Electronic control device

Abstract

An electronic control device (2) is mounted on a vehicle, and outputs an instruction to an on-vehicle device on the basis of data received from the outside of the vehicle. The electronic control device is provided with a base unit (11) and expansion units (12-16) that are configured to be physically separable from each other. The base unit is equipped with a first base mounting function (37), which is a first function of a first domain, and a second base mounting function (38), which is a first function of a second domain. Each expansion unit is equipped with at least one of a first expansion mounting function (55), which is a second function of the first domain, and a second expansion mounting function (65), which is a second function of the second domain.

Description

Electronic control unit CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This international application claims the benefit of Japanese Patent Application No. 2024-060201, filed with the Japan Patent Office on April 3, 2024, the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to an electronic control device mounted on a vehicle.

[0003] Japanese Patent Application Laid-Open No. 2003-144992 describes that the functions or performance of an in-vehicle device can be expanded by attaching an expansion unit to the main body of the in-vehicle device.

[0004] WO 2023 / 276815

[0005] As a result of detailed investigations by the inventors, the following problem was discovered: When developing a vehicle control system in which multiple domain ECUs, each of which is provided for a domain divided by vehicle function and controls multiple ECUs within the domain, are configured to cooperate with each other, it is easy to improve performance for each domain because the physical architecture is built for each domain. However, when developing a new application by combining functions across domains, coordination between the domain ECUs is required, which reduces the efficiency of application development.

[0006] The present disclosure provides an electronic control device that is mounted on a vehicle, is connected to an on-board device mounted on the vehicle, and is configured to output instructions to the on-board device based on data received from outside the vehicle.

[0007] The electronic control device of the present disclosure includes a base unit and one or more expansion units configured to be physically separated from each other. The base unit includes one or more base processors that are one or more processors mounted on the base unit, and a base memory that is a memory mounted on the base unit.

[0008] The one or more expansion units each include an expansion processor that is a processor mounted on the expansion unit and an expansion memory that is a memory mounted on the expansion unit. The base unit is equipped with a first base-mounted function that is a first function of a first domain that is one of a plurality of domains divided by vehicle functions, and a second base-mounted function that is a first function of a second domain that is one of the plurality of domains different from the first domain.

[0009] At least one of a first built-in expansion function, which is the second function of the first domain, and a second built-in expansion function, which is the second function of the second domain, is installed in one or more expansion units.

[0010] The electronic control device of the present disclosure configured in this manner can expand functions for each domain by connecting an expansion unit equipped with a first built-in expansion function or a second built-in expansion function to the base unit. Furthermore, since the electronic control device of the present disclosure has multiple functions divided into domains installed in a single electronic control device, coordination between multiple electronic control devices is not required when developing a new application, thereby improving application development efficiency.

[0011] 1 is a block diagram showing the configuration of a vehicle control system of a first embodiment. FIG. 2 is a block diagram showing the software structure of a base unit and an extension unit of the first embodiment. FIG. 3 is a block diagram showing devices connected to the vehicle control system. FIG. 4 is a flowchart showing the base monitoring process of the first embodiment. FIG. 5 is a flowchart showing a first part of the extended monitoring process of the first embodiment. FIG. 6 is a flowchart showing a second part of the extended monitoring process of the first embodiment. FIG. 7 is a diagram showing the transition of power supply modes of an integrated ECU. FIG. 8 is a diagram explaining a mode of starting up a vehicle. FIG. 9 is a block diagram showing the software structure of a base unit of a second embodiment. FIG. 10 is a block diagram showing the software structure of a base unit of a third embodiment. FIG. 11 is a block diagram showing the configuration of a vehicle control system of a fourth embodiment. FIG. 12 is a block diagram showing the configuration of a vehicle control system of a fifth embodiment. FIG. 13 is a block diagram showing the software structure of a base unit and an extension unit of a sixth embodiment. FIG. 14 is a block diagram showing the software structure of a base unit and an extension unit of a seventh embodiment. FIG. 15 is a flowchart showing the base monitoring process of an eighth embodiment. FIG. 16 is a flowchart showing the first part of the extended monitoring process of the eighth embodiment.

[0012] [First Embodiment] A first embodiment of the present disclosure will be described below with reference to the drawings. A vehicle control system 1 of this embodiment is mounted on a vehicle, and as shown in Fig. 1, includes an integrated ECU 2, a TCU 3, and zone ECUs 4, 5, 6, and 7. ECU stands for Electronic Control Unit. TCU stands for Telematics Control Unit.

[0013] The integrated ECU 2 controls the zone ECUs 4 to 7 and realizes coordinated control of the entire vehicle. The integrated ECU 2 includes a base unit 11 and an expansion unit 12.

[0014] The base unit 11 and the expansion unit 12 are housed in a housing formed in the shape of a rectangular box. An opening is formed on one of the six sides of the housing. By inserting the base unit 11 and the expansion unit 12 through the opening of the housing, the base unit 11 and the expansion unit 12 are housed in the housing so as to be individually detachable. By housing the base unit 11 and the expansion unit 12 in the housing, the base unit 11 and the expansion unit 12 are connected to each other so as to be able to communicate data with each other.

[0015] The base unit 11 includes a base SoC 21, an Ethernet switch 22, a PCIe switch 23, and storage 24. SoC is an abbreviation for System on a chip. PCIe is an abbreviation for Peripheral Component Interconnect Express. Ethernet is a registered trademark. PCIe is a registered trademark.

[0016] The base SoC 21 includes a CPU 31, a ROM 32, and a RAM 33. The various functions of the base SoC 21 are realized by the CPU 31 executing a program stored on a non-transitory physical recording medium. In this example, the ROM 32 corresponds to the non-transitory physical recording medium storing the program. Execution of this program also performs a method corresponding to the program. Note that some or all of the functions executed by the CPU 31 may be configured as hardware using one or more ICs, etc.

[0017] The Ethernet switch 22 is a network switch having a function of relaying communications between a plurality of devices connected to the Ethernet switch 22 in accordance with the Ethernet standard. The PCIe switch 23 is a network switch having a function of relaying communications between a plurality of devices connected to the PCIe switch 23 in accordance with the PCIe standard.

[0018] The storage 24 is a storage device for storing various data. The expansion unit 12 includes an expansion SoC 41 and an expansion SoC 42. The expansion SoC 41 and the expansion SoC 42 are mounted on a circuit board 48.

[0019] The extended SoC 41 includes a CPU 51, a ROM 52, and a RAM 53. The various functions of the extended SoC 41 are realized by the CPU 51 executing a program stored on a non-transitory physical recording medium. In this example, the ROM 52 corresponds to the non-transitory physical recording medium storing the program. Furthermore, the execution of this program results in the execution of a method corresponding to the program. Note that some or all of the functions executed by the CPU 51 may be configured as hardware using one or more ICs, etc.

