JPH0516703A - Computer for controlling event drive type vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] In an event-driven vehicle control computer including an event processing processor and a control calculation processor, when the next event is predicted and the judgment order is changed, the related order is related in advance. (EN) Provided is a device which does not need to program data and can change a prediction by following a change in environment. In the event processing processor 1, an event predicting unit 3 that predicts an event that is highly likely to occur based on related data and rewrites the related data according to a situation of actual event occurrence, A determination order changing unit 4 that changes the determination order of the events based on the prediction result of the event prediction unit 3 so that the event with the highest occurrence probability is the first order.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a computer used for a control device of a vehicle, and more particularly, to promptly detect an operation of a driver or a change in a driving state of a vehicle, that is, an event, and immediately respond to the operation to perform calculation. The present invention relates to a computer that performs processing and executes optimal control operation without time delay.

[0002]

2. Description of the Related Art Conventionally, various devices have been proposed for controlling various vehicles using a microcomputer (for example, JP-A-55-60639, JP-A-55-134732, and JP-A-55-134732). There are many such as Kai 54-58116). In a control device for a vehicle, it is necessary to immediately detect a driver's operation or a change in the driving state of the vehicle, that is, an event, and immediately execute control according to the detected event. An example of using the word "event" in the above meaning is "IE Transactions on Software Engineering".
(IEEE TRANSACTIONS ON SOFTWARE ENGINEERING, VOL.SE-
6, NO.1, JANUARY 1980, “Specifying Software Requirem
ents for Complex System: New Techniques and Their
Application ”)”

[0003]

However, in the conventional control device using the microcomputer, the process which should be executed in response to the event as described above, that is, the event process, is performed by the fixed-cycle interrupt routine. I had no choice but to run it in or in a background program execution loop. Therefore, a time delay occurs between the actual occurrence of an event and the detection and processing of the event, which leads to deterioration of vehicle control characteristics, such as engine exhaust purification performance and fuel consumption performance, and a response delay uncomfortable to the driver. It causes an unexpected reaction. Furthermore, since the operation of the control device varies greatly depending on the slight timing deviation, it is difficult to verify the control device from the outside, and in addition, a complicated program logic is required to realize it, so a control program is developed. It requires a lot of man-hours, and since such a logical flow that is divided in terms of time and space does not match human thought characteristics, mistakes are likely to occur during program creation, leading to a decrease in reliability. There is a risk. Further, such a program has a great adverse effect such that it is difficult for a third party to read the program and the maintainability is deteriorated.

In order to solve the above-mentioned problems, the applicant of the present invention, in addition to a control arithmetic processor for executing arithmetic processing,
Equipped with an event processing processor dedicated to event processing,
An application has already been filed for an event-driven vehicle control computer configured to detect the occurrence of an event independently of the calculation cycle in the control calculation processor (Japanese Patent Application No. 2-2371).
No. 53). In the above vehicle control computer, it is not necessary to detect an event according to the calculation cycle in the control calculation processor as in the conventional case.
Event detection can be performed at high speed, and there is no fear that a large number of interrupts will interfere with other calculations. Further, since a program for event detection is complicated and difficult to recognize and understand is unnecessary, there is a feature that program development and maintenance become easy. However, in the device described in the above-mentioned prior application,
The event processing processor has a list of all events, and all events are always subject to determination. Therefore, when judging the event,
Since it takes time to compare sequentially until a matching event appears from a predetermined event group, event detection will be delayed if there are many events to be judged, and in some cases event occurrence will occur. There is a fear of overlooking. Further, in order to perform comparison in a short time, it is necessary to install a large number of comparators in parallel, which increases the cost of the system and is not preferable in terms of reliability.

In order to solve the above-mentioned problems of the prior art, the applicant has improved the above-mentioned prior art to provide an event predicting means and a judgment order changing means to predict an event and a transient which are likely to occur. Have already applied for an event-driven vehicle control computer that changes the order of events and transients to be judged so that those with a high probability of occurrence are prioritized (Japanese Patent Application No. 2-326010).
is doing. In the device described in the above improved prior application, in the determination of the event, the number of comparisons until the match detection is reduced, without increasing the amount of hardware unnecessarily, it is possible to detect the event at high speed. There is a feature called.

However, in the above-mentioned device, in order to predict an event, it is necessary to previously store the related data indicating the relationship between the transient and the event or between the event and the event. It is annoying. Further, since the event prediction is performed based on the related data stored in advance, there is a problem that it is difficult to compensate for a change in event occurrence due to a change in environment and a difference due to the driving habit of the driver.

