The collection unit 22 may further receive information on another device provided outside the first control device 4 from outside the first control device 4. In this case, the collection unit 22 also stores the information received from the outside as diagnostic information 30 in the storage device.

[0026] The synchronization determination unit 23 determines whether or not the synchronization signal can be normally transmitted from the first control device 4. For example, if a voltage value measured by a sensor (not shown) provided inside the first control device 4 is an abnormal value outside the normal range, the synchronization determination unit 23 determines that the synchronization signal cannot be normally transmitted.

[0027] The synchronization signal generation unit 24 generates a synchronization signal in accordance with the determination result by the synchronization determination unit 23 and transmits the generated synchronization signal to the synchronization diagnosis unit 25 and the synchronization signal transmission unit 26. If the synchronization determination unit 23 determines that the synchronization signal cannot be normally transmitted from the first control device 4, the synchronization signal generation unit 24 does not generate the synchronization signal.

[0028] The synchronization diagnosis unit 25 diagnoses the synchronization signal generated by the synchronization signal generation unit 24 and sends information related to the diagnosis result to the collection unit 22. For example, if the synchronization signal is not generated correctly, the synchronization diagnosis unit 25 sends information indicating this to the collection unit 22. As a result, the synchronization determination unit 23 determines that the synchronization signal cannot be transmitted normally.

[0029] The synchronization signal transmitting unit 26 transmits the synchronization signal generated by the synchronization signal generating unit 24 to the switching device 6. The switching signal transmitting unit 27 generates a switching signal in accordance with the determination result by the synchronization determining unit 23, and transmits the switching signal to the second control device 5 and the switching device 6.

[0030] The second control device 5 includes a device diagnostic unit 21, a collection unit 22, a synchronization determination unit 23, a synchronization signal generation unit 24, a synchronization diagnosis unit 25, a synchronization signal transmission unit 26, and a switching signal reception unit 28. Each of these functional units is functionally realized by the arithmetic unit 11 of the second control device 5 executing the above-mentioned program. Note that functional units with the same name that are included in both the first control device 4 and the second control device 5 perform similar functions, and therefore descriptions thereof will be omitted.

[0031] The switching signal receiving unit 28 receives the switching signal transmitted from the first control device 4 and detects that the synchronization signal has been switched by the switching device 6. When the switching signal receiving unit 28 detects the switching of the synchronization signal, the second control device 5 starts executing the above-mentioned predetermined control process in place of the first control device 4.

[0032] When both the first control device 4 and the second control device 5 are operating normally, the diagnostic information 30 of each of the first control device 4 and the second control device 5 does not include information indicating an abnormality. Therefore, the synchronization determination unit 23 of each determines that a synchronization signal can be transmitted from that control device. As a result, a synchronization signal is transmitted from both the synchronization signal transmission unit 26 of the first control device 4 and the synchronization signal transmission unit 26 of the second control device 5 to the switching device 6. Furthermore, based on the determination result of the synchronization determination unit 23, the switching signal transmission unit 27 of the first control device 4 determines that it is not necessary to transmit a switching signal, so a switching signal is not transmitted to the switching device 6. Therefore, the switching device 6 transmits the synchronization signal transmitted from the first control device 4 to the camera 2.

[0033] If an abnormality occurs in the first control device 4, the diagnostic information 30 of the first control device 4 will include information indicating the abnormality. The synchronization determination unit 23 of the first control device 4, referencing this information indicating the abnormality, determines that a synchronization signal cannot be transmitted from that control device. As a result, a synchronization signal is not transmitted from the synchronization signal transmission unit 26 of the first control device 4, and a synchronization signal is transmitted only from the synchronization signal transmission unit 26 of the second control device 5 to the switching device 6. Furthermore, based on the determination result by the synchronization determination unit 23, the switching signal transmission unit 27 of the first control device 4 determines that a switching signal needs to be transmitted, and transmits a switching signal to the second control device 5 and the switching device 6. In response to this switching signal, the switching device 6 transmits the synchronization signal transmitted from the second control device 5 to the camera 2.