[0020] The extended SoC 42 includes a CPU 61, a ROM 62, and a RAM 63. The various functions of the extended SoC 42 are realized by the CPU 61 executing a program stored on a non-transitory physical recording medium. In this example, the ROM 62 corresponds to the non-transitory physical recording medium storing the program. Furthermore, the execution of this program results in the execution of a method corresponding to the program. Note that some or all of the functions executed by the CPU 61 may be implemented in hardware using one or more ICs, etc.

[0021] The TCU 3 communicates wirelessly with an external communication device installed outside the vehicle. The base SoC 21 and the TCU 3 communicate with each other according to, for example, the Ethernet standard. The zone ECUs 4 to 7 are provided for each zone into which the vehicle is divided, and primarily control the ECUs within that zone.

[0022] The base SoC 21 communicates with the zone ECUs 4, 5, 6, and 7 connected to the communication bus by transmitting and receiving communication frames based on the CAN communication protocol. CAN is an abbreviation for Controller Area Network.

[0023] The Ethernet switch 22 is connected to the base SoC 21, the expansion SoCs 41 and 42, and the zone ECUs 4, 5, 6, and 7. The PCIe switch 23 is connected to the base SoC 21, the expansion SoCs 41 and 42, and the storage 24.

[0024] As shown in FIG. 2 , the base SoC 21 is equipped with a CPU 31 and a hard IP 34. IP stands for Intellectual Property. The base SoC 21 also includes a hypervisor 35. The hypervisor 35 manages various functions installed in the base unit 11 so that they can be executed in parallel on the CPU 31. In this embodiment, the hypervisor 35 manages basic infrastructure functions 36, basic ADAS functions 37, and basic cockpit functions 38. ADAS stands for Advanced Driver Assistance System.

[0025] The infrastructure basic function 36 is, for example, OTA control. OTA stands for Over The Air. The OTA control, for example, performs automatic updates of in-vehicle applications. The ADAS basic function 37 is, for example, adaptive cruise control and lane keep assist.

[0026] The cockpit basic functions 38 include, for example, displaying basic vehicle information (e.g., vehicle speed, engine speed, and remaining fuel) on meters and voice recognition in the driver's seat. The hardware IP 34 is hardware that executes predetermined processes, such as ISP processing of image data captured by an on-board camera. ISP stands for Image Signal Processing.

[0027] The extended SoC 41 is equipped with a CPU 51 and a hard IP 54. The CPU 51 is equipped with an ADAS extension function 55. The ADAS extension function 55 is a function for performing, for example, level 3 autonomous driving.

[0028] The hardware IP 54 is hardware that executes predetermined processes, such as ISP processing of image data captured by an in-vehicle camera. The extended SoC 42 includes a CPU 61 and a hardware IP 64.

[0029] The CPU 61 is equipped with a cockpit expansion function 65. The cockpit expansion function 65 is, for example, a voice recognition function for all seats in the vehicle. The hardware IP 64 is hardware that executes predetermined processes, for example, ISP processing of image data captured by an in-vehicle camera.

[0030] As shown in FIG. 3, the zone ECU 4 communicates with a power train ECU 71, a brake ECU 72, and a steering ECU 73 connected to the communication bus by transmitting and receiving communication frames based on the CAN communication protocol.

[0031] The zone ECU 7 communicates with the smart key ECU 74 connected to the communication bus by sending and receiving communication frames based on the CAN communication protocol. The smart key ECU 74 wirelessly communicates with the smart key carried by the vehicle driver to detect when the driver approaches the vehicle and unlock the vehicle doors, or detect when the driver leaves the vehicle and lock the doors.

[0032] The front camera 75 captures an image of the area in front of the vehicle and outputs image data to the base SoC 21. The front side camera 76 captures an image of the area in front of the vehicle and outputs image data to the extended SoC 41.

[0033] The base SoC 21 communicates with a data link connector 77 connected to the communication bus by transmitting and receiving communication frames based on the CAN communication protocol. The data link connector 77 is also connected to the Ethernet switch 22.

[0034] The expansion unit 12 transmits various commands to the base unit 11 in order to realize the functions installed in the expansion unit 12. The base unit 11 controls the zone ECUs 4 to 7 based on the various commands from the expansion unit 12.

[0035] However, if an abnormality occurs that prevents data communication between the base unit 11 and the zone ECUs 4 to 7, the expansion unit 12 cannot control the zone ECUs 4 to 7 via the base unit 11, and instead controls the zone ECUs 4 to 7 by directly transmitting various commands to the zone ECUs 4 to 7. For example, the expansion SoC 41 controls the powertrain ECU 71, brake ECU 72, and steering ECU 73 connected to the zone ECU 4 by directly transmitting various commands to the zone ECU 4 to implement the ADAS expansion function 55 installed in the expansion SoC 41.

[0036] The expansion SoC 41 is also configured to execute the ADAS basic function 37 of the base unit 11 in place of the base unit 11 when the ADAS basic function 37 of the base unit 11 stops, and to transmit various commands from the expansion unit 12 to the base unit 11. The expansion SoC 41 is also configured to execute the infrastructure basic function 36 or the cockpit basic function 38 in place of the base unit 11 when the infrastructure basic function 36 or the cockpit basic function 38 of the base unit 11 stops.

[0037] Next, the procedure of the base monitoring process executed by the base SoC 21 of the base unit 11 will be described. The base monitoring process is a process that starts immediately after the base SoC 21 is started. When the base monitoring process is executed, the CPU 31 of the base SoC 21 executes a process (hereinafter referred to as the expansion abnormality detection process) to detect an abnormality that has occurred in the expansion unit 12 by performing data communication with the expansion unit 12 in S10, as shown in FIG.

[0038] In S20, the CPU 31 determines whether an abnormality in the expansion unit 12 has been detected based on the detection result of the expansion abnormality detection process in S10. If an abnormality in the expansion unit 12 has not been detected, the CPU 31 proceeds to S10. On the other hand, if an abnormality in the expansion unit 12 has been detected, the CPU 31 notifies the driver of the vehicle in S30 that the function of the expansion unit 12 will be stopped. For example, the CPU 31 displays on the meter display, CID, or HUD that the function of the expansion unit 12 will be stopped. CID stands for Center Information Display. HUD stands for Head Up Display.

[0039] In S40, the CPU 31 notifies the driver of the vehicle whether or not it is permitted to reset the expansion unit 12. For example, the CPU 31 displays a reset permission confirmation image indicating whether or not it is permitted to reset the expansion unit 12 on the meter display, CID, or HUD.

[0040] In S50, the CPU 31 determines whether or not the driver has permitted the reset of the expansion unit 12. Specifically, the CPU 31 determines whether or not the driver has permitted the reset based on the driver's operation of an operation switch installed on the CID or the steering wheel, for example.

[0041] If the driver has not permitted the expansion unit 12 to be reset, the CPU 31 proceeds to S40. On the other hand, if the driver has permitted the expansion unit 12 to be reset, the CPU 31 resets the expansion unit 12 in S60.