The present invention is a further improvement over the prior art as described above, which eliminates the need to pre-program relevant data.
Moreover, it is an object of the present invention to provide an event-driven vehicle control computer that can follow changes in the environment and driver preferences.

[0008]

In order to achieve the above object, the present invention is constructed as described in the claims. FIG. 1 is a functional block diagram of the present invention. In FIG. 1, reference numeral 1 is an event processing processor, which detects which event has occurred based on input signals SI from various sensors. That is, the event processing processor 1 detects the occurrence of a transient in arbitrary data on an address, discriminates a set of transients in which the occurrence of the transient is arranged in a predetermined order, and determines a plurality of predetermined transients. It is detected which one of the transient sets corresponding to each of the events, and outputs it as the occurrence of the predetermined event.

Further, the event processing processor 1 predicts an event and a transient that are likely to occur based on the related data, and rewrites the related data according to the actual event occurrence situation. And the decision order changing means 4 for changing the decision order of the event and the transient based on the prediction result of the event prediction means 3 so that the event or the transient having the higher occurrence probability is the first order. The event prediction unit 3 includes, for example, an event relation table that stores relation data indicating the relation between transients and events or between events and events, and stores the stored contents according to the relation of the actually generated event. When a certain transient or event occurs, the event or transient most likely to occur next is predicted according to the result.

Reference numeral 2 is a control calculation processor,
Normally, a control operation is performed according to a predetermined program, and the resulting control output signal SO is output. When an event occurs, the control program corresponding to the event that has occurred is executed based on the detection result of the event processing processor 1, and the resulting output signal at the time of event occurrence is output.

[0011]

As described above, in the present invention, in addition to the control calculation processor for executing calculation processing, the event processing processor dedicated to event processing is provided, and the occurrence of an event is defined as the calculation cycle in the control calculation processor. It is configured to detect independently. In addition, an event predicting unit and a determination order changing unit are provided to predict events and transients that are likely to occur, and change the order of events and transients to be determined so that the one with the highest occurrence probability is the first order. As a result, it is possible to reduce the number of comparisons up to the match detection, detect an event at high speed without unnecessarily increasing the amount of hardware. Further, in the event prediction means, by rewriting the related data according to the relationship of the actually occurred event, the related data is sequentially created corresponding to the relationship of the actually occurred event, so that the related data is stored in advance. Even if the relationship of event occurrence changes due to changes in the environment or the relationship of events changes depending on the driving habits of the driver, it is possible to follow the changes and always detect events at high speed. Can be done.

[0012]

FIG. 2 is a block diagram of an embodiment showing the entire structure of the present invention. In FIG. 2, 11 is an event processing processor, and 12 is a control calculation processor. The RAM 13 and the ROM 14 are a memory dedicated to the event processing processor 11 and a RAM 15, respectively.
And the ROM 16 are respectively the control calculation processor 12
It is a dedicated memory. The RAM 17 is a memory shared by the event processing processor 11 and the control calculation processor 12, and can read and write the same information from both processors. SI _{1 to} SI _n are input signals from various sensors, for example, an engine intake air amount signal, a rotation speed signal, a cooling water temperature signal, a throttle opening signal, an idle switch signal, an air-fuel ratio signal, and the like. Further, SO _{1 to} SO _m are output signals to various actuators, for example, fuel injection signals, brake control signals, shift signals to electronically controlled transmissions, and the like. In addition, the input / output device 18
Inputs the above-mentioned various input signals SI _{1 to} SI _n (when necessary, after A / D conversion), and outputs various output signals SO _{1 to} SO _m as the calculation result. Signals are exchanged between the above-mentioned components via a main bus 19 having an address bus and a data bus.

Next, FIG. 3A is a diagram showing an embodiment of the configuration of the event processing processor 11 described above.
(B) is an example diagram of an event management program. The operation of the event processing processor 11 will be described below with reference to FIG. In FIG. 3A, reference numeral 20 denotes a digital comparison means, which compares predetermined data (units such as bits and words) having an arbitrary number of bits on the memory (RAM 17). The digital comparing means 20 compares the address coincidence detecting means 20-1 for detecting that a predetermined address has been written into the memory with a predetermined value in the event management program 24 and the data on the memory, and Data comparison means 20-2 for outputting the result as a status code
Composed of. Reference numeral 21 denotes a transient detecting means, which inputs the output of the digital comparing means 20, a predetermined bit on the memory, or the state of the input signal and compares it with the past state, and changes the state of the data (ON → OFF). , Off → on, both directions, etc.) are detected and output as a transient generation signal. Reference numeral 22 is an event determination means, which determines which event the transient occurrence order corresponds to in advance and finally outputs it as an event detection signal. The event processing processor may be internally connected in series and configured to detect a more complicated event generation sequence.