[0034] The synchronization signal generation unit 24 may always generate a synchronization signal regardless of the determination by the synchronization determination unit 23. In this case, the synchronization signal is always transmitted from the synchronization signal transmission unit 26 to the switching device 6. If an abnormality occurs in the first control device 4, an abnormal synchronization signal may be transmitted to the switching device 6. However, since a switching signal is also transmitted at the same time, this abnormal synchronization signal will not reach the camera 2.

[0035] 5 is a schematic diagram showing an example of a synchronization signal, which, from top to bottom, shows the exposure period of the first camera 2a, the exposure period of the second camera 2b, and the synchronization signal transmitted from the switching device 6.

[0036] 5, the synchronization signal is a binary signal, Low or High, that changes from Low to High at predetermined intervals (e.g., 33.3 milliseconds). The first camera 2a and the second camera 2b are configured to capture images when the synchronization signal changes from Low to High. Therefore, the first camera 2a and the second camera 2b capture images simultaneously at precisely predetermined intervals (e.g., 33.3 milliseconds). As a result, the first camera 2a and the second camera 2b transmit a pair of precisely synchronized image signals to the first control device 4 and the second control device 5.

[0037] 6 is a flowchart of processing executed by the arithmetic unit 11 of the first control device 4. In step S200, the device diagnosis unit 21 performs device diagnosis. In step S210, the collection unit 22 collects diagnostic information 30. In step S220, the synchronization determination unit 23 determines whether or not the synchronization signal can be transmitted normally based on the diagnostic information 30. If it is determined that the synchronization signal can be transmitted normally, the processing proceeds to step S230.

[0038] In step S230, the synchronization signal generation unit 24 generates a synchronization signal. In step S240, the synchronization signal transmission unit 26 transmits the synchronization signal to the switching device 6. In step S250, the synchronization diagnosis unit 25 performs synchronization diagnosis. That is, the synchronization diagnosis unit 25 performs diagnostic processing on the synchronization signal generated in step S230. In step S260, the calculation device 11 performs a predetermined control processing, and the processing proceeds to step S200.

[0039] On the other hand, if it is determined in step S220 that the synchronization signal cannot be transmitted normally, the process proceeds to step S270. In step S270, the switching signal transmitting unit 27 generates a switching signal and transmits it to the second control device 5 and the switching device 6.

[0040] 7 is a flowchart of the process executed by the arithmetic unit 11 of the second control device 5. In step S290, the switching signal receiving unit 28 determines whether or not it has received a switching signal. If it has not received a switching signal, the process proceeds to step S290. On the other hand, if it has received a switching signal, the process proceeds to step S300.

[0041] In step S300, the device diagnostic unit 21 performs device diagnosis. In step S310, the collection unit 22 collects diagnostic information 30. In step S320, the synchronization determination unit 23 determines whether or not a synchronization signal can be transmitted normally based on the diagnostic information 30. If it is determined that a synchronization signal can be transmitted normally, the process proceeds to step S330.

[0042] In step S330, the synchronization signal generation unit 24 generates a synchronization signal. In step S340, the synchronization signal transmission unit 26 transmits the synchronization signal to the switching device 6. In step S350, the synchronization diagnosis unit 25 performs synchronization diagnosis. That is, the synchronization diagnosis unit 25 performs diagnostic processing on the synchronization signal generated in step S330. In step S360, the calculation device 11 performs a predetermined control processing, and the processing proceeds to step S300.

[0043] On the other hand, if it is determined in step S320 that the synchronization signal cannot be transmitted normally, the process proceeds to step S370. In step S370, the arithmetic unit 11 issues a system abnormality notification to the outside of the second control device 5. This may result in, for example, the operation of the electronic control unit 3 being stopped, or the user of the electronic control unit 3 being notified that an abnormality has occurred in the electronic control unit 3.

[0044] According to the above-described embodiment, the following advantageous effects are achieved.

[0045] (1) The electronic control device 3 includes a first control device 4 (first device) and a second control device 5 (second device), each capable of outputting a synchronization signal, and a switching device 6 (switch) that receives the synchronization signals output from the first control device 4 (first device) and the second control device 5 (second device) and transmits one of the synchronization signals to a plurality of cameras 2 (sensors), each of which acquires information about the external world. The first control device 4 (first device) outputs a switching signal to the second control device 5 (second device) and the switching device 6 (switch) based on a predetermined condition, requesting a change in the entity that transmits the synchronization signal. Upon receiving the switching signal, the switching device 6 (switch) changes the synchronization signal to be transmitted to the plurality of cameras 2 (sensors) to the synchronization signal output from the second control device 5 (second device). This configuration allows the entity that transmits the synchronization signal to detect the switching state of the synchronization signal set by the switching device 6 (switch).