[0042] In S70, the CPU 31 determines whether the expansion unit 12 has returned to normal as a result of the reset in S60. If the expansion unit 12 has returned to normal, the CPU 31 proceeds to S100.

[0043] On the other hand, if the expansion unit 12 does not return to normal, the CPU 31 determines in S80 whether the number of consecutive times the expansion unit 12 has not returned to normal (hereinafter referred to as the number of consecutive abnormalities) is N or more, where N is an integer equal to or greater than 1. If the number of consecutive abnormalities is less than N, the CPU 31 proceeds to S100. On the other hand, if the number of consecutive abnormalities is N or more, the CPU 31 notifies the driver of an abnormality in the expansion unit 12 in S90 and proceeds to S110.

[0044] When the process proceeds to S100, the CPU 31 notifies the driver that the expansion unit 12 has returned to normal, and then proceeds to S110. When the process proceeds to S110, the CPU 31 determines whether the vehicle control system 1 has been turned off. When the vehicle control system 1 is activated and in the on state, for example, when a power switch installed near the driver's seat is operated, the vehicle control system 1 transitions to the off state.

[0045] If the vehicle control system 1 is not in the OFF state, the CPU 31 proceeds to S10. On the other hand, if the vehicle control system 1 is in the OFF state, the CPU 31 ends the base monitoring process.

[0046] Next, the procedure of the extended monitoring process executed by the extended SoC 41 of the expansion unit 12 will be described. The extended monitoring process is a process that starts immediately after the extended SoC 41 is started. When the extended monitoring process is executed, the CPU 51 of the extended SoC 41 executes a process (hereinafter referred to as base abnormality detection process) to detect an abnormality that has occurred in the base unit 11 by performing data communication with the base unit 11 in S210, as shown in FIG.

[0047] In S220, the CPU 51 determines, based on the detection result of the base abnormality detection process in S210, whether or not an abnormality has been detected in the base unit 11. If an abnormality in the base unit 11 has not been detected, the CPU 51 proceeds to S210.

[0048] On the other hand, if an abnormality in the expansion unit 12 is detected, the CPU 51 determines in S230 whether or not the processing executed by the base unit 11 can be performed by the expansion unit 12 instead.

[0049] If the expansion unit 12 cannot be substituted, the CPU 51 proceeds to S320. On the other hand, if the expansion unit 12 can be substituted, the CPU 51 determines in S240 whether or not it is possible to deal with the situation by resetting a part of the base unit 11 (hereinafter referred to as a partial reset).

[0050] If a partial reset is possible, the CPU 51 notifies the driver in S250 that a partial reset of the base unit 11 will be performed. The CPU 51 notifies the driver in S260 whether or not it is OK to perform a partial reset of the base unit 11.

[0051] In S270, the CPU 51 determines whether or not the driver has permitted partial resetting of the base unit 11. If the driver has not permitted partial resetting of the base unit 11, the CPU 51 proceeds to S260. On the other hand, if the driver has permitted partial resetting of the base unit 11, the CPU 51 performs partial resetting of the base unit 11 in S280.

[0052] In S290, the CPU 51 determines whether the base unit 11 has returned to normal as a result of the partial reset in S280. If the base unit 11 has returned to normal, the CPU 51 notifies the driver in S300 that the base unit 11 has returned to normal, and then the process proceeds to S330.

[0053] On the other hand, if the base unit 11 does not return to normal, the CPU 51 determines in S310 whether the number of consecutive times the base unit 11 has not returned to normal (hereinafter referred to as the number of consecutive abnormalities) is N or more, where N is an integer equal to or greater than 1. If the number of consecutive abnormalities is less than N, the CPU 51 proceeds to S280. On the other hand, if the number of consecutive abnormalities is N or more, the CPU 51 proceeds to S320.

[0054] When the process proceeds to S320, the CPU 51 notifies the driver of an abnormality in the base unit 11, and then proceeds to S330. When the process proceeds to S330, the CPU 51 determines whether the vehicle control system 1 has been turned off. If the vehicle control system 1 has not been turned off, the CPU 51 proceeds to S210. On the other hand, if the vehicle control system 1 has been turned off, the CPU 51 ends the extended monitoring process.

[0055] If partial reset is not sufficient in S240, the CPU 51 notifies the driver in S340 that the vehicle needs to be stopped, as shown in Fig. 6. The CPU 51 determines in S350 whether the vehicle has stopped. Specifically, the CPU 51 determines that the vehicle has stopped when, for example, the shift position of the vehicle is in park.

[0056] If the vehicle is not stopped, the CPU 51 proceeds to S340. On the other hand, if the vehicle is stopped, the CPU 51 notifies the driver in S360 whether or not to execute a partial reset of the base unit 11, in the same manner as in S260.

[0057] In S370, the CPU 51 determines, in the same manner as in S270, whether or not the driver has permitted partial resetting of the base unit 11. If the driver has not permitted partial resetting of the base unit 11, the CPU 51 proceeds to S360. On the other hand, if the driver has permitted partial resetting of the base unit 11, in S380, the CPU 51 partially resets the base unit 11 in the same manner as in S280, and then proceeds to S290.

[0058] 7, the integrated ECU 2 has two power modes: a power-off mode M1 and a power-on mode M2. The power-off mode M1 is the power mode of the integrated ECU 2 when the ignition power supply of the vehicle is off (hereinafter referred to as IG off). That is, the power-off mode M1 is the power mode when the base unit 11 and the expansion unit 12 are stopped.

[0059] The power-on mode M2 ​​is a power mode of the integrated ECU 2 when the IG power supply is on (hereinafter referred to as IG on). The power-on mode M2 ​​includes a first on mode M21, a second on mode M22, and a third on mode M23.

[0060] The first on mode M21 is a power supply mode when the base unit 11 and the expansion unit 12 are activated. The second on mode M22 is a power supply mode when the base unit 11 is activated and the expansion unit 12 is stopped.

[0061] The third on mode M23 is a power supply mode when the base unit 11 is in a sleep state and the expansion unit 12 is stopped. The sleep state is an operating state in which available functions are limited and power consumption is low.

[0062] When the IG is switched from off to on, the integrated ECU 2 transitions from the power-off mode M1 to the power-on mode M2 ​​as indicated by the arrow L1. When the IG is switched from on to off, the integrated ECU 2 transitions from the power-on mode M2 ​​to the power-off mode M1 as indicated by the arrow L2.

[0063] When in the first on mode M21, if the base unit 11 determines that the extended function will not be used, the integrated ECU 2 transitions from the first on mode M21 to the second on mode M22, as shown by the arrow L3.

[0064] When in the second on mode M22, if the base unit 11 determines that the extended function is to be used, the integrated ECU 2 transitions from the second on mode M22 to the first on mode M21, as shown by the arrow L4.