Reference numeral 25 is an event predicting means, which comprises an event related table rewriting means 25-1, an event related table 25-2 and an event candidate selecting means 25-3. Then, as will be described later in detail, an event or transient with a high probability of occurring next is predicted from the information of the transient or event currently occurring, and stored in the event relation table 25-2 in accordance with the event or transient actually occurring. Rewrite the contents that have been described. Further, reference numeral 26 is a judgment order changing means, and based on the prediction result of the event prediction means 25, changes the judgment order of events and transients so that the one having the highest occurrence probability is the first order, and then the event management means 23. Output. The event management unit 23 uses the event determination order changed by the event determination order changing unit 26 and the event management program 24 to determine 20 to 2
Controls the coordinated operation of 2 and 25, 26. The event management program 24 is, for example, as shown in FIG. This example illustrates a case where it is determined that the "acceleration event" occurs when the idle switch is switched from on to off (the throttle valve is changed from the closed state to the open state).

Next, rewriting of the contents stored in the event relation table 25-2 will be described. FIG. 4 is a diagram showing an example of the stored contents of the event relation table 25-2, and shows the order of events that are expected to occur next with respect to the currently detected event (the smaller number is the first order). It is a thing. Further, FIG. 5 is a flowchart showing the operation contents of the event relation table rewriting means 25-1. Upon receiving the event determination progress information, the event relation table rewriting means 25-1 rewrites the contents of the event relation table 25-2 in the procedure as shown in FIG. For example, when the event B occurs subsequent to the event A, the row of the event A in the event related table 25-2 is changed. That is, the rank of the item of the event B in the row of the event A is set to 1 so that the relative ranks of other events do not change. Next, when the event C occurs, the rank of the item of the event C in the row of the event B is set to 1, and the rank of each item is changed so that the relative rank of the events other than the event C of the row does not change. With the above, for example, if event B always occurs following event A, event B in the row of event A
If the event B or event C always occurs subsequent to the event A, the rank of the item of the event B or event C of the row of the event A will always be 1 or 2. In this way, the rank of the event having a high tendency to occur next is high.

With reference to the event relation table 25-2 rewritten by such a procedure, the event candidate selecting means 25-3 selects an event having a high possibility of occurring next as a candidate, and the result is the event. It is sent to the judgment order changing means 26. The event determination order changing means 26 changes the order in which event determination is performed according to the event prediction result. For example, when the last detected event is the event A, the next event determination is performed according to the order of the row of the event A in the event association table 25-2, and the efficient event determination is performed.

The contents of the event relation table 25-2 can be rewritten according to the frequency of occurrence of events. Hereinafter, description will be given based on FIGS. 6 and 7.
FIG. 6 is a diagram showing an example of the contents of the event occurrence frequency counting table provided in the event related table rewriting means 25-1, and shows the number of times an event has occurred. FIG. 7 is a flowchart showing another operation content of the event related table rewriting means 25-1. In this embodiment, the event related table rewriting means 25-1 has an occurrence frequency counting table as shown in FIG.
Then, it receives the event determination progress information and rewrites the occurrence frequency counting table. For example, when an event B occurs subsequent to the event A, the number of items of the event B in the row of the event A of the occurrence frequency counting table is incremented by 1, and the total number of items is also incremented by 1. To do. Next, when the event C occurs, the number of items of the event C and the total number of items of the line of the event B are incremented by one. Then, for example, when the total number of rows of the event A reaches 100, the event A
The order is changed in the descending order of the number of counts of each item in the row, and the row of the event A in the event related table 25-2 is changed. Note that the timing of changing the event related table 25-2 may be changed not at the total number of times but at regular time intervals.