[0046] (2) The first control device 4 (first device) outputs a switching signal when it determines that an abnormality has occurred in the first control device 4 (first device). This configuration eliminates synchronization signals that may not be generated and transmitted correctly, and allows the use of synchronization signals that can be generated and transmitted correctly at all times.

[0047] (3) The camera 2 that captures the outside world of the electronic control device 3 is used as a sensor. This allows for a natural display even when the image captured by the camera 2 is displayed to the user as is.

[0048] Second Embodiment An electronic control device 103 according to a second embodiment of the present invention will be described with reference to Fig. 8. Note that the same reference symbols are used for components that are the same as or equivalent to those described in the first embodiment, and differences will be mainly described.

[0049] Fig. 8 is a diagram similar to Fig. 4 and is a schematic diagram showing the functional configuration of an electronic control unit 103 according to a second embodiment. The electronic control unit 103 shown in Fig. 8 has a configuration in which the first control device 4 is replaced with a first control device 104 and a third control device 7 is added to the electronic control unit 3 shown in Fig. 4. Note that the hardware configurations of the first control device 104 and the third control device 7 are the same as the hardware configuration of the first control device 4 shown in Fig. 2, and therefore will not be illustrated or described here.

[0050] The first control device 104 has a configuration in which the switching signal transmitting unit 27 of the first control device 4 shown in Fig. 4 is replaced with a switching signal receiving unit 28. That is, like the second control device 5, the first control device 104 is configured to receive switching signals without transmitting switching signals.

[0051] The third control device 7 includes a device diagnostic unit 21, a collection unit 22, a switching synchronization determination unit 29, and a switching signal transmission unit 27. These functional units are functionally realized by the arithmetic unit 11 of the third control device 7 executing the above-mentioned programs. The operation of the device diagnostic unit 21 and the collection unit 22 is the same as that of the functional units of the same name of the first control device 4 described in FIG. 4.

[0052] The switching synchronization determination unit 29 determines whether to use the synchronization signal of the first control device 4 or the synchronization signal of the second control device 5 based on the diagnostic information 30. The switching signal transmission unit 27 transmits switching signals to the first control device 104, the second control device 5, and the switching device 6 based on the result of the determination by the switching synchronization determination unit 29.

[0053] As described above, in the second embodiment, the switching signal is transmitted by the newly provided third control device 7, not the first control device 104. By receiving the switching signal, the first control device 104 and the second control device 5 are configured to be able to recognize which control device is currently the sender of the synchronization signal to be transmitted to the camera 2.

[0054] According to the second embodiment described above, the following advantageous effects are achieved.

[0055] (1) The electronic control device 103 includes a first control device 104 (first device) and a second control device 5 (second device), each capable of outputting a synchronization signal; a switching device 6 (switch) that receives the synchronization signals output from the first control device 104 (first device) and the second control device 5 (second device) and transmits one of the synchronization signals to a plurality of cameras 2 (sensors), each of which acquires information about the external world; and a third control device 7 (third device) that outputs a switching signal to the first control device 104 (first device), the second control device 5 (second device), and the switching device 6 (switch) to request a change in the entity that transmits the synchronization signal based on a predetermined condition. When the switching device 6 (switch) receives the switching signal while transmitting the synchronization signal output from the first control device 104 (first device) to the plurality of cameras 2 (sensors), the switching device 6 (switch) switches the synchronization signal to be transmitted to the plurality of cameras 2 (sensors) to the synchronization signal output from the second control device 5 (second device). This allows the transmitting entity that transmits the synchronization signal to detect the switching state of the synchronization signal by the switching device 6. Furthermore, it becomes possible to perform switching from a device other than the device in which the abnormality occurred, thereby improving the reliability of the electronic control device 103.