[0065] When in the second on mode M22, if the base unit 11 determines that the entire vehicle needs to be put into power saving mode, the integrated ECU 2 transitions from the second on mode M22 to the third on mode M23, as shown by the arrow L5.

[0066] When in the third on mode M23, if the base unit 11 determines that only the base unit 11 needs to be started, the integrated ECU 2 transitions from the third on mode M23 to the second on mode M22, as shown by arrow L6.

[0067] When in the third on mode M23, if the base unit 11 determines that it is necessary to start up the entire vehicle, the integrated ECU 2 transitions from the third on mode M23 to the first on mode M21, as shown by the arrow L7.

[0068] When in the first on mode M21, if the base unit 11 determines that the entire vehicle needs to be put into power saving mode, the integrated ECU 2 transitions from the first on mode M21 to the third on mode M23, as shown by arrow L8.

[0069] When the power-off mode M1 transitions to the power-on mode M2, whether the mode transitions to the first on mode M21, the second on mode M22, or the third on mode M23 is determined by the content of the trigger for transitioning to the power-on mode M2.

[0070] 8, when a driver D approaches the vehicle and operates a smart key SK or the like to unlock the vehicle doors, the smart key SK transmits a wireless signal WS. The smart key ECU 74 receives the wireless signal WS and transmits a door unlock command to the base unit 11 of the integrated ECU 2 via the zone ECU 7, as shown by arrow L11.

[0071] Upon receiving the door unlock instruction, the base unit 11 changes the power supply mode and, if necessary, starts up the expansion unit 12. Therefore, the base unit 11 starts up before the expansion unit 12. Furthermore, upon receiving the door unlock instruction, the integrated ECU 2 instructs the zone ECUs 4 to 7, which control door unlocking, to unlock the doors.

[0072] Furthermore, when the driver D operates a smartphone SP or the like that he or she owns to remotely start the vehicle air conditioner, the smartphone SP transmits an air conditioner start instruction to the center CT via wireless communication. The center CT then transfers the received air conditioner start instruction to the TCU 3 via wireless communication. Upon receiving the air conditioner start instruction, the TCU 3 transmits the air conditioner start instruction to the base unit 11 of the integrated ECU 2, as indicated by arrow L12. Upon receiving the air conditioner start instruction, the base unit 11 changes its power mode and, if necessary, starts the expansion unit 12. Therefore, the base unit 11 starts up before the expansion unit 12. Furthermore, upon receiving the air conditioner start instruction, the integrated ECU 2 instructs the zone ECUs 4 to 7 that control the vehicle air conditioners to start the air conditioners.

[0073] The integrated ECU 2 configured in this manner is mounted on a vehicle, connected to the zone ECUs 4 to 7 mounted on the vehicle so as to be able to communicate data with the zone ECUs 4 to 7, and configured to output instructions to the zone ECUs 4 to 7 based on data received from outside the vehicle.

[0074] The integrated ECU 2 includes a base unit 11 and an expansion unit 12 that are configured to be physically separated from each other. The base unit 11 includes a CPU 31, a ROM 32, and a RAM 33.

[0075] The expansion unit 12 includes CPUs 51 and 61, ROMs 52 and 62, and RAMs 53 and 63. The base unit 11 is equipped with an ADAS basic function 37, which is the first function of the ADAS domain, and a cockpit basic function 38, which is the first function of the cockpit domain. A domain indicates a category of vehicle functions. Examples of domains include an ADAS domain, a cockpit domain, a body domain, and a powertrain domain.

[0076] The expansion unit 12 is equipped with an ADAS expansion function 55, which is the second function of the ADAS domain, and a cockpit expansion function 65, which is the second function of the cockpit domain. The integrated ECU 2 can expand its functions for each domain by connecting the expansion unit 12 equipped with the ADAS expansion function 55 or the cockpit expansion function 65 to the base unit 11. Since the integrated ECU 2 has multiple functions divided for each domain installed in a single ECU, coordination between multiple ECUs is not required when developing a new application, thereby improving the efficiency of application development.

[0077] The expansion unit 12 is also equipped with an ADAS expansion function 55 and a cockpit expansion function 65. This allows two functions (i.e., the ADAS domain function and the cockpit domain function) to be expanded by a single operation of connecting the expansion unit 12 to the base unit 11, thereby improving the efficiency of the function expansion operation.

[0078] Furthermore, the expansion unit 12 is configured to execute a stopped function in place of the ADAS basic function 37 and the cockpit basic function 38 of the base unit 11 when the function is stopped. This prevents the integrated ECU 2 from being unable to use the ADAS basic function 37 or the cockpit basic function 38, thereby improving the reliability of the integrated ECU 2.

[0079] The base unit 11 is also configured to monitor abnormalities in the expansion unit 12. The expansion unit 12 is configured to monitor abnormalities in the base unit 11. This allows the integrated ECU 2 to recognize the occurrence of an abnormality when an abnormality occurs in the base unit 11 or the expansion unit 12 and to execute processing to respond to the occurrence of the abnormality, thereby improving the reliability of the integrated ECU 2.

[0080] The base unit 11 is also configured to start up before the expansion unit 12. This allows the base unit 11 to manage the startup of the expansion unit 12. The base unit 11 is configured to transition at least between a first on mode M21, a second on mode M22, and a power off mode M1. The first on mode M21 is a power mode when the base unit 11 is in an activated state and the expansion unit 12 is in an activated state. The second on mode M22 is a power mode when the base unit 11 is in an activated state and the expansion unit 12 is in a stopped state. The power off mode M1 is a power mode when the base unit 11 is in a stopped state and the expansion unit 12 is in a stopped state.

[0081] The CPU 31 is also equipped with an ADAS basic function 37, a cockpit basic function 38, and a hypervisor 35 configured to manage the ADAS basic function 37 and the cockpit basic function 38 so that the ADAS basic function 37 and the cockpit basic function 38 can be executed in parallel on the CPU 31. This allows the integrated ECU 2 to realize the ADAS basic function 37 and the cockpit basic function 38 by making maximum use of the resources of the CPU 31.

[0082] The expanded SoC 41 includes a CPU 51, a ROM 52, and a RAM 53. The expanded SoC 42 includes a CPU 61, a ROM 62, and a RAM 63. The CPU 51, the ROM 52, the RAM 53, the CPU 61, the ROM 62, and the RAM 63 are mounted on the same circuit board 48. This allows two functions (i.e., the ADAS domain function and the cockpit domain function) to be expanded by a single operation of connecting the circuit board 48 to the base unit 11, thereby improving the efficiency of the function expansion operation.

[0083] In the embodiment described above, the integrated ECU 2 corresponds to an electronic control unit, the zone ECUs 4 to 7 correspond to in-vehicle devices, the CPU 31 corresponds to a base processor, and the ROM 32 and RAM 33 correspond to base memories.

[0084] Furthermore, the CPUs 51 and 61 correspond to extended processors, the ROMs 52 and 62 and the RAMs 53 and 63 correspond to extended memories, the ADAS corresponds to the first domain, and the cockpit corresponds to the second domain.