The entire operation will be described below by taking an acceleration event as an example. First, the accelerator operation by the driver is written in the memory as ON / OFF of the switch signal (idle switch) indicating the throttle fully closed. Although not shown in FIG. 3, the input / output device 18 of FIG. 2 transfers the data in the input register to the memory to which the input register is allocated. As a result, a write operation is performed on the memory and a WR signal is generated at the address of the idle switch. Receiving this signal, the address coincidence detecting means 20-
1 detects whether or not there is a match with the address designated by the event management program 24. When a match is detected, the comparison means 20-2 normally compares the comparison data in the event management program with the data at the address in the memory where the match is detected. In this example, however, bit data is used. Therefore, the comparing means 20-2 is not used and is immediately input to the transient detecting means 21. If the comparison data is normal data, the comparison means 20-2 compares the comparison value of the set in which the address match is detected with the data of the address written in the memory, and the comparison result is binary. It is input to the transient detection means 21 as an output. Transient detection means 2
1 detects a predetermined on-off change (transient in which the accelerator is stepped on from the fully closed state, that is, an immediate event in this case), and a predetermined output corresponding to the event, that is, acceleration in this case. An event detection signal (accel-event) is generated. At the same time, for order comparison, the state of the idle switch at this time is stored in the memory (held for each defined event) of the event processing processor 11. In the case of this example, since a single transient is defined as an event as it is, the event determination means 22 does not operate. Next, in the event predicting means 25, as described above,
The contents of the event relation table 25-2 are rewritten according to the event or transient that has occurred, and the predicted data of the event or transient that is likely to occur next is sent to the event determination order changing means 26. Next, the event determination order changing means 26 has the highest possibility of occurrence, that is, the value of the occurrence probability is large, based on the event prediction data (event candidate and occurrence probability) given from the event prediction means 25. Change the order in which decisions are made, such as by events or transients. Various methods such as a method of controlling a search pointer using a content addressable memory (associative memory) have been proposed for changing the order, and will not be described in detail here. Next, the event determination order changing means 26
In response to the signal, the event management unit 23 instructs the digital comparison unit 20 to change the determination order according to the changed result. Note that this change of the determination order can be easily realized by switching the search table to be used. As described above, the event can be detected in the shortest time. Also, the event related table 25-
Since the memory contents of 2 are rewritten according to the events and transients that actually occurred, there is no need to program them in advance. Moreover, the relationship of event occurrence changes due to changes in the environment, and the driving habits of the driver Even if the relation of events is different, it is possible to follow the change.

[0019]

As described above, according to the present invention, the event processing processor is provided with the event predicting means and the judgment order changing means to predict the events and transients that are likely to occur and to make the judgment. By changing the order so that the one with the highest occurrence probability is the first order, it is possible to reduce the number of comparisons until match detection, and to detect events at high speed without unnecessarily increasing the amount of hardware. .. Further, in the event prediction means, by rewriting the related data according to the relationship of the actually occurred event, the related data is sequentially created corresponding to the relationship of the actually occurred event, so that the related data is stored in advance. You do n’t have to
Moreover, even if the relation of event occurrence changes due to changes in the environment or the relation of events differs depending on the driving habit of the driver, it is possible to follow the change and always detect events at high speed. The effect is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing functions of the present invention.

FIG. 2 is a block diagram of an embodiment of the present invention.

3A is a block diagram showing the configuration of an embodiment of an event processing processor, and FIG. 3B is an embodiment of an event management program.

FIG. 4 is a diagram showing an example of stored contents of an event related table.

FIG. 5 is a flowchart showing an example of calculation contents of an event related table rewriting means.

FIG. 6 is a diagram showing an example of contents of an event occurrence frequency counting table.

FIG. 7 is a flowchart showing another embodiment of the calculation contents of the event related table rewriting means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Event processing processor 2 ... Control calculation processor 3 ... Event prediction means 4 ... Judgment order change means SI ... Input signal SO ... Output signal 11 ... Event processing processor 12 ... Control calculation processor 13, 15, 17 ... RAM 14, 16 ... ROM 18 ... Input / output device 19 ... Main bus 20 ... Digital comparison means 21 ... Transient detection means 22 ... Event determination means 23 ... Event management means 24 ... Event management program 25 ... Event prediction means 25-1 ... Event-related Table rewriting means 25-2 ... Event related table 25-3 ... Event candidate selecting means 26 ... Event determination order changing means

Claims (1)

Claim: What is claimed is: 1. A signal of a sensor for detecting various driving conditions of a vehicle and a driver's operation state is input, and various control calculations necessary for controlling the vehicle are performed based on the signal. In a vehicle control computer that sends a control signal based on the calculation result to various actuators for vehicle control, an event processing processor that detects an operation during driving or a change in the driving condition of the vehicle, that is, an event from the data on the address. A control operation processor that executes operation processing based on a detection result of the event processing processor, the event processing processor detects occurrence of a transient in arbitrary data on an address, and generates the transient. Discriminates the set of transients that are arranged in a predetermined order and It is to detect which one of the set of transients corresponding to each of the events, and output it as the occurrence of the predetermined event, and the event and transient that are likely to occur based on the related data. Event predicting means for predicting and rewriting the above-mentioned related data according to the actual event occurrence status, and based on the prediction result of the event predicting means, the order of judging events and transients is the one with the highest probability of occurrence An event-driven vehicle control computer, comprising: a determination order changing unit for changing the determination order to