[0056] The following modified examples are also within the scope of the present invention, and it is possible to combine the configuration shown in the modified example with the configuration described in the above embodiment, to combine the configurations described in the different embodiments above, or to combine the configurations described in the different modified examples below.

[0057] <Modification 1> Fig. 9 is a schematic diagram showing the hardware configuration of an electronic control device 203 according to Modification 1. The electronic control device 203 shown in Fig. 9 has a configuration in which a deserializer 8 is arranged between the switching device 6 and the camera 2. The deserializer 8 is a device that distributes signals to be transmitted to multiple cameras 2 and merges signals received from multiple cameras 2 into a single signal. In this way, the deserializer 8 may be arranged between the switching device 6 and the camera 2.

[0058] The above-described first modification provides the following advantageous effects.

[0059] (1) The system further includes a deserializer 8 to which multiple cameras 2 (sensors) are connected, and the switching device 6 (switch) transmits a synchronization signal to the multiple cameras 2 (sensors) via the deserializer 8. This configuration allows the number of connected cameras in a redundant configuration to be increased, and all cameras to be synchronized.

[0060] <Modification 2> Fig. 10 is a schematic diagram showing the hardware configuration of an electronic control device 303 according to Modification 2. The electronic control device 303 shown in Fig. 10 includes a plurality of switching devices 6. A plurality of different cameras 2 are connected to each of the switching devices 6. A synchronization signal from the first control device 4, a synchronization signal from the second control device 5, and a switching signal from the first control device 4 are transmitted to each of the switching devices 6. In this way, a plurality of switching devices 6 may be provided. In this way, the number of connected cameras can be increased.

[0061] <Modification 3> Fig. 11 is a schematic diagram showing the hardware configuration of an electronic control device 403 according to Modification 3. The electronic control device 403 shown in Fig. 11 has a configuration that combines the electronic control device 203 according to Modification 1 and the electronic control device 303 according to Modification 2. In other words, the electronic control device 403 has multiple sets of cameras 2, switching devices 6, and deserializers 8. In this way, multiple switching devices 6 and multiple deserializers 8 may be provided.

[0062] The above-described third modification provides the following advantageous effects.

[0063] (1) The electronic control device 403 includes a first control device 4 (first device) and a second control device 5 (second device), each capable of outputting a synchronization signal; a switching device 6 (first switch) that receives the synchronization signals output from the first control device 4 (first device) and the second control device 5 (second device) and transmits one of the synchronization signals to a plurality of cameras 2 (first sensors); and a switching device 6 (second switch) that receives the synchronization signals output from the first control device 4 (first device) and the second control device 5 (second device) and transmits one of the synchronization signals to a plurality of cameras 2 (second sensors). Based on predetermined conditions, the first control device 4 (first device) outputs a switching signal to the second control device 5 (second device) and the multiple switching devices 6 (first switch and second switch) requesting a switch of the entity that transmits the synchronization signal. Upon receiving the switching signal, one of the switching devices 6 (first switch) switches the synchronization signal to be transmitted to the multiple cameras 2 (first sensors) to the synchronization signal output from the second control device 5 (second device). Upon receiving the switching signal, the other switching device 6 (second switch) switches the synchronization signal to be transmitted to the multiple cameras 2 (second sensors) to the synchronization signal output from the second control device 5 (second device). This allows the entity that transmits the synchronization signal to detect the switching state of the synchronization signal by the switching device 6 (switch).

[0064] <Modification 4> FIG. 12 is a schematic diagram showing the hardware configuration of an electronic control system 9 according to Modification 4. The electronic control system 9 shown in FIG. 12 includes an electronic control device 503a and an electronic control device 503b. The electronic control system 9 according to Modification 4 has a configuration in which the components of the electronic control device 403 according to Modification 3 are distributed between two electronic control devices, the electronic control device 503a and the electronic control device 503b. That is, the electronic control device 503a includes one deserializer 8, one switching device 6, and a first control device 4. The electronic control device 503b includes one deserializer 8, one switching device 6, and a second control device 5. In this way, the first control device 4, the second control device 5, the switching device 6, and the deserializer 8 may each be provided in a different electronic control device. This enables a system configuration including multiple electronic control devices, improving implementation flexibility.