[0085] In addition, the ADAS basic function 37 corresponds to the first base-mounted function, the cockpit basic function 38 corresponds to the second base-mounted function, the ADAS expansion function 55 corresponds to the first expansion-mounted function, and the cockpit expansion function 65 corresponds to the second expansion-mounted function.

[0086] The first on mode M21 corresponds to the first power mode, the second on mode M22 corresponds to the second power mode, and the power off mode M1 corresponds to the third power mode. The extended SoC 41 corresponds to the first expansion unit, the CPU 51 corresponds to the first expansion processor, the ROM 52 and RAM 53 correspond to the first expansion memory, the extended SoC 42 corresponds to the second expansion unit, the CPU 61 corresponds to the second expansion processor, and the ROM 62 and RAM 63 correspond to the second expansion memory.

[0087] Second Embodiment A second embodiment of the present disclosure will be described below with reference to the drawings. In the second embodiment, differences from the first embodiment will be described. The same reference numerals will be used to designate common components.

[0088] The vehicle control system 1 of the second embodiment differs from the first embodiment in that the configuration of the integrated ECU 2 is changed. As shown in Fig. 9, the second embodiment differs from the first embodiment in that the base SoC 21 of the integrated ECU 2 is equipped with CPUs 31a, 31b, and 31c instead of the CPU 31. The base SoC 21 of the second embodiment also differs from the first embodiment in that the hypervisor 35 is omitted.

[0089] Then, the CPU 31a, the CPU 31b, and the CPU 31c execute processes for realizing the infrastructure basic function 36, the ADAS basic function 37, and the cockpit basic function 38, respectively.

[0090] In the integrated ECU 2 configured in this manner, of the multiple CPUs 31a, 31b, and 31c, the CPU 31b is equipped with the ADAS basic functions 37, and the CPU 31c is equipped with the cockpit basic functions 38. As a result, in the integrated ECU 2, the ADAS basic functions 37 and the cockpit basic functions 38 are separated from each other in terms of hardware, so that when the functions of the ADAS basic functions 37 and the cockpit basic functions 38 are changed, the changes do not affect each other.

[0091] In the embodiment described above, the CPUs 31a, 31b, and 31c correspond to base processors, the CPU 31b corresponds to the first base processor, and the CPU 31c corresponds to the second base processor.

[0092] Third Embodiment A third embodiment of the present disclosure will be described below with reference to the drawings. In the third embodiment, differences from the first embodiment will be described. The same reference numerals will be used to designate common components.

[0093] The vehicle control system 1 of the third embodiment differs from the first embodiment in that the configuration of the integrated ECU 2 is changed. As shown in Fig. 10 , the third embodiment differs from the first embodiment in that CPUs 31a, 31b, and 31c are mounted on the base SoC 21 of the integrated ECU 2 instead of CPU 31. Another difference from the first embodiment is that a hypervisor 35 is mounted on CPU 31b.

[0094] The CPU 31a executes processing for realizing the basic infrastructure functions 36. The hypervisor 35 installed in the CPU 31b manages the basic ADAS functions 37 and the basic cockpit functions 38.

[0095] The CPU 31c executes processing for realizing the ADAS basic functions 39. The ADAS basic functions 39 are functions that require a high safety standard (for example, functions with an ASIL class of C or D) extracted from the ADAS basic functions 37. ASIL stands for Automotive Safety Integrity Level. In other words, the ADAS basic functions 37 of the second embodiment are functions that do not require a high safety standard.

[0096] In the integrated ECU 2 configured in this manner, the CPU 31b is equipped with the ADAS basic functions 37, the cockpit basic functions 38, and a hypervisor 35 configured to manage the ADAS basic functions 37 and the cockpit basic functions 38 so that the ADAS basic functions 37 and the cockpit basic functions 38 can be executed in parallel on the CPU 31. The CPU 31c is equipped with the ADAS basic functions 39. This allows the integrated ECU 2 to realize the ADAS basic functions 37 and the cockpit basic functions 38 by making maximum use of the resources of the CPU 31b. Furthermore, because the ADAS basic functions 37 and the cockpit basic functions 38 are separated from the ADAS basic functions 39 in terms of hardware, the integrated ECU 2 can prevent changes to the ADAS basic functions 37 and the cockpit basic functions 38 from affecting the ADAS basic functions 39.

[0097] In the embodiment described above, the CPU 31b corresponds to the first base processor, the CPU 31c corresponds to the second base processor, and the ADAS basic function 39 corresponds to the third base-mounted function.

[0098] Fourth Embodiment A fourth embodiment of the present disclosure will be described below with reference to the drawings. In the fourth embodiment, differences from the first embodiment will be described. The same reference numerals will be used to designate common components.

[0099] The vehicle control system 1 of the fourth embodiment differs from the first embodiment in that the configuration of the integrated ECU 2 is changed. As shown in Fig. 11 , the integrated ECU 2 of the fourth embodiment differs from the first embodiment in that it includes expansion units 13, 14, 15, and 16 instead of the expansion unit 12.

[0100] The expansion units 13, 14, 15, and 16 include expansion SoCs 43, 44, 45, and 46, respectively. The expansion SoC 43 includes a CPU 111, a ROM 112, and a RAM 113.

[0101] The extended SoC 44 includes a CPU 121, a ROM 122, and a RAM 123. The extended SoC 45 includes a CPU 131, a ROM 132, and a RAM 133. The extended SoC 46 includes a CPU 141, a ROM 142, and a RAM 143.

[0102] The expansion SoCs 43, 44, 45, and 46 are mounted on circuit boards 115, 125, 135, and 145, respectively. The expansion unit 13 is equipped with, for example, an expansion function for ADAS. The expansion unit 14 is equipped with, for example, a function for realizing level 4 autonomous driving. The expansion unit 15 is equipped with, for example, a function for operating as an edge computer that mediates between the vehicle and a cloud server. The expansion unit 15 is equipped with, for example, an expansion function for the cockpit.

[0103] The Ethernet switch 22 is connected to the base SoC 21, the expansion SoCs 43, 44, 45, and 46, and the zone ECUs 4, 5, 6, and 7. The PCIe switch 23 is connected to the base SoC 21, the expansion SoCs 43, 44, 45, and 46, and the storage 24.

[0104] The integrated ECU 2 configured in this manner includes an expansion unit 13 and an expansion unit 14. The expansion unit 13 is equipped with an ADAS expansion function, and the expansion unit 14 is equipped with a function for realizing level 4 autonomous driving. The function for realizing level 4 autonomous driving differs in domain and function from the ADAS expansion function. As a result, in the integrated ECU 2, the functions equipped in the expansion unit 13 and the functions equipped in the expansion unit 14 are separated from each other in terms of hardware, so that when the functions equipped in the expansion units 13 and 14 are changed, the changes do not affect each other.