[0065] <Variation 5> Instead of the camera 2, an external recognition device, an external sensor, LiDAR, or the like may be used as a sensor for acquiring information about the external world. Furthermore, the camera 2 may be combined with these sensors. Note that data detected by the LiDAR is used to calculate the position and distance of obstacles and to control the AD / ADAS, so the impact of synchronization errors is smaller than with a camera. In contrast, camera-captured data is displayed as is, so the impact of synchronization errors is greater. For this reason, the present invention is particularly effective with cameras.

[0066] <Modification 6> In the second embodiment, not only the third control device 7 but also the first control device 104 may be configured to be able to transmit a switching signal. That is, in the second embodiment, the first control device 4 according to the first embodiment may be used instead of the first control device 104. In this case, for example, when an abnormality is detected in the first control device 4, a switching signal is transmitted from the first control device 4, and the synchronization signal is switched to the second control device 5. On the other hand, when the first control device 4 fails and is no longer able to transmit a switching signal, the failure is detected by the third control device 7, and a switching signal is transmitted from the third control device 7, and the synchronization signal is switched to the second control device 5.

[0067] According to the above-described sixth modification, the following advantageous effects are achieved.

[0068] (1) The electronic control device 103 further includes a third control device 7 (third device) that outputs a switching signal to the second control device 5 (second device) and the switching device 6 (switch) based on a predetermined condition. This improves the reliability of the electronic control device 103.

[0069] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments.

[0070] REFERENCE SIGNS LIST 1...vehicle, 2...camera, 2a...first camera, 2b...second camera, 3, 103, 203, 303, 403, 503a, 503b...electronic control device, 4, 104...first control device, 5...second control device, 6...switching device, 7...third control device, 8...deserializer, 9...electronic control system, 11...arithmetic unit, 12...non-volatile memory, 13...volatile memory, 14...input / output interface, 21...device diagnosis unit, 22...collection unit, 23...synchronization determination unit, 24...synchronization signal generation unit, 25...synchronization diagnosis unit, 26...synchronization signal transmission unit, 27...switching signal transmission unit, 28...switching signal reception unit, 29...switching synchronization determination unit

Claims

1. An electronic control device comprising: a first device and a second device each capable of outputting a synchronization signal; and a switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of sensors that each acquire information about the outside world; the first device outputs a switching signal to the second device and the switch based on a predetermined condition, requesting a switch in the entity that transmits the synchronization signal; and upon receiving the switching signal, the switch switches the synchronization signal to be transmitted to the plurality of sensors to the synchronization signal output from the second device.

2. An electronic control device according to claim 1, wherein the first device outputs the switching signal when it determines that an abnormality has occurred in the first device.

3. An electronic control device according to claim 1, further comprising a deserializer to which the plurality of sensors are connected, wherein the switch transmits the synchronization signal to the plurality of sensors via the deserializer.

4. An electronic control device according to claim 1, further comprising a third device that outputs the switching signal to the second device and the switch based on a predetermined condition.

5. An electronic control device according to claim 1, comprising a plurality of said switches.

6. An electronic control device according to claim 1, wherein the sensor is a camera that captures an image of the outside world of the electronic control device.

7. An electronic control device comprising: a first device and a second device each capable of outputting a synchronization signal; a switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of sensors that each acquire information about the outside world; and a third device that outputs a switching signal to the first device, the second device, and the switch based on predetermined conditions, requesting a switch in the entity that transmits the synchronization signals; wherein when the switch receives the switching signal while transmitting the synchronization signal output from the first device to the plurality of sensors, it switches the synchronization signal to be transmitted to the plurality of sensors to the synchronization signal output from the second device.

8. An electronic control device comprising: a first device and a second device each capable of outputting a synchronization signal; a first switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of first sensors; and a second switch that receives the synchronization signals output from the first device and the second device and transmits one of the synchronization signals to a plurality of second sensors, wherein the first device outputs a switching signal to the second device, the first switch, and the second switch based on a predetermined condition, requesting a switching of a transmitter of the synchronization signal; upon receiving the switching signal, the first switch switches the synchronization signal to be transmitted to the plurality of first sensors to the synchronization signal output from the second device; and upon receiving the switching signal, the second switch switches the synchronization signal to be transmitted to the plurality of second sensors to the synchronization signal output from the second device.

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