[0105] Further, expansion unit 13 includes a CPU 111, a ROM 112, and a RAM 113. Expansion unit 14 includes a CPU 121, a ROM 122, and a RAM 123. CPU 111, ROM 112, and RAM 113 are mounted on a circuit board 115. CPU 121, ROM 122, and RAM 123 are mounted on a circuit board 125. As a result, in the integrated ECU 2, the functions mounted on expansion unit 13 and the functions mounted on expansion unit 14 are separated from each other in terms of hardware, so that when the functions mounted on expansion units 13 and 14 are changed, the change does not affect each other.

[0106] In the embodiment described above, the expansion unit 13 corresponds to a first expansion unit, the CPU 111 corresponds to a first expansion processor, and the ROM 112 and RAM 113 correspond to a first expansion memory.

[0107] The expansion unit 14 corresponds to a second expansion unit, the CPU 121 corresponds to a second expansion processor, the ROM 122 and the RAM 123 correspond to a second expansion memory, the circuit board 115 corresponds to a first circuit board, and the circuit board 125 corresponds to a second circuit board.

[0108] Fifth Embodiment A fifth embodiment of the present disclosure will be described below with reference to the drawings. In the fifth embodiment, differences from the fourth embodiment will be described. The same reference numerals will be used to designate common components.

[0109] The vehicle control system 1 of the fifth embodiment differs from the fourth embodiment in the connection between the base unit 11 and the expansion units 13, 14, 15, and 16. As shown in Fig. 12, the base unit 11 of the fifth embodiment differs from the fourth embodiment in that the PCIe switch 23 is omitted.

[0110] The second embodiment differs from the fourth embodiment in that the base unit 11 and the expansion units 13 are connected by an LVDS communication line 18. Similarly, the second embodiment differs from the fourth embodiment in that the base unit 11 and the expansion units 14, 15, and 16 are connected by an LVDS communication line 18. LVDS stands for Low Voltage Differential Signaling.

[0111] Sixth Embodiment A sixth embodiment of the present disclosure will be described below with reference to the drawings. In the sixth embodiment, differences from the first embodiment will be described. The same reference numerals will be used to designate common components.

[0112] The vehicle control system 1 of the sixth embodiment differs from the first embodiment in that the configurations of the base unit 11 and the expansion unit 12 are changed. As shown in Fig. 13 , in the base unit 11 of the sixth embodiment, an ISP processing function 81 is installed in the hard IP 34. Furthermore, an ADAS image recognition function 82 and an ADAS application 83 are installed in the CPU 31. The ADAS image recognition function 82 and the ADAS application 83 are functions included in the ADAS basic function 37.

[0113] The ISP processing function 81 is a function that performs ISP processing on image data generated by the front camera 75. The ADAS image recognition function 82 is a function that performs image recognition processing using the image data that has been subjected to ISP processing by the ISP processing function 81.

[0114] The ADAS application 83 performs adaptive cruise control, lane keep assist, etc. using the recognition results of the ADAS image recognition function 82. In the expansion unit 12 of the sixth embodiment, an ISP processing function 84 is installed in the hardware IP 54. Furthermore, an autonomous driving image recognition function 85, an autonomous driving target recognition function 86, and an autonomous driving application 87 are installed in the CPU 31. The autonomous driving image recognition function 85, the autonomous driving target recognition function 86, and the autonomous driving application 87 are functions included in the ADAS expansion function 55.

[0115] The ISP processing function 84 is a function that performs ISP processing on image data generated by the front side camera 76. The autonomous driving image recognition function 85 is a function that performs image recognition processing using the image data that has been subjected to ISP processing by the ISP processing function 84.

[0116] The autonomous driving target recognition function 86 is a function that performs processing to recognize targets using the recognition results of the autonomous driving image recognition function 85. The autonomous driving application 87 uses the recognition results of the autonomous driving target recognition function 86 to perform autonomous driving.

[0117] The base unit 11 and the expansion unit 12 monitor each other. That is, the base unit 11 detects an abnormality that occurs in the expansion unit 12 by performing data communication with the expansion unit 12. Similarly, the expansion unit 12 detects an abnormality that occurs in the base unit 11 by performing data communication with the base unit 11.

[0118] When the base unit 11 detects an abnormality in the ISP processing function 84 in the expansion unit 12, as shown by arrow L21, it transmits image data that has been ISP processed by the ISP processing function 81 to the expansion unit 12. If the image data is digital data in, for example, RGB format or YUV format, it is necessary to transmit the image data via LVDS or PCIe.

[0119] The autonomous driving image recognition function 85 then performs image recognition processing using the image data that has been subjected to ISP processing by the ISP processing function 81. This allows the vehicle control system 1 to continue autonomous driving using the image data generated by the front camera 75, even if the image data generated by the front side camera 76 becomes unavailable.

[0120] Seventh Embodiment A seventh embodiment of the present disclosure will be described below with reference to the drawings. In the seventh embodiment, differences from the sixth embodiment will be described. The same reference numerals will be used to designate common components.

[0121] As shown in FIG. 14 , the vehicle control system 1 of the seventh embodiment differs from the sixth embodiment in that the processing performed when an abnormality in the ISP processing function 84 is detected has been changed. When the base unit 11 detects an abnormality in the ISP processing function 84 in the expansion unit 12, the base unit 11 transmits the recognition result of the ADAS image recognition function 82 to the expansion unit 12, as indicated by arrow L22. If the recognition result of the ADAS image recognition function 82 is digital data in, for example, RGB or YUV format, the recognition result must be transmitted via LVDS or PCIe. On the other hand, if the recognition result of the ADAS image recognition function 82 is, for example, text data, the recognition result may be transmitted via Ethernet.

[0122] Then, the autonomous driving image recognition function 85 performs image recognition processing using the recognition results of the ADAS image recognition function 82. As a result, the vehicle control system 1 can continue autonomous driving using the image data generated by the front camera 75 even if a situation arises in which the image data generated by the front side camera 76 cannot be used.

[0123] In the integrated ECU 2 configured in this manner, the base unit 11 operates the ADAS basic function 37 in the base unit 11 in conjunction with the ADAS expansion function 55 in the expansion unit 12. This allows the integrated ECU 2 to allow the expansion unit 12 to use the resources of the base unit 11, thereby reducing the processing load on the expansion unit 12.

[0124] Eighth Embodiment An eighth embodiment of the present disclosure will be described below with reference to the drawings. In the eighth embodiment, differences from the first embodiment will be described. The same reference numerals will be used to designate common components.

[0125] The vehicle control system 1 of the eighth embodiment differs from the first embodiment in that the base monitoring process and the extended monitoring process are changed. Next, the procedure of the base monitoring process of the eighth embodiment will be described.

[0126] 15, the base monitoring process of the eighth embodiment differs from the first embodiment in that the process of S30 is omitted. That is, if an abnormality in the expansion unit 12 is detected in S20, the CPU 31 proceeds to S40.

[0127] The extended monitoring process of the eighth embodiment differs from the first embodiment in that it is executed by the base SoC 21 of the base unit 11 instead of the extended SoC 41 of the extension unit 12. The extended monitoring process of the eighth embodiment also differs from the first embodiment in that it executes the process of S212 instead of S210 and in that the process of S230 is omitted.

[0128] That is, when the extended monitoring process of the eighth embodiment is executed, the CPU 31 of the base SoC 21 executes a process to detect an abnormality that has occurred in the base unit 11 in S212, as shown in FIG. 16, and then proceeds to S220.

[0129] Furthermore, if an abnormality in the expansion unit 12 is detected in S220, the CPU 31 proceeds to S240. In the integrated ECU 2 configured in this manner, the base unit 11 is configured to monitor abnormalities in the base unit 11 and the expansion unit 12. This allows the integrated ECU 2 to recognize the occurrence of an abnormality when an abnormality occurs in the base unit 11 or the expansion unit 12, and to execute processing corresponding to the occurrence of the abnormality, thereby improving the reliability of the integrated ECU 2.

[0130] While one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment and can be implemented in various modifications. [Modification 1] In the first embodiment, the expansion unit 12 is equipped with both the ADAS expansion function 55 and the cockpit expansion function 65. However, the expansion unit 12 may be equipped with either the ADAS expansion function 55 or the cockpit expansion function 65.

[0131] [Modification 2] In the first embodiment, the base monitoring process of Fig. 4 and the extended monitoring process of Fig. 5 are executed. However, the processes of S40 and S50 of Fig. 4 and the processes of S260 and S270 of Fig. 5 may be omitted.

[0132] The SoC 21, 41 and the method described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the SoC 21, 41 and the method described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the SoC 21, 41 and the method described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. The method for implementing the functions of each unit included in the SoC 21, 41 does not necessarily need to include software; all of the functions may be implemented using one or more hardware devices.

[0133] In the above embodiments, multiple functions of one component may be realized by multiple components, or one function of one component may be realized by multiple components. Furthermore, multiple functions of multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Furthermore, part of the configuration of the above embodiments may be omitted. Furthermore, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments.

[0134] In addition to the integrated ECU 2 described above, the present disclosure can also be realized in various forms, such as a system including the integrated ECU 2 as a component, a program for causing a computer to function as the integrated ECU 2, a non-transitory physical recording medium such as a semiconductor memory on which the program is recorded, a function expansion method, etc. [Technical Idea Disclosed in the Specification] [Item 1] An electronic control device (2) mounted on a vehicle, connected to an on-board device (4, 5, 6, 7) mounted on the vehicle so as to be able to communicate data with the on-board device, and configured to output instructions to the on-board device based on data received from outside the vehicle, comprising: a base unit (11) and one or more expansion units (12, 13, 14, 15, 16) configured to be physically separated from each other; the base unit comprises one or more base processors (31, 31a, 31b, 31c) which are one or more processors mounted on the base unit, and base memories (32, 33) which are memories mounted on the base unit; an electronic control device in which each of the one or more expansion units comprises an expansion processor (51, 61, 111, 121, 131, 141) that is a processor mounted on the expansion unit, and an expansion memory (52, 53, 62, 63, 112, 113, 122, 123, 132, 133, 142, 143) that is a memory mounted on the expansion unit, the base unit is equipped with a first base-mounted function (37) that is a first function of a first domain that is one of a plurality of domains divided by the functions of the vehicle, and a second base-mounted function (38) that is a first function of a second domain that is one of the plurality of domains different from the first domain, and the one or more expansion units are equipped with at least one of a first expansion-mounted function (55) that is a second function of the first domain and a second expansion-mounted function (65) that is a second function of the second domain.

[0135] [Item 2] The electronic control device according to item 1, wherein the one or more expansion units are equipped with the first expansion function and the second expansion function.

[0136] [Item 3] The electronic control device according to item 1 or 2, wherein one or more of the expansion units are configured to take over and execute a stopped function when at least one of the first base-mounted function and the second base-mounted function of the base unit stops.

[0137] [Item 4] An electronic control device according to any one of items 1 to 3, wherein the base unit is configured to monitor one or more of the expansion units for abnormalities, and the one or more expansion units are configured to monitor the base unit for abnormalities.

[0138] [Item 5] The electronic control device according to any one of items 1 to 3, wherein the base unit is configured to monitor abnormalities in the base unit and in one or more of the expansion units.

[0139] [Item 6] The electronic control device according to any one of items 1 to 5, wherein the base unit is configured to start up before one or more of the expansion units.

[0140] [Item 7] An electronic control device according to any one of items 1 to 6, wherein a state in which the power supply is cut off and the device is stopped is defined as a stopped state, and a state in which the device is started with power supplied, and wherein the base unit is configured to transition at least between a first power supply mode in which the base unit is in the started state and one or more of the expansion units are in the started state, a second power supply mode in which the base unit is in the started state and one or more of the expansion units are in the stopped state, and a third power supply mode in which the base unit is in the stopped state and one or more of the expansion units are in the stopped state.

[0141] [Item 8] An electronic control device according to any one of items 1 to 7, wherein the one or more base processors are a plurality of base processors (31a, 31b, 31c), wherein a first base processor (31b) that is one of the plurality of base processors is equipped with the first base-mounted function, and a second base processor (31c) that is one of the plurality of base processors different from the first base processor is equipped with the second base-mounted function.

[0142] [Item 9] The electronic control device according to any one of items 1 to 7, wherein the one or more base processors are one base processor (31), and the one base processor is equipped with the first on-board function, the second on-board function, and a hypervisor (35) configured to manage the first on-board function and the second on-board function so that the first on-board function and the second on-board function can be executed in parallel on the one base processor.

[0143] [Item 10] An electronic control device according to any one of items 1 to 7, wherein the one or more base processors are a plurality of base processors (31a, 31b, 31c), and a first base processor (31b) that is one of the base processors is equipped with the first on-base function, the second on-base function, and a hypervisor (35) configured to manage the first on-base function and the second on-base function so that the first on-base function and the second on-base function can be executed in parallel on the single first base processor, and a second base processor (31c) that is one of the base processors different from the first base processor is equipped with a third on-base function (39) that is different from the first on-base function and the second on-base function.

[0144] [Item 11] An electronic control device described in any one of items 1 to 10, wherein the one or more expansion units are a plurality of expansion units (13, 14, 15, 16), and the plurality of expansion units include a first expansion unit (13, 41) that is one of the plurality of expansion units, and a second expansion unit (14, 42) that is one of the plurality of expansion units that is different from the first expansion unit, and functions installed in the one or more expansion units are considered as installed expansion functions, and the first expansion unit and the second expansion unit are equipped with installed expansion functions that differ from each other in at least one of the domain and function.

[0145] [Item 12] An electronic control device according to Item 11, wherein the first expansion unit (13) comprises a first expansion processor (111) which is a processor mounted on the first expansion unit, and a first expansion memory (112, 113) which is a memory mounted on the first expansion unit, the second expansion unit (14) comprises a second expansion processor (121) which is a processor mounted on the second expansion unit, and a second expansion memory (122, 123) which is a memory mounted on the second expansion unit, the first expansion processor and the first expansion memory being mounted on a first circuit board (115), and the second expansion processor and the second expansion memory being mounted on a second circuit board (125) different from the first circuit board.

[0146] [Item 13] An electronic control device according to Item 11, wherein the first expansion unit (41) comprises a first expansion processor (51) which is a processor mounted on the first expansion unit, and a first expansion memory (52, 53) which is a memory mounted on the first expansion unit, the second expansion unit (42) comprises a second expansion processor (61) which is a processor mounted on the second expansion unit, and a second expansion memory (62, 63) which is a memory mounted on the second expansion unit, and the first expansion processor, the first expansion memory, the second expansion processor, and the second expansion memory are mounted on the same circuit board (48).

[0147] [Item 14] An electronic control device according to any one of items 1 to 13, wherein the expansion unit (12) is equipped with the first expansion function, and the base unit operates the first base function in the base unit and the first expansion function in the expansion unit in cooperation with each other.

Claims

1. An electronic control device (2) mounted on a vehicle, connected to an on-board device (4, 5, 6, 7) mounted on the vehicle so as to be able to communicate data with the on-board device, and configured to output instructions to the on-board device based on data received from outside the vehicle, comprising: a base unit (11) and one or more expansion units (12, 13, 14, 15, 16) configured to be physically separable from each other; the base unit comprising one or more base processors (31, 31a, 31b, 31c) which are one or more processors mounted on the base unit, and base memories (32, 33) which are memories mounted on the base unit; an electronic control device in which each of the one or more expansion units comprises an expansion processor (51, 61, 111, 121, 131, 141) that is a processor mounted on the expansion unit, and an expansion memory (52, 53, 62, 63, 112, 113, 122, 123, 132, 133, 142, 143) that is a memory mounted on the expansion unit, the base unit is equipped with a first base-mounted function (37) that is a first function of a first domain that is one of a plurality of domains divided by the functions of the vehicle, and a second base-mounted function (38) that is a first function of a second domain that is one of the plurality of domains different from the first domain, and the one or more expansion units are equipped with at least one of a first expansion-mounted function (55) that is a second function of the first domain and a second expansion-mounted function (65) that is a second function of the second domain.

2. An electronic control device according to claim 1, wherein one or more of the expansion units are equipped with the first expansion function and the second expansion function.

3. An electronic control device according to claim 1 or claim 2, wherein one or more of the expansion units are configured to take over and execute the stopped function when at least one of the first base-mounted function and the second base-mounted function of the base unit stops.

4. An electronic control device according to claim 1 or claim 2, wherein the base unit is configured to monitor one or more of the expansion units for abnormalities, and one or more of the expansion units is configured to monitor the base unit for abnormalities.

5. An electronic control device according to claim 1 or 2, wherein the base unit is configured to monitor abnormalities in the base unit and in one or more of the expansion units.

6. An electronic control device according to claim 1 or 2, wherein the base unit is configured to start up before one or more of the expansion units.

7. An electronic control device as claimed in claim 1 or claim 2, wherein a state in which the power supply is cut off and the device is stopped is called a stopped state, and a state in which the device is powered on and running is called a running state, and wherein the base unit is configured to transition at least between a first power mode in which the base unit is in the running state and one or more of the expansion units are in the running state, a second power mode in which the base unit is in the running state and one or more of the expansion units are in the stopped state, and a third power mode in which the base unit is in the stopped state and one or more of the expansion units are in the stopped state.

8. An electronic control device according to claim 1 or claim 2, wherein the one or more base processors are a plurality of base processors (31a, 31b, 31c), and the first base processor (31b), which is one of the plurality of base processors, is equipped with the first base-mounted function, and the second base processor (31c), which is one of the plurality of base processors different from the first base processor, is equipped with the second base-mounted function.

9. An electronic control device according to claim 1 or claim 2, wherein the one or more base processors are one base processor (31), and the one base processor is equipped with the first base-mounted function, the second base-mounted function, and a hypervisor (35) configured to manage the first base-mounted function and the second base-mounted function so that the first base-mounted function and the second base-mounted function can be executed in parallel on the one base processor.

10. An electronic control device as claimed in claim 1 or claim 2, wherein the one or more base processors are a plurality of base processors (31a, 31b, 31c), one of the plurality of base processors, a first base processor (31b), is equipped with the first base-mounted function, the second base-mounted function, and a hypervisor (35) configured to manage the first base-mounted function and the second base-mounted function so that the first base-mounted function and the second base-mounted function can be executed in parallel on one first base processor, and a second base processor (31c) of the plurality of base processors, which is one of the base processors different from the first base processor, is equipped with a third base-mounted function (39) different from the first base-mounted function and the second base-mounted function.

11. An electronic control device as described in claim 1 or claim 2, wherein the one or more expansion units are a plurality of expansion units (13, 14, 15, 16), and the plurality of expansion units include a first expansion unit (13, 41) which is one of the plurality of expansion units, and a second expansion unit (14, 42) which is one of the plurality of expansion units different from the first expansion unit, and functions installed in the one or more expansion units are considered as installed expansion functions, and the first expansion unit and the second expansion unit are equipped with installed expansion functions which differ from each other in at least one of the domain and function.

12. An electronic control device as described in claim 11, wherein the first expansion unit (13) comprises a first expansion processor (111) which is a processor mounted on the first expansion unit, and a first expansion memory (112, 113) which is a memory mounted on the first expansion unit; the second expansion unit (14) comprises a second expansion processor (121) which is a processor mounted on the second expansion unit, and a second expansion memory (122, 123) which is a memory mounted on the second expansion unit; the first expansion processor and the first expansion memory are mounted on a first circuit board (115); and the second expansion processor and the second expansion memory are mounted on a second circuit board (125) different from the first circuit board.

13. An electronic control device as described in claim 11, wherein the first expansion unit (41) comprises a first expansion processor (51) which is a processor mounted on the first expansion unit, and a first expansion memory (52, 53) which is a memory mounted on the first expansion unit, and the second expansion unit (42) comprises a second expansion processor (61) which is a processor mounted on the second expansion unit, and a second expansion memory (62, 63) which is a memory mounted on the second expansion unit, and the first expansion processor, the first expansion memory, the second expansion processor, and the second expansion memory are mounted on the same circuit board (48).

14. An electronic control device as described in claim 1 or claim 2, wherein the expansion unit (12) is equipped with the first expansion mounting function, and the base unit operates the first base mounting function in the base unit and the first expansion mounting function in the expansion unit in cooperation with each other.

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